using AngleSharp.Dom;
using Furion.Logging;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Logical;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WCS.Application.Entity;

namespace WCS.Application.Util;

public static class FourWayCarUtil
{
    private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);

    /// <summary>
    /// 
    /// </summary>
    /// <param name="list">集合</param>
    /// <param name="moveType">移动类型 0:移动 1:移货 </param>
    /// <returns></returns>
    public static List<CarModel> GetCarPathUp(List<CarModel> list,int moveType)
    {
        for (int i = 0; i < list.Count; i++)
        {
            if (i > 0 && i < list.Count - 1)
            {
                if (list[i].X == list[i + 1].X)
                {
                    list[i].NodeCom = 2;
                }
                else if (list[i].Y == list[i + 1].Y)
                {
                    list[i].NodeCom = 3;
                }
            }
            if (i== 0)
            {
                list[i].IsSendPlc = true;
                if (moveType == 0)
                {
                    if (list[i + 1] == null)
                    {
                        continue;
                    }
                    
                }
                else 
                {
                    list[i].NodeCom = 1;
                }
            }
            if (i == list.Count-1)
            {
                list[i].IsSendPlc = true;
                if (moveType == 0)
                {
                    list[i].NodeCom = list[i + 1].NodeCom;
                }
                else
                {
                    list[i].NodeCom = 4;
                }
            }
        }
        return list;
    }

    /// <summary>
    /// 获取小车路径
    /// </summary>
    /// <param name="startLocation">起始位置</param>
    /// <param name="endLocation">目标位置</param>
    /// <param name="isLoad">是否载货0：未载货  1：已载货</param>
    /// <returns></returns>
    public static List<CarModel> GetCarPath(string startLocation, string endLocation,  string isLoad = "0")
    {
        if (string.IsNullOrEmpty(startLocation) || string.IsNullOrEmpty(endLocation))
        {
            return null;
        }

        // 起始位置
        CarModel start = new CarModel()
        {
            X = int.Parse(startLocation.Substring(0, 2)),
            Y = int.Parse(startLocation.Substring(2, 2)),
            Z = int.Parse(startLocation.Substring(4, 2)),
            NodeCom = 0
        };

        // 目标位置
        CarModel end = new CarModel()
        {
            X = int.Parse(endLocation.Substring(0, 2)),
            Y = int.Parse(endLocation.Substring(2, 2)),
            Z = int.Parse(endLocation.Substring(4, 2)),
            NodeCom = 0
        };

        // 获取储位表信息存储到集合里
        var layer = int.Parse(startLocation.Substring(4, 2));

        //  获取当前层储位信息
        var locationModels = _db.Queryable<WcsStorageLocat>()
            .Where(m => m.WareHouseNo == "W01" && m.Layer == layer && m.IsDelete == false)
            .ToList();

        #region 使用算法计算小车路径
        try
        {
            // 定义开发列表存储路径节点
            var openSet = new SortedSet<(int fscore, CarModel pos)>();
            // 定义关闭节点字典
            var closeSet = new Dictionary<CarModel, CarModel>();
            // 定义上一位置与目标位置字典
            var cameFrom = new Dictionary<CarModel, CarModel>();
            // 定义上一位置与目标位置的实际距离字典
            var gScore = new Dictionary<CarModel, int>();
            // 定义上一位置与目标位置的预估距离字典
            var fScore = new Dictionary<CarModel, int>();

            // 存储最优距离，及起始节点
            openSet.Add((Heuristic(start, end), start));
            gScore[start] = 0;
            fScore[start] = Heuristic(start, end);

            // 循环查找路径
            while (openSet.Count > 0)
            {
                var current = openSet.Min.pos;
                openSet.Remove(openSet.Min);

                if (current.Equals(end))
                {
                    Log.Error(ReconstructPath(cameFrom, current).ToString());
                    return ReconstructPath(cameFrom, current);
                }

                // 存储小车可运行的方向
                var validDirections = new List<CarModel>();
                var currentLocation = locationModels.FirstOrDefault(m => m.Row == current.X && m.Column == current.Y);
                if (currentLocation.Make == "0")
                {
                    // 主通道
                    validDirections.Add(new CarModel() { X = 1, Y = 0 }); // 右
                    validDirections.Add(new CarModel() { X = -1, Y = 0 }); // 左
                    validDirections.Add(new CarModel() { X = 0, Y = 1 }); // 下
                    validDirections.Add(new CarModel() { X = 0, Y = -1 }); // 上
                }

                if (currentLocation.Make == "1")
                {
                    // 子通道
                    // 先拆分出口
                    var outNode = currentLocation.AisleOne;
                    if (string.IsNullOrEmpty(outNode))
                    {
                        throw new Exception("当前位置没有维护出口！");
                    }
                    int outX = int.Parse(outNode.Substring(0, 2));
                    int outY = int.Parse(outNode.Substring(2, 2));
                    if (current.X == outX)
                    {
                        validDirections.Add(new CarModel() { X = 0, Y = 1 }); // 下
                        validDirections.Add(new CarModel() { X = 0, Y = -1 }); // 上

                    }
                    else
                    {
                        validDirections.Add(new CarModel() { X = 1, Y = 0 }); // 右
                        validDirections.Add(new CarModel() { X = -1, Y = 0 }); // 左
                    }
                }

                // 循环连接节点。
                bool isNextNode = false;
                foreach (var dir in validDirections)
                {
                    CarModel neighbor = new CarModel() { X = current.X + dir.X, Y = current.Y + dir.Y, Z = layer };

                    // 验证下一节点位置是否可通行并且判断是否被其他小车占用


                    // 判断下一节点是否关闭
                    if (closeSet.ContainsKey(neighbor))
                    {
                        closeSet[neighbor] = neighbor;
                    }

                    // 当前节点
                    var currentModel = locationModels.FirstOrDefault(it => it.Row == current.X && it.Column == current.Y);
                    // 下一节点
                    var locationModel = locationModels.FirstOrDefault(it => it.Row == neighbor.X && it.Column == neighbor.Y);

                    // 不存在此位置信息
                    if (locationModel == null)
                    {
                        closeSet[neighbor] = neighbor;
                        continue;
                    }
                    // 储位状态为损坏不可通行 储位状态为屏蔽为可通行不可存储托盘
                    if (locationModel.Flag == "2")
                    {
                        closeSet[neighbor] = neighbor;
                        continue;
                    }
                    // 判断下一节点上是否有托盘
                    if (!string.IsNullOrEmpty(locationModel.PalletNo))
                    {
                        // 判断小车是否载托盘盘
                        if (isLoad == "1")
                        {
                            closeSet[neighbor] = neighbor;
                            // 小车上载托盘不可通行跳过
                            continue;
                        }
                    }
                    // 优化项，验证下一节点是否被别的小车占用 liudl：在此添加优化代码

                    // 更新实际距离
                    int tentativeGScore = gScore[current] + 1;
                    // 判断位置是否已包含在路径内 且 是否更近节点
                    if (!gScore.ContainsKey(neighbor) || tentativeGScore < gScore[neighbor])
                    {
                        neighbor.IsSendPlc = false;

                        //if (current.X == neighbor.X)
                        //{
                        //    current.NodeCom = 2;
                        //}
                        //else if (current.Y == neighbor.Y)
                        //{
                        //    current.NodeCom = 3;
                        //}

                        //// 补充参数
                        //if (current.Equals(start))
                        //{
                        //    current.NodeCom = moveType;
                        //    current.IsSendPlc = true;
                        //}
                        //if (neighbor.Equals(end))
                        //{
                        //    //neighbor.NodeCom = moveType != 0 ? 2:0 ;
                        //    if (moveType == 1)
                        //    {
                        //        neighbor.NodeCom = 4;
                        //    }
                        //    else 
                        //    {
                        //        neighbor.NodeCom = current.NodeCom;
                        //    }

                        //    neighbor.IsSendPlc = true;
                        //}
                        if (currentModel.Make != locationModel.Make)
                        {
                            neighbor.IsSendPlc = true; 
                        }
                                                

                        // 更新实际距离与预估距离
                        cameFrom[neighbor] = current;
                        gScore[neighbor] = tentativeGScore;
                        fScore[neighbor] = tentativeGScore + Heuristic(neighbor, end);
                        openSet.Add((fScore[neighbor], neighbor));
                        isNextNode = true;
                    }
                }

                if (!isNextNode)
                {
                    closeSet[current] = current;
                }
            }
            #endregion
        }
        catch (Exception)
        {
            throw;
        }

        return null;
    }

    /// <summary>
    /// 获取小车移动的目标位置
    /// </summary>
    /// <param name="startLocation">起始位置</param>
    /// <param name="noPathStr">不能存放的储位字符串</param>
    /// <returns></returns>
    public static string GetCarEndLocation(string startLocation,string noPathStr)
    {
        if (string.IsNullOrEmpty(startLocation))
        {
            return null;
        }

        // 起始位置
        CarModel start = new CarModel()
        {
            X = int.Parse(startLocation.Substring(0, 2)),
            Y = int.Parse(startLocation.Substring(2, 2)),
            Z = int.Parse(startLocation.Substring(4, 2)),
            NodeCom = 0
        };

        // 获取储位表信息存储到集合里
        var layer = int.Parse(startLocation.Substring(4, 2));

        //  获取当前层储位信息
        var locationModels = _db.Queryable<WcsStorageLocat>()
            .Where(m => m.WareHouseNo == "W01" && m.Layer == layer && m.IsDelete == false)
        .ToList();

        #region MyRegion

        var list = locationModels.Where(m => !noPathStr.Contains(m.LocatNo)).OrderBy(m=> Math.Abs(start.X - m.Row) + Math.Abs(start.Y - m.Column)).ToList();
        var locateStr = "";
        foreach (var item in list)
        {
            // 储位状态为损坏不可通行 储位状态为屏蔽为可通行不可存储托盘
            if (item.Flag == "2")
            {
                continue;
            }
            locateStr = item.LocatNo;
            break;
        }
        return locateStr;
        #endregion

        #region 使用算法计算小车可移动的目标路径
        //try
        //{

        //    // 定义关闭节点字典
        //    var closeSet = new Dictionary<CarModel, CarModel>();

        //    // 存储小车可运行的方向
        //    var validDirections = new List<CarModel>();
        //    var currentLocation = locationModels.FirstOrDefault(m => m.Row == start.X && m.Column == start.Y);
        //    if (currentLocation.Make == "0")
        //    {
        //        // 主通道
        //        validDirections.Add(new CarModel() { X = 1, Y = 0 }); // 右
        //        validDirections.Add(new CarModel() { X = -1, Y = 0 }); // 左
        //        validDirections.Add(new CarModel() { X = 0, Y = 1 }); // 下
        //        validDirections.Add(new CarModel() { X = 0, Y = -1 }); // 上
        //    }

        //    if (currentLocation.Make == "1")
        //    {
        //        // 子通道
        //        // 先拆分出口
        //        var outNode = currentLocation.AisleOne;
        //        if (string.IsNullOrEmpty(outNode))
        //        {
        //            throw new Exception("当前位置没有维护出口！");
        //        }
        //        int outX = int.Parse(outNode.Substring(0, 2));
        //        int outY = int.Parse(outNode.Substring(2, 2));
        //        if (start.X == outX)
        //        {
        //            validDirections.Add(new CarModel() { X = 0, Y = 1 }); // 下
        //            validDirections.Add(new CarModel() { X = 0, Y = -1 }); // 上

        //        }
        //        else
        //        {
        //            validDirections.Add(new CarModel() { X = 1, Y = 0 }); // 右
        //            validDirections.Add(new CarModel() { X = -1, Y = 0 }); // 左
        //        }
        //    }

        //    foreach (var dir in validDirections)
        //    {
        //        CarModel neighbor = new CarModel() { X = start.X + dir.X, Y = start.Y + dir.Y, Z = layer };

        //        // 验证下一节点位置是否可通行并且判断是否被其他小车占用


        //        // 判断下一节点是否关闭
        //        if (closeSet.ContainsKey(neighbor))
        //        {
        //            closeSet[neighbor] = neighbor;
        //        }

        //        // 当前节点
        //        var currentModel = locationModels.FirstOrDefault(it => it.Row == start.X && it.Column == start.Y);
        //        // 下一节点
        //        var locationModel = locationModels.FirstOrDefault(it => it.Row == neighbor.X && it.Column == neighbor.Y);

        //        // 不存在此位置信息
        //        if (locationModel == null)
        //        {
        //            closeSet[neighbor] = neighbor;
        //            continue;
        //        }
        //        // 储位状态为损坏不可通行 储位状态为屏蔽为可通行不可存储托盘
        //        if (locationModel.Flag == "2")
        //        {
        //            closeSet[neighbor] = neighbor;
        //            continue;
        //        }

        //    }



        //}
        //catch (Exception)
        //{
        //    throw;
        //}

        //return null;
        #endregion
    }

    public static int GetTaskNo()
    {
        var list = _db.Queryable<WcsCarTasks>().ToList();
        var maxNo = list.Max(m => m.CarTaskNo);
        
        if (maxNo!=null && maxNo > 0)
        {
            if (maxNo++ > 65535)
            {
                return 1;
            }
             
            return (int)maxNo++;
        }
        return 1;
          
    }

    /// <summary>
    /// 计算曼哈顿距离
    /// </summary>
    /// <param name="start">起始位置</param>
    /// <param name="end">目标位置</param>
    /// <returns>位置距离</returns>
    private static int Heuristic(CarModel start, CarModel end)
    {
        return Math.Abs(start.X - end.X) + Math.Abs(start.Y - end.Y);
    }

    /// <summary>
    /// 重构完整路径
    /// </summary>
    /// <param name="cameFrom"></param>
    /// <param name="current"></param>
    /// <returns></returns>
    private static List<CarModel> ReconstructPath(Dictionary<CarModel, CarModel> cameFrom, CarModel current)
    {
        var path = new List<CarModel> { current };
        while (cameFrom.ContainsKey(current))
        {
            current = cameFrom[current];
            path.Insert(0, current);
        }
        return path;
    }
}

public class CarModel : IComparable<CarModel>
{
    /// <summary>
    /// 行=X
    /// </summary>
    public int X { get; set; }

    /// <summary>
    /// 列=Y
    /// </summary>
    public int Y { get; set; }

    /// <summary>
    /// 层=Z
    /// </summary>
    public int Z { get; set; }

    /// <summary>
    /// 节点命令 1:顶货  2:子通道运行  3:主通道运行  4:放货
    /// </summary>
    public int NodeCom { get; set; }

    /// <summary>
    /// 是否下发plc
    /// </summary>
    public bool IsSendPlc { get; set; }

    public int CompareTo(CarModel other)
    {
        if (other == null)
            return 1;

        // 这里根据 X、Y、Z 坐标进行比较
        int result = X.CompareTo(other.X);
        if (result != 0)
            return result;

        result = Y.CompareTo(other.Y);
        if (result != 0)
            return result;

        return Z.CompareTo(other.Z);
    }

    // 重写 Equals 方法
    public override bool Equals(object obj)
    {
        if (obj == null || GetType() != obj.GetType())
            return false;

        CarModel other = (CarModel)obj;
        return X == other.X && Y == other.Y && Z == other.Z;
    }

    // 重写 GetHashCode 方法
    public override int GetHashCode()
    {
        return HashCode.Combine(X, Y, Z);
    }
}

public class CarInfo
{
    /// <summary>
    /// 小车IP
    /// </summary>
    public string CarPlcIp { get; set; }

    /// <summary>
    /// 顺序等级
    /// </summary>
    public int Level { get; set; }

    /// <summary>
    /// 行=X
    /// </summary>
    public int X { get; set; }

    /// <summary>
    /// 列=Y
    /// </summary>
    public int Y { get; set; }

    /// <summary>
    /// 层=Z
    /// </summary>
    public int Z { get; set; }
}