package com.ruoyi.api.controller;

import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackRequest;
import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackResponse;
import com.ruoyi.api.domain.agv.cancelTask.CancelTaskRequest;
import com.ruoyi.api.domain.agv.cancelTask.CancelTaskResponse;
import com.ruoyi.api.service.IApiService;
import com.ruoyi.common.core.controller.BaseController;
import com.ruoyi.common.core.domain.AjaxResult;
import com.ruoyi.queue.agv.domain.AgvQueue;
import com.ruoyi.queue.agv.service.IAgvQueueService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;

import java.util.Map;

/**
 * Agv操作请求
 */
@RestController
@RequestMapping("/agv/api")
@Slf4j
public class AgvController extends BaseController {


    @Autowired
    private IApiService apiService;
    @Autowired
    private IAgvQueueService agvQueueService;


    /**
     * agv执行状态返回接口
     * @param request
     * @return
     */
    @PostMapping("/agvCallback")
    public AgvCallbackResponse agvCallback(@RequestBody AgvCallbackRequest request) {
        return apiService.agvCallback(request);
    }


    /**
     * agv搬运作业
     * @param param{
     *             startPoint:起始点
     *             endPoint:结束点
     *             containerCode:容器编号
     *             taskNo:任务号
     * }
     * @return
     */
    @PostMapping("/receiveAgvMoveJob")
    public AjaxResult receiveAgvMoveJob(@RequestBody Map<String, String> param) {
        return apiService.receiveAgvMoveJob(param);
    }

    @PostMapping("/deleteAgvTray")
    public AjaxResult deleteAgvTray(@RequestBody Map<String, String> param) {
        AgvQueue agvQueue = agvQueueService.selectAgvQueueByTaskCode(param.get("taskCode"));
        if(agvQueue==null){
            return AjaxResult.error("AGV任务队列不存在！");
        }else{
            return apiService.deleteAgvTray(agvQueue);
        }

    }

    @PostMapping("/continueTask")
    public AjaxResult continueTask(@RequestBody Map<String, String> param) {
        AgvQueue agvQueue = agvQueueService.selectAgvQueueByTaskCode(param.get("taskCode"));
        if(agvQueue==null){
            return AjaxResult.error("AGV任务队列不存在！");
        }else{
            return apiService.continueTask(agvQueue);
        }

    }

    /**
     * 前端手动操作完成/取消AGV作业时，请求rcs，取消当前AGV正执行的作业
     * @param param
     * @return
     */
    @PostMapping("/cancelTask")
    public AjaxResult cancelTask(@RequestBody Map<String, String> param) {
        AgvQueue agvQueue = agvQueueService.selectAgvQueueByTaskCode(param.get("taskCode"));

        if(agvQueue==null){
            return AjaxResult.error("AGV任务队列不存在！");
        }else{
            CancelTaskRequest cancelTaskRequest = new CancelTaskRequest();
            cancelTaskRequest.setReqCode(IdUtil.fastSimpleUUID());
            cancelTaskRequest.setReqTime(DateUtil.formatDateTime(DateUtil.date()));
            cancelTaskRequest.setTaskCode(agvQueue.getTaskCode());

            //取消rcs中指定的agv任务
            CancelTaskResponse cancelTaskResponse = apiService.cancelTask(cancelTaskRequest);

            if(cancelTaskResponse.getCode() == 0 && "成功".equals(cancelTaskResponse.getMsg()) && cancelTaskResponse.getReqCode() == cancelTaskRequest.getReqCode()){
                return AjaxResult.success("AGV任务队列取消成功！", cancelTaskResponse);
            }

            return AjaxResult.error("取消RCS-AGV任务队列失败！");
        }

    }

}