package com.yvan.logisticsModel;

import com.fasterxml.jackson.annotation.JsonIgnore;
import com.galaxis.rcs.common.entity.RcsTaskPlan;
import com.galaxis.rcs.common.enums.AgvEventType;
import com.galaxis.rcs.common.enums.LCCDirection;
import com.galaxis.rcs.common.enums.PlanTaskStatus;
import com.galaxis.rcs.common.enums.PlanTaskType;
import com.galaxis.rcs.connector.cl2.Cl2DeviceConnector;
import com.galaxis.rcs.plan.PlanTaskSequence;
import com.galaxis.rcs.ptr.*;
import com.galaxis.rcs.ptr.receiveEntity.AmrHeartbeatMessage;
import com.galaxis.rcs.ptr.receiveEntity.base.CurBatteryData;
import com.galaxis.rcs.ptr.sendEntity.RcsConfigMessage;
import com.galaxis.rcs.ptr.sendEntity.RcsSRMessage;
import com.galaxis.rcs.ptr.sendEntity.RcsSetLocationMessage;
import com.google.common.base.Joiner;
import com.google.common.collect.Queues;
import lombok.SneakyThrows;
import lombok.extern.slf4j.Slf4j;
import org.clever.core.BannerUtils;
import org.clever.core.json.JsonWrapper;
import org.clever.data.redis.Redis;
import org.clever.data.redis.RedisAdmin;

import java.util.*;
import java.util.concurrent.BlockingQueue;
import java.util.concurrent.CopyOnWriteArraySet;
import java.util.concurrent.locks.LockSupport;

//0.4m/ss // a  max 1.2m/s
//90 = 3.5s cl2
//90 = 5s // cLX
@Slf4j
public abstract class PtrAgvItem extends ExecutorItem {
    private static final int BLOCKING_QUEUE_CAPACITY = 100;
    private static final Redis redis = RedisAdmin.getRedis();

    // ip
    public String ip;
    // agv名称
    public String agvName;
    // agv类型
    public String agvType;
    // agv型号
    public String agvModel;
    // AMR功能型号
    public String agvFnModel;
    // 电池信息
    public CurBatteryData battery;
    // agv当前x坐标
    public double x;
    // agv当前y坐标
    public double y;
    // agv当前z坐标
    public double z;
    // 当前所在站点的逻辑X坐标 Int32
    public int logicX;
    // 当前所在站点的逻辑Y坐标 Int32
    public int logicY;
    // 当前方向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
    public short direction;
    // agv当前转动角度值
    public double orientation;

    // 任务模式
    public AmrTaskMode taskMode;

    private volatile boolean isManualMode = false;
    private volatile boolean isPaused = false;
    private volatile PosDirection lastPausedPosition;
    private volatile boolean isOnline = false;

    private final Set<AgvEventListener> eventListeners = new CopyOnWriteArraySet<>();

    // 执行中的任务
    @JsonIgnore
    public List<PtrAgvDeviceTask> runningDeviceTaskList = new ArrayList<>();

    /**
     * 当前执行的任务规划列表
     */
    @JsonIgnore
    private volatile PlanTaskSequence planTaskSequence;

    /**
     * 当前执行的设备任务列表
     */
    @JsonIgnore
    final BlockingQueue<PtrAgvDeviceTask> deviceTaskQueue = Queues.newArrayBlockingQueue(BLOCKING_QUEUE_CAPACITY);

    final Cl2DeviceConnector cl2DeviceConnector = new Cl2DeviceConnector(this.runtime);

    @JsonIgnore
    public final AmrMessageHandler amrMessageHandler;

    /**
     * 连接器线程
     */
    private final PtrAgvConnectorThread connectorThread;

    public PtrAgvItem(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) {
        super(logisticsRuntime, raw);
        this.connectorThread = new PtrAgvConnectorThread(this, this.cl2DeviceConnector, logisticsRuntime);
        this.amrMessageHandler = logisticsRuntime.amrMessageHandler;
    }

    public abstract RcsConfigMessage getConfig();

    @SneakyThrows
    public synchronized void initialize() {
        this.amrMessageHandler.registeHeartBeatSet(this);


        // 查询当前状态
        requestCurrentStatus();
        this.isInitialized = true;

        this.startConnector();
    }

    public synchronized void shutdown() {
        this.stopConnector();
        this.amrMessageHandler.unregisteHeartBeatSet(this);
    }

    public synchronized void dispatchTask(PlanTaskSequence taskSequence) {
        if (!isFree()) {
            throw new IllegalStateException("AGV is not free to accept new tasks");
        }

        if (isManualMode) {
            throw new IllegalStateException("AGV is in manual mode and cannot accept tasks");
        }

        this.planTaskSequence = taskSequence;
        buildPlanToDeviceTask();
        fireEvent(AgvEventType.PLAN_ACCEPT, this);
        connectorThread.resumeProcessing();
    }

    public synchronized void pauseTask() {
        if (planTaskSequence == null) {
            throw new IllegalStateException("No active task to pause");
        }

        isPaused = true;
        lastPausedPosition = new PosDirection(logicX, logicY, direction);

        // 发送停止指令
        RcsSRMessage stopMsg = new RcsSRMessage(this.runtime);
        stopMsg.SeqNo = amrMessageHandler.getNewSeqNo();
        stopMsg.OperationCode = 0; // 停止
        stopMsg.StopX = logicX;
        stopMsg.StopY = logicY;

        try {
            amrMessageHandler.sendCmdSR(this.getId(), stopMsg);
        } catch (Exception e) {
            log.error("Failed to send stop command to AGV {}", this.getId(), e);
        }

        fireEvent(AgvEventType.PLAN_PAUSE, this);
    }

    public synchronized void resumeTask() {
        if (!isPaused) {
            throw new IllegalStateException("Task is not paused");
        }

        // 检查当前位置是否与暂停位置一致
        if (Math.abs(logicX - lastPausedPosition.logicX()) > 1 ||
            Math.abs(logicY - lastPausedPosition.logicY()) > 1 ||
            direction != lastPausedPosition.direction()) {
            // 需要返回暂停位置
            throw new RuntimeException("AGV position has changed since pause, cannot resume task safely");
        }

        isPaused = false;
        connectorThread.resumeProcessing();
        fireEvent(AgvEventType.PLAN_RESUME, this);
    }

    @SneakyThrows
    public synchronized void cancelTask() {
        if (planTaskSequence == null) {
            throw new IllegalStateException("No active task to cancel");
        }

        // 发送取消指令
        amrMessageHandler.sendCmdCancelTask(this.getId(), this.connectorThread.getCurrentTaskSeqNo());

        planTaskSequence = null;
        deviceTaskQueue.clear();
        fireEvent(AgvEventType.PLAN_CANCEL, this);
    }

    @SneakyThrows
    public void setPositionAndDirection(int x, int y, short direction) {
        RcsSetLocationMessage setLoc = new RcsSetLocationMessage(amrMessageHandler.getNewSeqNo());
        setLoc.X = (short) x;
        setLoc.Y = (short) y;
        setLoc.Direction = direction;

        amrMessageHandler.sendCmdSetLocation(this.getId(), setLoc);
    }

    public void setControlMode(ControlMode mode) {
        // 硬件控制模式设置逻辑
        this.isManualMode = (mode == ControlMode.MANUAL);

        if (mode != ControlMode.FULL_AUTO && planTaskSequence != null) {
            cancelTask();
        }

        // 更新Redis状态
        updateRedisStatus();
    }

    @SneakyThrows
    public void requestCurrentStatus() {
        amrMessageHandler.sendCmdQueryStatus(this.getId());
    }

    public boolean isFree() {
        // return (this.logisticsRuntime.isRunning() && this.deviceTaskQueue.isEmpty() && this.connectorThread.isRunning());
        if (!this.runtime.isRunning()) {
            return false;
        }
        if (planTaskSequence != null && !planTaskSequence.isAllCompleted()) {
            return false;
        }
        if (!deviceTaskQueue.isEmpty()) {
            return false;
        }
        if (this.isPaused) {
            return false;
        }
        return true;
    }

    public void updatePosition(int logicX, int logicY, short direction) {
        int oldX = this.logicX;
        int oldY = this.logicY;
        short oldDirection = this.direction;

        this.logicX = logicX;
        this.logicY = logicY;
        this.direction = direction;

        // 更新Redis
        updateRedisStatus();

        // 触发位置变化事件
        if (oldX != logicX || oldY != logicY) {
            fireEvent(AgvEventType.POS_CHANGED, this,
                new PosDirection(oldX, oldY, oldDirection),
                new PosDirection(logicX, logicY, direction));
        }

        if (oldDirection != direction) {
            fireEvent(AgvEventType.DIRECTION_CHANGED, this,
                oldDirection, direction);
        }

        boolean needCompute = false;

        // 从 runningDeviceTaskList 里面，找到完成到什么阶段
        // 比如 (1,2) -> (2,2) -> (3,2) ,  如果 updatePosition=3,2 ，那么前2个任务都要完成
        int finishTargetIndex = -1;
        if (this.runningDeviceTaskList != null && !this.runningDeviceTaskList.isEmpty() &&
            this.planTaskSequence != null && !this.planTaskSequence.isEmpty()) {

            for (int i = 0; i < runningDeviceTaskList.size(); i++) {
                PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
                if (task.checkLogicX == logicX && task.checkLogicY == logicY) {
                    finishTargetIndex = i;
                    break;
                }
            }

            if (finishTargetIndex >= 0) {
                needCompute = true;
                // 标记前面的任务都完成了
                for (int i = 0; i <= finishTargetIndex; i++) {
                    PtrAgvDeviceTask task = runningDeviceTaskList.get(i);

                    task.taskStatus = 4; // 标记为完成
                    task.taskGroupStatus = 4; // 标记为任务组完成
                    fireEvent(AgvEventType.DEVICE_TASK_COMPLETE, this, task);

                    // 更新计划任务
                    RcsTaskPlan planTask = planTaskSequence.getByPlanTaskId(task.planTaskId);
                    if (planTask != null) {
                        planTask.setPlanTaskStatus(PlanTaskStatus.FINISHED.toString());
                        planTaskSequence.savePlanTask(planTask);
                    }
                }

                if (planTaskSequence.isAllCompleted()) {
                    fireEvent(AgvEventType.PLAN_COMPLETE, this);
                    planTaskSequence = null;
                }
            }
        }

        BannerUtils.printConfig(log, "updatePosition", new String[]{
            "logicX: " + logicX,
            "logicY: " + logicY,
            "direction: " + direction,
            "finishTargetIndex: " + finishTargetIndex,
            "runningDeviceSize:" + (this.runningDeviceTaskList == null ? "null" : this.runningDeviceTaskList.size()),
            "planTask:" + (this.planTaskSequence == null ? "null" :
                ("\n" + Joiner.on("\n").join((List) this.planTaskSequence.toPrettyMap().get("items")))
            )
        });

        if (needCompute) {
            LockSupport.unpark(connectorThread);
        }
    }

    /**
     * 更新设备任务状态 暂时没有处理任务取消相关的状态
     *
     * @param seqNo
     * @param x
     * @param y
     * @param messageStatus
     */
    public void updateDeviceTaskStatus(int seqNo, int x, int y, int messageStatus) {
        // 更新任务状态逻辑
        if (messageStatus < 2) {
            return;
        }

        // 任务完成逻辑，在地标检查里
    }

    public void updateTaskMode(int taskMode) {

    }

    public void updateRedisStatus() {
        String statusKey = getRedisKey("status");
        Map<String, String> statusMap = new HashMap<>();
        statusMap.put("x", String.valueOf(x));
        statusMap.put("y", String.valueOf(y));
        statusMap.put("z", String.valueOf(z));
        statusMap.put("logicX", String.valueOf(logicX));
        statusMap.put("logicY", String.valueOf(logicY));
        statusMap.put("direction", String.valueOf(direction));
        statusMap.put("orientation", String.valueOf(orientation));
        statusMap.put("soc", this.battery == null ? "-1" : String.valueOf(this.battery.SOC));
        statusMap.put("mode", isManualMode ? "MANUAL" : "AUTO");
        statusMap.put("taskStatus", getTaskStatus());

        redis.hPutAll(statusKey, statusMap);
        redis.kExpire(statusKey, 10); // 10秒过期
    }

    public void handleHeartbeat(AmrHeartbeatMessage heartbeat) {
        // 更新在线状态
        String aliveKey = getRedisKey("alive");
        redis.vSet(aliveKey, "1");
        redis.kExpire(aliveKey, 5); // 5秒过期

        // 更新状态信息
        if (this.battery == null) {
            this.battery = new CurBatteryData();
        }
        this.battery.SOC = heartbeat.Battery;
        this.battery.setTemperature(heartbeat.Temperature.Battery);

        // 检查低电量
        if (this.battery.SOC < 20) {
            fireEvent(AgvEventType.LOW_BATTERY, this);
        }

        updateRedisStatus();
    }

    private void handleOnlineEvent() {
        isOnline = true;
        fireEvent(AgvEventType.ONLINE, this);
        requestCurrentStatus();
    }

    private void handleOfflineEvent() {
        isOnline = false;
        fireEvent(AgvEventType.OFFLINE, this);
    }

    // 事件监听管理
    public void addEventListener(AgvEventListener listener) {
        eventListeners.add(listener);
    }

    public void removeEventListener(AgvEventListener listener) {
        eventListeners.remove(listener);
    }

    private void fireEvent(AgvEventType type, Object... args) {
        for (AgvEventListener listener : eventListeners) {
            listener.onEvent(type, args);
        }
    }

    private String getTaskStatus() {
        if (planTaskSequence == null) return "IDLE";
        if (isPaused) return "PAUSED";
        return "EXECUTING";
    }


    /**
     * 启动连接器线程
     */
    public void startConnector() {
        if (!connectorThread.isRunning()) {
            connectorThread.start();
            System.out.println("Connector started for executor: " + this.getId());
        }
    }

    /**
     * 停止连接器线程
     */
    public void stopConnector() {
        connectorThread.stop();
        System.out.println("Connector stopped for executor: " + this.getId());
    }

    private static final int speed = 1000;

    /**
     * 添加任务序列到当前执行器
     */
    protected void buildPlanToDeviceTask() {
        PlanTaskSequence sequence = this.planTaskSequence;
        LogisticsRuntime runtime = sequence.logisticsRuntime;

        short direction = this.direction;

        // 获取当前设备点位(逻辑点位)
        StaticItem startPoint = runtime.getStaticItemByLogicXY(this.logicX, this.logicY);
        if (startPoint == null) {
            log.error("Cl2DeviceConnector robotMove: executorItem={}, task={}, agv当前点位为空 地图上没有标记", this.getId(), sequence.bizTask.getBizTaskId());
        }


        // 生成移动报文
        List<PtrAgvDeviceTask> deviceTaskList = new ArrayList<>();
        List<Map<String, Object>> linkStore = null;
        // 检查 planList 是不是全都是我的任务
        for (RcsTaskPlan plan : sequence.taskList) {
            String endPointId = plan.getTargetId();

            if (plan.getPlanType().equals(PlanTaskType.MOVE.toString()) || plan.getPlanType().equals(PlanTaskType.MOVE_BACKWARD.toString())) {
                // 获取目标点信息
                StaticItem pointItem = runtime.getStaticItemById(endPointId);
                linkStore = (List<Map<String, Object>>) pointItem.dt.get("linkStore");
                int d = -1;
                if (startPoint.logicX == pointItem.logicX && startPoint.logicY != pointItem.logicY) {
                    d = pointItem.logicY > startPoint.logicY ? CDirection.db : CDirection.dt;
                    if ((d > direction && d - CDirection.dl != direction) || (d < direction && d + CDirection.dl != direction)) {
                        throw new RuntimeException("方向错误");
                    }

                } else if (startPoint.logicY == pointItem.logicY && startPoint.logicX != pointItem.logicX) {
                    d = pointItem.logicX > startPoint.logicX ? CDirection.dr : CDirection.dl;
                    if ((d > direction && d - CDirection.dl != direction) || (d < direction && d + CDirection.dl != direction)) {
                        throw new RuntimeException("方向错误");
                    }
                    // distance += Math.abs(pointItem.getTransformationX() - startPoint.getTransformationX());

                } else {
                    throw new RuntimeException("无法识别的点位关系");
                }
                PtrAgvDeviceTask deviceTask = new PtrAgvDeviceTask();
                deviceTask.x = pointItem.logicX;
                deviceTask.y = pointItem.logicY;
                deviceTask.speed = d == direction ? (speed) : (-speed);
                deviceTask.direction = direction;
                deviceTask.pickMode = 0;
                deviceTask.startPoint = startPoint;
                deviceTask.endPoint = pointItem;
                deviceTask.bizTaskId = plan.getBizTaskId();
                deviceTask.planTaskId = plan.getPlanTaskId();
                // 行走任务完成后，检查用的字段
                deviceTask.checkLogicX = pointItem.logicX;
                deviceTask.checkLogicY = pointItem.logicY;
                deviceTaskList.add(deviceTask);
                // 设置新的起点
                startPoint = pointItem;

            } else if (plan.getPlanType().equals(PlanTaskType.ROTATION.toString())) {

                float r = plan.getTargetRotation().floatValue();
                while (r > 360) {
                    r -= 360;
                }
                while (r < 0) {
                    r += 360;
                }

                if (r >= 315 || r < 45) {
                    direction = CDirection.dr;

                } else if (r >= 45 && r < 135) {
                    direction = CDirection.dt;

                } else if (r >= 135 && r < 225) {
                    direction = CDirection.dl;

                } else if (r >= 225 && r < 315) {
                    direction = CDirection.db;
                }

            } else if (plan.getPlanType().equals(PlanTaskType.LOAD.toString())) {

                PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
                deviceTask.operationType = COperationType.transplantLoadAndUnload;
                deviceTask.pickMode = CPickMode.load;
                //处理取货高度
                StaticItem storeItem = runtime.getStaticItemById(endPointId);
                Map<String, Object> storeItemRaw = storeItem.dt;
                if (storeItemRaw.containsKey("bays")) {
                    List<Map<String, Object>> bays = (List<Map<String, Object>>) storeItemRaw.get("bays");
                    Map<String, Object> bay = bays.get(plan.getTargetBay());
                    List<Double> levelHeight = (List<Double>) bay.get("levelHeight");
                    deviceTask.goodsSlotHeight = (int) Math.round(levelHeight.get(plan.getTargetLevel()) * 1000);
                } else {
                    deviceTask.goodsSlotHeight = 1;
                }
                if (linkStore != null) {
                    for (Map<String, Object> store : linkStore) {
                        if (store.get("item").equals(plan.getTargetId()) && store.get("level").equals(plan.getTargetLevel()) && store.get("bay").equals(plan.getTargetBay()) && store.get("cell").equals(plan.getTargetCell())) {
                            short d = 0;
                            switch (store.get("direction").toString()) {
                                case "up":
                                    d = 1;
                                    break;
                                case "right":
                                    d = 2;
                                    break;
                                case "down":
                                    d = 3;
                                    break;
                                case "left":
                                    d = 0;
                                    break;
                            }
                            deviceTask.goodsSlotDirection = d;
                        }
                    }
                }

            } else if (plan.getPlanType().equals(PlanTaskType.UNLOAD.toString())) {
                PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
                deviceTask.operationType = COperationType.transplantLoadAndUnload;
                deviceTask.pickMode = CPickMode.unload;
                // 处理卸货高度
                StaticItem storeItem = runtime.getStaticItemById(endPointId);
                Map<String, Object> storeItemRaw = storeItem.dt;
                if (storeItemRaw.containsKey("bays") && storeItemRaw.containsKey("level")) {
                    List<Map<String, Object>> bays = (List<Map<String, Object>>) storeItemRaw.get("bays");
                    Map<String, Object> bay = bays.get(plan.getTargetBay());
                    List<Double> levelHeight = (List<Double>) bay.get("levels");
                    deviceTask.goodsSlotHeight = (int) Math.round(levelHeight.get(plan.getTargetLevel()) * 1000);
                } else {
                    deviceTask.goodsSlotHeight = 1;
                }
                if (linkStore != null) {
                    for (Map<String, Object> store : linkStore) {
                        if (store.get("item").equals(plan.getTargetId()) && store.get("level").equals(plan.getTargetLevel()) && store.get("bay").equals(plan.getTargetBay()) && store.get("cell").equals(plan.getTargetCell())) {
                            short d = 0;
                            switch (store.get("direction").toString()) {
                                case "up":
                                    d = 1;
                                    break;
                                case "right":
                                    d = 2;
                                    break;
                                case "down":
                                    d = 3;
                                    break;
                                case "left":
                                    d = 0;
                                    break;
                            }
                            deviceTask.goodsSlotDirection = d;
                        }
                    }
                }

            } else if (plan.getPlanType().equals(PlanTaskType.CHARGE.toString())) {
                PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
                deviceTask.operationType = COperationType.charge;
                // 处理充电距离(车的充电口到充电器被压下后的距离、一般被压下20mm)
            }

            if (!plan.getExecutorId().equals(this.getId())) {
                throw new RuntimeException("plan not belong executor:" + this.getId() + ", " + plan.getExecutorId());
            }

        }
        // 添加结束任务
        PtrAgvDeviceTask deviceTaskEnd = new PtrAgvDeviceTask();
        deviceTaskEnd.isLastTask = true;
        deviceTaskList.add(deviceTaskEnd);

//        planQueue.addAll(sequence.taskList);
        deviceTaskQueue.addAll(deviceTaskList);

        String json = JsonWrapper.toJson(deviceTaskList);
        log.info("deviceTaskList: {}", json);

        // TODO: 开启轮询线程，等待下一个待执行任务
    }

    public boolean isSamePosition(PosDirection startPos) {
        return this.logicX == startPos.logicX() && this.logicY == startPos.logicY() && this.direction == startPos.direction();
    }

    private static class CDirection {
        private static final short dr = 0;
        private static final short db = 1;
        private static final short dl = 2;
        private static final short dt = 3;
    }


    private static class COperationType {
        public static final short move = 0;
        public static final short load = 1;
        public static final short unpick = 2;
        public static final short charge = 3;
        public static final short transplantLoadAndUnload = 4;
        public static final short rollerLoadAndUnload = 5;
    }

    private static class CPickMode {
        public static final short normal = 0;
        public static final short load = 1;
        public static final short unload = 2;
        public static final short adjustHeight = 3;
        public static final short adjustHeightToLoad = 5;
        public static final short adjustHeightToUnload = 6;
    }


    /**
     * 从 AMR 方向转换为 LCC 方向枚举
     *
     * @return
     */
    public LCCDirection getLCCDirection() {
        return switch (direction) {
            case 0 -> LCCDirection.RIGHT;
            case 1 -> LCCDirection.DOWN;
            case 2 -> LCCDirection.LEFT;
            case 3 -> LCCDirection.UP;
            default -> null;
        };
    }

    public short getAmrDirection(LCCDirection lccDirection) {
        return switch (lccDirection) {
            case RIGHT -> 0;
            case DOWN -> 1;
            case LEFT -> 2;
            case UP -> 3;
            default -> -1; // 未知方向
        };
    }

    private String getRedisKey(String type) {
        return String.format("lcc:%s:%s:rcs:%s_%s",
            runtime.projectUUID, runtime.envId, type, this.getId());
    }
}