package com.zy.asrs.utils;

import java.util.ArrayList;
import java.util.List;
import static java.util.stream.Collectors.toList;

import com.zy.asrs.entity.WrkMastSta;
import com.zy.core.enums.RouteCollectCountType;
import springfox.documentation.spring.web.json.Json;

/**
 * Created by Monkey D. Luffy on 2023/7/18
 */
public class RouteUtils {

    public static final List<Integer> MERGE_STA_NO_One = new ArrayList<Integer>() {{
//        add(116);add(117);
        add(104);add(122);
    }};

    public static final List<Integer> MERGE_STA_NO_TWO = new ArrayList<Integer>() {{
//        add(113);add(123);add(114);add(1142);
        add(107);add(118);
    }};

    public static final List<Integer> MERGE_STA_NO_THREE = new ArrayList<Integer>() {{
//        add(107);add(118);add(108);add(119);
        add(108);add(119);
    }};

    public static final List<Integer> MERGE_STA_NO_FOUR = new ArrayList<Integer>() {{
//        add(110);add(120);add(111);add(121);
        add(110);add(120);
    }};

    public static final List<Integer> MERGE_STA_NO_FIVE = new ArrayList<Integer>() {{
//        add(104);add(122);add(105);
        add(111);add(121);
    }};

    public static final List<Integer> MERGE_STA_NO_SIX = new ArrayList<Integer>() {{
//        add(108);add(119);add(110);add(120);
        add(113);add(123);add(114);
    }};

    public static final List<Integer> MERGE_STA_NO_SEVEN = new ArrayList<Integer>() {{

    }};

    public static final List<Integer> MERGE_STA_NO_EIGHT = new ArrayList<Integer>() {{

    }};

    public static final List<Integer> MERGE_STA_NO_NINE = new ArrayList<Integer>() {{

    }};

//    正序
    public static final List<Integer> TRACK_POSITION_POSITIVE_SEQUENCE = new ArrayList<Integer>() {{
        add(101);add(102);add(104);add(122);add(105);add(107);add(118);add(108);add(119);add(110);add(120);add(111);add(121);add(113);add(123);add(114);add(1142);add(116);add(117);
    }};
//    反序
    public static final List<Integer> TRACK_POSITION_REVERSE_SEQUENCE = new ArrayList<Integer>() {{
        add(117);add(116);add(1142);add(114);add(123);add(113);add(121);add(111);add(120);add(110);add(119);add(108);add(118);add(107);add(105);add(122);add(104);add(102);add(101);
    }};

    public static String zerofill(String msg, Integer count){
        if (msg.length() == count){
            return msg;
        } else if (msg.length() > count){
            return msg.substring(0, 16);
        } else {
            StringBuilder msgBuilder = new StringBuilder(msg);
            for (int i = 0; i<count-msg.length(); i++){
                msgBuilder.insert(0,"0");
            }
            return msgBuilder.toString();
        }
    }
    /*
     * 获取干涉最远站点
     * */
    public static Integer RouteIndexFarMas(int rgvNo,Integer staNo){
        List<Integer> staFall = new ArrayList<>();
        if (MERGE_STA_NO_SIX.contains(staNo)){
//            staFall = MERGE_STA_NO_SIX;
            if (rgvNo==1){
                if (staNo==113){
                    return 123;
                } else {
                    return 114;
                }
            }else {
                if (staNo==114){
                    return 123;
                } else {
                    return 113;
                }
            }
        }else if (MERGE_STA_NO_One.contains(staNo)){
            staFall = MERGE_STA_NO_One;
        }else if (MERGE_STA_NO_TWO.contains(staNo)){
            staFall = MERGE_STA_NO_TWO;
        }else if (MERGE_STA_NO_THREE.contains(staNo)){
            staFall = MERGE_STA_NO_THREE;
        }else if (MERGE_STA_NO_FOUR.contains(staNo)){
            staFall = MERGE_STA_NO_FOUR;
        }else if (MERGE_STA_NO_FIVE.contains(staNo)){
            staFall = MERGE_STA_NO_FIVE;
        }else {
            return staNo;
        }

        int indexNo = 0;
        if (rgvNo==1){
            indexNo=staFall.size()-1;
        }
        return staFall.get(indexNo);
    }

    public static Integer RouteIndexFarMasOtherNear(int rgvNo,Integer staNo){
        if (rgvNo==1){
            switch (staNo){
                case 117:   return  116;
                case 116:   return  1142;
                case 1142:
                case 114:   return  114;
                case 123:   return  113;
                case 113:   return  121;
                case 121:   return  111;
                case 111:   return  110;
                case 120:
                case 110:   return  119;
                case 119:
                case 108:   return  118;
                case 118:
                case 107:   return  105;
                case 105:
                case 122:   return  122;
                case 104:   return  104;
                case 102:   return  102;
                case 101:   return  101;
                default:
                    return 102;
            }
        }else {
            switch (staNo){
                case 117:   return  117;
                case 116:   return  116;
                case 1142:  return  116;
                case 114:   return  116;
                case 123:   return  1142;
                case 113:   return  114;
                case 121:   return  113;
                case 111:   return  113;
                case 120:  return  121;
                case 110:   return  111;
                case 119:   return  110;
                case 108:   return  110;
                case 118:  return  119;
                case 107:   return  107;
                case 105:   return  107;
                case 122:   return  122;
                case 104:   return  104;
                case 102:   return  104;
                case 101:   return  102;
                default:
                    return 116;
            }
        }
    }

    public static Integer RouteIndexFarMasOtherNearUpMap(int rgvNo,Integer staNo){
//        int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(staNo);
//        int ib = TRACK_POSITION_REVERSE_SEQUENCE.indexOf(staNo);
//        if (ia<=ib){
//            return new Integer[]{RouteIndexFarMasReverse(1,runStaStart),RouteIndexFarMasReverse(2,runStaEnd)};
//        }else {
//            return new Integer[]{RouteIndexFarMasReverse(1,runStaEnd),RouteIndexFarMasReverse(2,runStaStart)};
//        }
//        if (ia<=ib){
//            return new Integer[]{TRACK_POSITION_POSITIVE_SEQUENCE.get(ia),TRACK_POSITION_POSITIVE_SEQUENCE.get(ib)};
//        }else {
//            return new Integer[]{TRACK_POSITION_POSITIVE_SEQUENCE.get(ib),TRACK_POSITION_POSITIVE_SEQUENCE.get(ia)};
//        }
//        if (rgvNo==1){
//            if (ia-2>=1){
//                return TRACK_POSITION_POSITIVE_SEQUENCE.get(ia-2);
//            }else {
//                return 102;
//            }
            return RouteIndexFarMasOther(rgvNo,staNo);
//        }else {
//            if (ib-2>=1){
//                return TRACK_POSITION_REVERSE_SEQUENCE.get(ib-2);
//            }else {
//                return 116;
//            }
//        }
    }
//
    /*
     * 获取干涉最远站点
     * */
    public static Integer RouteIndexFarMasOther(int rgvNo,Integer staNo){
        if (rgvNo==1){
            switch (staNo){
                case 101:   return  102;
                case 102:   return  122;
                case 104:
                case 122:
                case 105:   return  105;
                case 107:
                case 118:   return  119;
                case 108:
                case 119:   return  120;
                case 110:
                case 120:
                case 111:   return  121;
                case 121:   return  113;
                case 113:   return  1142;
                case 123:
                case 114:   return  116;
                default:
                    return 116;
            }
        }else {
            switch (staNo){
                case 117:
                case 116:   return  1142;
                case 1142:
                case 114:
                case 123:   return  113;
                case 113:   return  121;
                case 121:
                case 111:   return  110;
                case 120:
                case 110:   return 108;
                case 119:
                case 108:
                case 118:
                case 107:   return  107;
                case 105:   return  104;
                case 122:
                case 104:   return  102;
                default:
                    return 102;
            }
        }
//        if (rgvNo==1){
//            switch (staNo){
//                case 101:
//                case 102: return  102;
//                case 104:
//                case 122: return  118;
//                case 105: return  119;
//                case 107:
//                case 118: return  120;
//                case 108:
//                case 119: return  111;
//                case 110:
//                case 120: return  113;
//                case 111:
//                case 121: return  113;
//                case 113: return  114;
//                case 123:
//                case 114: return  1142;
//                default:
//                    return 116;
//            }
//        }else {
//            switch (staNo){
//                case 117:
//                case 116: return  123;
//                case 1142:
//                case 114: return  113;
//                case 123:
//                case 113: return  111;
//                case 121:
//                case 111: return  108;
//                case 120:
//                case 110: return 107;
//                case 119:
//                case 108: return  107;
//                case 118:
//                case 107: return  105;
//                case 105:
//                case 122:
//                case 104: return  104;
//                default:
//                    return 102;
//            }
//        }
    }

    /*
     * 获取干涉最远站点
     * */
    public static Integer RouteIndexFarMasReverse(int rgvNo,Integer staNo){
        if (rgvNo==1) {
            switch (staNo) {
                case 101:
                case 102:   return 102;
                case 104:
                case 122:
                case 105:   return 102;
                case 107:
                case 118:
                case 108:
                case 119:   return 105;
                case 110:
                case 120:
                    return 107;
                case 111:
                case 121:
                    return 108;
                case 113:
                    return 111;
                case 123:
                case 114:
                    return 121;
                case 1142:
                case 116:
                case 117:
                    return 102;
                default:
                    return 101;
            }
        }else{
            switch (staNo) {
                case 117:
                case 116:
                case 1142:
                    return 116;
                case 114:
                case 123:
                case 113:
                    return 117;
                case 121:return 123;
                case 111:
                case 120:
                case 110:
                    return 113;
                case 119:
                case 108:
                    return 111;
                case 118:
                case 107:
                    return 110;
                case 105:
                case 122:
                case 104:
                    return 107;
                case 102:
                case 101:
                    return 116;
                default:
                    return 117;
            }
            /*
            * switch (staNo){
                case 117:
                case 116:   return  1142;
                case 1142:
                case 114:
                case 123:   return  113;
                case 113:   return  121;
                case 121:
                case 111:   return  110;
                case 120:
                case 110:   return 108;
                case 119:
                case 108:
                case 118:
                case 107:   return  107;
                case 105:   return  104;
                case 122:
                case 104:   return  102;
                default:
                    return 102;
            }*/
        }
    }


    // 获取当前小车未行走的路线集合
    public static List<Integer> getRoute(Integer groupStart,Integer groupEnd){
        boolean sign = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupStart) < TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupEnd);
        List<Integer> result = new ArrayList<>();
        List<Integer> groupRoute = new ArrayList<>();
        if (sign){
            groupRoute = TRACK_POSITION_POSITIVE_SEQUENCE;
        }else {
            groupRoute = TRACK_POSITION_REVERSE_SEQUENCE;
        }
        if (groupRoute.contains(groupStart) && groupRoute.contains(groupEnd)) {
            sign = false;
            for (Integer route : groupRoute) {
                if (route.equals(groupStart)){
                    sign=true;
                }
                if (route.equals(groupEnd)){
                    result.add(route);
                    break;
                }
                if (sign){
                    result.add(route);
                }
            }
        }else {
            return null;
        }
        return result;
    }

    /*
    * 获取最远站点
    * */
    public static Integer RouteIndexFarMas(Integer a,Integer b,Integer c,Integer d){
        int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(a);
        int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(b);
        int ic = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(c);
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        if (id == 0){
            if (ib>ic){
                return b;
            }else {
                return c;
            }
        }else {
            if (ib<ic){
                return b;
            }else {
                return c;
            }
        }
//        if (id==0){
//            if (ia>ib){
//                if (ia>ic){
//                    return a;
//                }else {
//                    return c;
//                }
//            }else {
//                if (ib>ic){
//                    return b;
//                }else {
//                    return c;
//                }
//            }
//        }else {
//            if (ia<ib){
//                if (ia<ic){
//                    return a;
//                }else {
//                    return c;
//                }
//            }else {
//                if (ib<ic){
//                    return b;
//                }else {
//                    return c;
//                }
//            }
//        }
    }

    /*
     * 获取最远站点
     * a:当前位置
     * b:开始位置
     * c:结束位置
     * d:锁开始位置
     * */
    public static Integer RouteIndexFarMasNew(Integer a,Integer b,Integer c,Integer d){
        int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(a);
        int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(b);
        int ic = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(c);
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        if (id==0){
            if (ia>ib){
                if (ia>ic){
                    return a;
                }else {
                    return c;
                }
            }else {
                if (ib>ic){
                    return b;
                }else {
                    return c;
                }
            }
        }else {
            if (ia<ib){
                if (ia<ic){
                    return a;
                }else {
                    return c;
                }
            }else {
                if (ib<ic){
                    return b;
                }else {
                    return c;
                }
            }
        }
    }

    public static Integer[] RouteIndexFarArr(Integer a,Integer b,Integer c,Integer d){
        int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(a);
        int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(b);
        int ic = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(c);
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        return new Integer[]{ia,ib,ic,id};
    }

    /*
     * a  小车当前位置
     * b  小车任务开始位置
     * c  小车任务结束位置
     * d  小车初始位置
     * 获取最大路径差值
     * */
    public static List<Integer>  RouteMapCurrentFar(Integer a,Integer b,Integer c,Integer d){
        Integer farStn = RouteIndexFarMas(a, b, c, d);
        return getRouteIntersection(TRACK_POSITION_POSITIVE_SEQUENCE,getRoute(farStn, d), RouteCollectCountType.DIFFERENCESET);
    }

    public static List<Integer>  RouteMapCurrentFar(Integer farStn,Integer d){
        return getRouteIntersection(TRACK_POSITION_POSITIVE_SEQUENCE,getRoute(farStn, d), RouteCollectCountType.DIFFERENCESET);
    }

    /*
    * 另一台小车最远位置
    * */
    public static Integer RouteMapOtherFarStnNo(List<Integer> routeDIFF,Integer d){
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        if (id==0){
            return routeDIFF.get(0);
        }else {
            int size = routeDIFF.size();
            return routeDIFF.get(size-1);
        }
    }

    //是否有交集
    public static boolean getRouteBoolean(List<Integer> groupCurrent,List<Integer> groupOther){
        for (Integer positionCurrent : groupCurrent){
            for (Integer positionOther : groupOther){
                if (positionCurrent.equals(positionOther)){
                    return true;
                }
            }
        }
        return false;
    }

    //集合运算
    public static List<Integer> getRouteIntersection(List<Integer> groupCurrent, List<Integer> groupOther, RouteCollectCountType routeCollectCountType){
        switch (routeCollectCountType){
            case INTERSECTION:
                //交集
                return groupCurrent.stream().filter(item -> groupOther.contains(item)).collect(toList());
            case DIFFERENCESET:
                //差集
                return groupCurrent.stream().filter(item -> !groupOther.contains(item)).collect(toList());
            case UNION:
                //并集
                groupCurrent.addAll(groupOther);
                return groupCurrent;
            case DEDUPLICATIONUNION:
                //去重并集
                groupCurrent.addAll(groupOther);
                return groupCurrent.stream().distinct().collect(toList());
            default:
                return null;
        }
    }

    /*
    * a  小车当前位置
    * b  小车任务开始位置
    * c  小车任务结束位置
    * sign  另一个小车空闲标记
    * */
    public static boolean RouteAutoBoolean(Integer a,Integer b,Integer c,Integer aa,Integer bb,Integer cc,boolean idleOther){
        List<Integer> routeCurrent = getRouteIntersection(getRoute(a, c), getRoute(b, c), RouteCollectCountType.DEDUPLICATIONUNION);//并集
        List<Integer> routeOther = getRouteIntersection(getRoute(aa, cc), getRoute(bb, cc), RouteCollectCountType.DEDUPLICATIONUNION);//
        return !getRouteBoolean(routeCurrent, routeOther);  //是否有交集
    }

    public static List<Integer> RouteAutoBoolean(Integer a,Integer b,Integer c){
        return getRouteIntersection(getRoute(a, c), getRoute(b, c), RouteCollectCountType.DEDUPLICATIONUNION);
    }

    public static Integer[] RgvRunSta(Integer runStaStart,Integer runStaEnd){
        int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(runStaStart);
        int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(runStaEnd);
        if (ia<=ib){
            return new Integer[]{RouteIndexFarMasReverse(1,runStaStart),RouteIndexFarMasReverse(2,runStaEnd)};
        }else {
            return new Integer[]{RouteIndexFarMasReverse(1,runStaEnd),RouteIndexFarMasReverse(2,runStaStart)};
        }
//        if (ia<=ib){
//            return new Integer[]{TRACK_POSITION_POSITIVE_SEQUENCE.get(ia),TRACK_POSITION_POSITIVE_SEQUENCE.get(ib)};
//        }else {
//            return new Integer[]{TRACK_POSITION_POSITIVE_SEQUENCE.get(ib),TRACK_POSITION_POSITIVE_SEQUENCE.get(ia)};
//        }
//        if (ia<=ib){
//            return new Integer[]{TRACK_POSITION_POSITIVE_SEQUENCE.get(ia-1),TRACK_POSITION_POSITIVE_SEQUENCE.get(ib+1)};
//        }else {
//            return new Integer[]{TRACK_POSITION_POSITIVE_SEQUENCE.get(ib+1),TRACK_POSITION_POSITIVE_SEQUENCE.get(ia-1)};
//        }
    }

    public static boolean RgvRunStaSign(Integer staBow,Integer runStaEnd,Integer rgvNo){
        int ia =  TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(staBow);
        int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(runStaEnd);
        if (rgvNo==1){
            if (ia>ib){
                return true;//需要避让
            }else {
                return false;//不需要避让
            }
        }else {
            if (ia<ib){
                return true;//需要避让
            }else {
                return false;//不需要避让
            }
        }

    }



    public static void main(String[] arge){
        List<Integer> routeCurrent = getRoute(104, 119);  //获取当前小车路径
        List<Integer> routeOther = getRoute(117, 118);  //获取其它小车路径
        System.out.println("当前小车路径:\t"+routeCurrent);
        System.out.println("其它小车路径:\t"+routeOther);

        boolean routeBoolean = getRouteBoolean(routeCurrent, routeOther);  //是否有交集
        System.out.println("是否有交集:\t"+routeBoolean);

        List<Integer> routeIntersection = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.INTERSECTION);//交集
        System.out.println("路径交集：\t"+routeIntersection);

        List<Integer> routeIntersection1 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.DIFFERENCESET);//差集
        System.out.println("路径差集：\t"+routeIntersection1);

        List<Integer> routeIntersection2 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.UNION);//并集
        System.out.println("路径并集：\t"+routeIntersection2);

        List<Integer> routeIntersection3 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.DEDUPLICATIONUNION);//去重并集
        System.out.println("路径去重并集：\t"+routeIntersection3);

        System.out.println(RouteAutoBoolean(101,104,119,114,116,120,true));

        List<Integer> routeDIFF = RouteMapCurrentFar(114, 104, 119, 117);
        System.out.println("当前路径最大集合：\t"+ routeDIFF);

        Integer routeFarOther= RouteMapOtherFarStnNo(routeDIFF,117);
        System.out.println("另一台小车最远站点：\t"+routeFarOther);


        Integer[] integers = RouteIndexFarArr(114, 104, 119, 101);
        for (Integer integer:integers){
            System.out.println(integer);
        }
    }

    public static short RgvPosSta(Integer rgvId,Short posId){
        switch (rgvId){
            case 1:
                return RgvPosStaOne(posId);
            case 2:
                return RgvPosStaTwo(posId);
            default:
                return 1;
        }
    }

    public static short RgvPosStaOne(Short posId){
        switch (posId.intValue()){
            case 1:
            case 2:
                return 102;
            case 3:
            case 4:
                return 122;
            case 5:
            case 6:
                return 105;
            case 7:
            case 8:
                return 118;
            case 9:
            case 10:
            case 11:
                return 119;
            case 12:
            case 13:
            case 14:
                return 110;
            case 15:
                return 120;
            case 16:
            case 17:
            case 18:
                return 111;
            case 19:
                return 121;
            case 20:
            case 21:
            case 22:
                return 113;
            case 23:
            case 24:
                return 123;
            case 25:
                return 114;
            case 26:
            case 27:
                return 1142;
            case 28:
                return 116;
            default:
                return 1142;
        }
    }

    public static short RgvPosStaTwo(Short posId){
        switch (posId.intValue()){
            case 1:
                return 116;
            case 2:
                return 1142;
            case 3:
            case 4:
                return 114;
            case 5:
                return 123;
            case 6:
            case 7:
            case 8:
                return 113;
            case 9:
            case 10:
                return 121;
            case 11:
            case 12:
            case 13:
            case 14:
                return 120;
            case 15:
                return 110;
            case 16:
            case 17:
            case 18:
                return 119;
            case 19:
                return 108;
            case 20:
            case 21:
            case 22:
                return 107;
            case 23:
            case 24:
                return 105;
            case 25:
            case 26:
            case 27:
            case 28:
                return 104;
            default:
                return 104;
        }
    }

    public static Integer CrnStaEnd(Integer endSta,Integer souSta) {
        switch (souSta) {
            case 100:
            case 103:
            case 106:
            case 109:
            case 112:
            case 115:
                return souSta + 1;
            default:
                return endSta;
        }
    }

}