//
// Created by zx on 2020/7/7.
//

#include <Parkspace_communicator.h>
#include <dispatch_message.pb.h>
#include "dispatch_communicator.h"
#include "StoreProcessTask.h"
#include "process_message.pb.h"
#include "command_manager.h"
#include "system_communicator.h"
#include "exception_solver.h"
#include "uniq_key.h"

StoreProcessTask::StoreProcessTask(unsigned int terminor_id)
    :m_publish_statu_thread(nullptr)
{
    m_terminor_id=terminor_id;
}

StoreProcessTask::~StoreProcessTask()
{
    Exception_solver::get_instance_pointer()->delete_task_cancel_condition(m_car_info.license());
    //退出线程
    m_publish_exit_condition.set_pass_ever(true);
    if(m_publish_statu_thread!= nullptr)
    {
        if(m_publish_statu_thread->joinable())
        {
            m_publish_statu_thread->join();
        }
        delete m_publish_statu_thread;
        m_publish_statu_thread=nullptr;
    }
}

Error_manager StoreProcessTask::init_task(message::Locate_information locate_info,message::Car_info car_info)
{
    reset_msg();

    m_car_info=car_info;
    m_locate_info=locate_info;

    //添加当前流程的任务取消标志位到异常处理模块
    m_cancel_condition.reset(false, false, false);
    Error_manager code=Exception_solver::get_instance_pointer()->add_task_cancel_condition(car_info.license(),this);
    if(code!=SUCCESS)
        return code;

    //初始化进度状态消息基本信息
    message::Base_info base_info;
    base_info.set_msg_type(message::eStoring_process_statu_msg);
    base_info.set_sender(message::eMain);
    base_info.set_receiver(message::eEmpty);
    m_process_msg.mutable_base_info()->CopyFrom(base_info);
    m_process_msg.set_terminal_id(m_terminor_id);
    m_process_msg.set_license(m_car_info.license());

    m_step_statu=eAlloc_step;
    ///创建状态发布线程
    if(m_publish_statu_thread== nullptr)
    {
        m_publish_exit_condition.reset(false, false, false);
        m_publish_statu_thread=new std::thread(publish_thread_func,this);
    }

    return SUCCESS;

}

/*
     * 取消任务
     */
void StoreProcessTask::Cancel()
{
    m_cancel_condition.set_pass_ever(true);
    tq::BaseTask::Cancel();
}

Error_manager StoreProcessTask::locate_step() {
    Error_manager code;
    //检查测量模块状态
    code=Locate_communicator::get_instance_pointer()->check_statu(m_terminor_id);
    if(code!=SUCCESS)
        return code;

    message::Base_info base_info;
    base_info.set_msg_type(message::eLocate_request_msg);
    base_info.set_sender(message::eMain);
    base_info.set_receiver(message::eMeasurer);
    base_info.set_timeout_ms(20000); //测量超时5s
    m_measure_request_msg.mutable_base_info()->CopyFrom(base_info);

    m_measure_request_msg.set_command_key(create_key());
    m_measure_request_msg.set_terminal_id(m_terminor_id);

    code=Locate_communicator::get_instance_pointer()->locate_request(m_measure_request_msg,
            m_measure_response_msg,m_cancel_condition);
    if(code!=SUCCESS)
        return code;

    if(m_measure_response_msg.error_manager().error_code()==0) {
        return SUCCESS;
    }
    else
        return Error_manager(FAILED,MINOR_ERROR,m_measure_response_msg.error_manager().error_description().c_str());

}

/*
     * 回退定位
     */
Error_manager StoreProcessTask::back_locate_step()
{
    m_measure_request_msg=message::Measure_request_msg();
    m_measure_response_msg=message::Measure_response_msg();

    return SUCCESS;
}

/*
* 调度
*/
Error_manager StoreProcessTask::dispatch_step()
{
    Error_manager code;
    /*
     * 判断调度所需的数据是否都正常
     */
    //1,测量信息是否存在
    if(m_measure_response_msg.has_base_info()== false
        ||m_measure_response_msg.has_locate_information()==false
        ||m_parcspace_alloc_response_msg.has_base_info()== false
        ||m_parcspace_alloc_response_msg.has_allocated_space_info()==false)
    {
        return Error_manager(ERROR,MAJOR_ERROR,"调度所需的前置数据(测量,车位)不存在");
    }

    //2,判断调度节点状态
    code=Dispatch_communicator::get_instance_pointer()->check_entrance_statu(m_terminor_id);
    if(code!=SUCCESS)
        return code;

    message::Base_info base_info;
    base_info.set_msg_type(message::eDispatch_request_msg);
    base_info.set_sender(message::eMain);
    base_info.set_receiver(message::eDispatch);
    base_info.set_timeout_ms(1000*15); //超时15s
    m_dispatch_request_msg.mutable_base_info()->CopyFrom(base_info);

    std::string key=create_key();
    m_dispatch_request_msg.set_command_key(key);
    m_dispatch_request_msg.set_terminal_id(m_terminor_id);
    m_dispatch_request_msg.set_dispatch_motion_direction(message::E_STORE_CAR);
    m_dispatch_request_msg.set_parkspace_id(m_parcspace_alloc_response_msg.allocated_space_info().parkspace_id());

    code=Dispatch_communicator::get_instance_pointer()->dispatch_request(m_dispatch_request_msg,
            m_dispatch_response_msg,m_cancel_condition);
    if(code!=SUCCESS)
        return code;

    if(m_dispatch_response_msg.error_manager().error_code()==0) {
        return SUCCESS;
    }
    else
        return Error_manager(FAILED,MINOR_ERROR,"dispatch response error_code error");
}

/*
     * 回退调度
     */
Error_manager StoreProcessTask::back_dispatch_step()
{
    //reset 调度请求数据
    m_dispatch_request_msg=message::Dispatch_request_msg();
    m_dispatch_response_msg=message::Dispatch_response_msg();
    return SUCCESS;
}

/*
     * 分配车位
     */
Error_manager StoreProcessTask::alloc_space()
{

    /*
     * 检查是否有测量数据
     */
    if(m_locate_info.has_locate_height()==false||m_locate_info.has_locate_width()==false)
    {
        return Error_manager(FAILED,MINOR_ERROR,"停车请求缺少车辆高度和宽度信息");
    }
    /*
     * 检查车位管理模块是否正常
     */
    Error_manager code=Parkspace_communicator::get_instance_pointer()->check_statu();
    if(code!=SUCCESS)
    {
        return code;
    }

    //发送分配请求
    message::Base_info base_info;
    base_info.set_msg_type(message::eParkspace_allocation_request_msg);
    base_info.set_sender(message::eMain);
    base_info.set_receiver(message::eParkspace);
    base_info.set_timeout_ms(1000); //超时1s
    m_alloc_request_msg.mutable_base_info()->CopyFrom(base_info);

    m_alloc_request_msg.mutable_car_info()->CopyFrom(m_car_info);

    m_alloc_request_msg.set_command_key(create_key());
    m_alloc_request_msg.set_terminal_id(m_terminor_id);

    code=Parkspace_communicator::get_instance_pointer()->alloc_request(m_alloc_request_msg,
            m_parcspace_alloc_response_msg,m_cancel_condition);

    if(code!=SUCCESS)
    {
        return code;
    }

    if(m_parcspace_alloc_response_msg.error_manager().error_code()==0)
    {
        message::Car_info alloc_car_info=m_parcspace_alloc_response_msg.allocated_space_info().car_info();
        if(alloc_car_info.license()!=m_car_info.license())
        {
            return Error_manager(ERROR,MINOR_ERROR,"分配车位反馈的车辆信息不匹配");
        }
        //置步骤状态为测量状态.
        m_step_statu=eMeasure_step;
        return SUCCESS;
    }
    else
    {
        return Error_manager(FAILED,MINOR_ERROR,"分配车位反馈结果错误");
    }
}

/*
 * 车位占用确认
 */
Error_manager StoreProcessTask::confirm_space_step()
{
    /*
     * 检查车位管理模块是否正常
     */
    Error_manager code=Parkspace_communicator::get_instance_pointer()->check_statu();
    if(code!=SUCCESS)
        return code;

    message::Parkspace_confirm_alloc_request_msg request;
    message::Base_info base_info;
    base_info.set_msg_type(message::eParkspace_confirm_alloc_request_msg);
    base_info.set_sender(message::eMain);
    base_info.set_receiver(message::eParkspace);
    base_info.set_timeout_ms(1000); //测量超时1s
    request.mutable_base_info()->CopyFrom(base_info);

    message::Parkspace_info space_info=m_parcspace_alloc_response_msg.allocated_space_info();
    request.mutable_confirm_space_info()->CopyFrom(space_info);
    request.set_command_key(create_key());

    message::Parkspace_confirm_alloc_response_msg confirm_response;
    code=Parkspace_communicator::get_instance_pointer()->confirm_request(request,confirm_response,m_cancel_condition);
    if(code!=SUCCESS)
        return code;

    if(m_parcspace_alloc_response_msg.allocated_space_info().parkspace_id()!=
            confirm_response.confirm_alloc_space_info().parkspace_id())
    {
        return Error_manager(ERROR,MINOR_ERROR,"占用车位与分配车位不一致");
    }

    if(confirm_response.error_manager().error_code()==0) {
        /*LOG(INFO)<<"停车流程正常,确认占用车位成功,停车终端:"<<m_terminor_id
                    <<", 指令id:"<<m_command_info.place()+m_command_info.time()
                    <<", 车位楼层:"<<confirm_response.confirm_alloc_space_info().floor()
                    <<", 车位序号:"<<confirm_response.confirm_alloc_space_info().index()
                    <<", 车牌号:"<<confirm_response.confirm_alloc_space_info().car_info().license();*/
        return SUCCESS;
    }
    else
        return Error_manager(FAILED,MINOR_ERROR,"parkspace confirm response error_code error");
}


/*
 * 回退车位分配
 */
Error_manager StoreProcessTask::back_alloc_space_step()
{
    /*
    * 检查是否曾经分配过车位
    */
    if(m_parcspace_alloc_response_msg.has_allocated_space_info()==false)
    {
        return Error_manager(FAILED,MINOR_ERROR," parkspace release request without space info");
    }

    /*
     * 检查车位管理模块是否正常
     */
    Error_manager code=Parkspace_communicator::get_instance_pointer()->check_statu();
    if(code!=SUCCESS)
        return code;

    message::Parkspace_release_request_msg request;
    message::Base_info base_info;
    base_info.set_msg_type(message::eParkspace_release_request_msg);
    base_info.set_sender(message::eMain);
    base_info.set_receiver(message::eParkspace);
    base_info.set_timeout_ms(1000); //测量超时1s
    request.mutable_base_info()->CopyFrom(base_info);

    message::Parkspace_info space_info=m_parcspace_alloc_response_msg.allocated_space_info();
    request.mutable_release_space_info()->CopyFrom(space_info);
    request.set_command_key(create_key());

    message::Parkspace_release_response_msg release_response;
    code=Parkspace_communicator::get_instance_pointer()->release_request(request,release_response,m_cancel_condition);
    if(code!=SUCCESS)
        return code;

    if(release_response.error_manager().error_code()==0) {
        /*LOG(WARNING)<<"停车流程异常,释放车位成功,停车终端:"<<m_terminor_id
                 <<", 指令id:"<<m_command_info.place()+m_command_info.time()
                 <<", 车位楼层:"<<m_parcspace_alloc_response_msg.allocated_space_info().floor()
                 <<", 车位序号:"<<m_parcspace_alloc_response_msg.allocated_space_info().index()
                 <<", 车牌号:"<<m_parcspace_alloc_response_msg.allocated_space_info().car_info().license();*/

        m_alloc_request_msg=message::Parkspace_allocation_request_msg();
        m_parcspace_alloc_response_msg=message::Parkspace_allocation_response_msg();
        return SUCCESS;
    }
    else
        return Error_manager(FAILED,MINOR_ERROR,"parkspace release response error_code error");
}

void StoreProcessTask::Main()
{
    /*
     * 外部已经分配好车位,进入到此流程说明车位已经分配好, 存放在 m_parcspace_alloc_response_msg
     */
    Error_manager code;
    //开始执行停车指令
    while(m_cancel_condition.wait_for_millisecond(1)==false)
    {
        //第一步,测量
        if (m_step_statu == eStoring_step::eMeasure_step)
        {
            //开始定位
            code = locate_step();
            usleep(1000 * 1000 * (rand() % 5 + 1));

            LOG_IF(ERROR, code != SUCCESS) << "测量失败:" << code.get_error_description();
            m_step_statu = (code != SUCCESS) ? eStoring_step::eBackMeasure_step : eStoring_step::eDispatch_step;
        }
        //第二步,调度
        if (m_step_statu == eStoring_step::eDispatch_step)
        {
            //开始调度
            code = dispatch_step();
            usleep(1000 * 1000 * (rand() % 13));

            LOG_IF(ERROR, code != SUCCESS) << "调度失败:" << code.get_error_description();
            m_step_statu = (code != SUCCESS) ? eStoring_step::eBackDispatch_step : eStoring_step::eConfirm_step;
        }
        //第三步,占据车位
        if (m_step_statu == eStoring_step::eConfirm_step)
        {
            code = confirm_space_step();
            usleep(1000 * 1000);
            LOG_IF(ERROR, code != SUCCESS) << "终端号:" << m_terminor_id << "停车流程:" << code.get_error_description() <<
                                           " 车位id :"
                                           << m_parcspace_alloc_response_msg.allocated_space_info().parkspace_id()
                                           << ",车牌:" << m_car_info.license()<<code.to_string();
            //最后一步故障,提升故障等级,急停
            if(code!=SUCCESS)
            {
                break;
            }
            else
            {
                m_step_statu=eStoring_step::eComplete;
            }
        }
        //第四步,完成,退出循环
        if (m_step_statu == eStoring_step::eComplete)
        {
            //流程结束前,保证至少发送一次流程完成状态
            if(updata_step_statu_msg()==SUCCESS)
            {
                System_communicator::get_instance_pointer()->post_process_statu(m_process_msg);
            }
            break;
        }
        //回退confirm  ------------------------------------华丽的分割线------------------------------------------
        if (m_step_statu == eStoring_step::eBackConfirm_step)
        {
            m_step_statu=eStoring_step::eBackDispatch_step;
        }
        if(m_step_statu==eStoring_step::eBackDispatch_step)
        {
            code=back_dispatch_step();
            if(code!=SUCCESS)
            {
                //提升错误等级为四级
                break;
            }
            else
            {
                m_step_statu=eStoring_step::eBackMeasure_step;
            }
        }
        if(m_step_statu==eStoring_step::eBackMeasure_step)
        {
            code=back_locate_step();
            if(code!=SUCCESS)
            {
                //提升错误等级为四级
                break;
            }
            else
            {
                m_step_statu=eStoring_step::eBackAlloc_step;
            }
        }
        if(m_step_statu==eStoring_step::eBackAlloc_step)
        {
            code=back_alloc_space_step();
            if(code!=SUCCESS)
            {
                //提升错误等级为四级
                break;
            }
            else
            {
                m_step_statu=eStoring_step::eBackComplete;
                break;
            }
        }
    }

    /*
     * 跳出循环后,判断状态,是否正常结束, 循环跳出状态只有可能是 eBackComplete(异常结束),eComplete(正常结束),任务取消状态
     */
    if(m_cancel_condition.wait_for_millisecond(1)==true) {
        LOG(ERROR) << "停车任务被强制取消,车牌号:" << m_car_info.license()
                   << ",  终端号:" << m_terminor_id;
        return ;
    }

    if(m_step_statu==eStoring_step::eBackComplete)
    {
        //异常结束
        usleep(1000*10000);
        LOG(ERROR)<<"异常停车,回退结束"<<"车牌号:"<<m_car_info.license()
            <<",xxxxxxxxxxxxxx  终端:"<<m_terminor_id<<"  xxxxxxxxxxxxxx";
    }
    if(m_step_statu==eStoring_step::eComplete)
    {
        //正常结束
        usleep(1000*1000);
        LOG(INFO)<<"停车结束,"<<"车牌号:"<<m_car_info.license()
            <<",--------------  终端:"<<m_terminor_id<<"  --------------";
    }
}

/*
 * 发布状态线程
 */
void StoreProcessTask::publish_thread_func(StoreProcessTask* ptask)
{
    if(ptask)
    {
        ptask->publish_step_status();
    }
}
void StoreProcessTask::publish_step_status()
{
    //未收到退出信号
    while(false==m_publish_exit_condition.wait_for_ex(std::chrono::milliseconds(50)))
    {
        /*
         * 通过communicator 发布状态
         */
        if(System_communicator::get_instance_pointer())
        {
            if(updata_step_statu_msg()==SUCCESS)
            {
                System_communicator::get_instance_pointer()->post_process_statu(m_process_msg);
            }
        }
    }
}

/*
     * 根据当前流程状态,生成状态消息
     */
Error_manager StoreProcessTask::updata_step_statu_msg()
{
    switch (m_step_statu) {
        case eStoring_step::eAlloc_step: {
                message::Alloc_space_step_statu alloc_step_statu;
                alloc_step_statu.set_step_statu(message::eWorking);
                m_process_msg.mutable_alloc_space_step()->CopyFrom(alloc_step_statu);
            break;
        }
        case eStoring_step::eMeasure_step: {

                message::Measure_step_statu measure_step_statu;
                measure_step_statu.set_step_statu(message::eWorking);
                measure_step_statu.mutable_locate_info()->CopyFrom(m_locate_info);
                m_process_msg.mutable_measure_step()->CopyFrom(measure_step_statu);
            if(m_process_msg.has_alloc_space_step())
            {
                m_process_msg.mutable_alloc_space_step()->set_step_statu(message::eComplete);
            }
           break;
        }
        case eStoring_step::eCompare_step:{
            message::Compare_step_statu     compare_step;
            compare_step.mutable_locate_info_wj()->CopyFrom(m_locate_info);
            compare_step.mutable_locate_info_dj()->CopyFrom(m_measure_response_msg.locate_information());
            compare_step.mutable_locate_info_result()->CopyFrom(m_compare_location_data);
            compare_step.set_step_statu(message::eWorking);
            m_process_msg.mutable_compare_step()->CopyFrom(compare_step);
            if(m_process_msg.has_measure_step())
                m_process_msg.mutable_measure_step()->set_step_statu(message::eComplete);
            break;
        }
        case eStoring_step::eDispatch_step: {
            message::Dispatch_store_step_statu          dispatch_step_statu;
            dispatch_step_statu.set_step_statu(message::eWorking);
            dispatch_step_statu.mutable_locate_info()->CopyFrom(m_locate_info);
            dispatch_step_statu.mutable_space_info()->CopyFrom(m_parcspace_alloc_response_msg.allocated_space_info());
            m_process_msg.mutable_dispatch_step()->CopyFrom(dispatch_step_statu);
            if(m_process_msg.has_compare_step())
                m_process_msg.mutable_compare_step()->set_step_statu(message::eComplete);
            break;
        }
        case eStoring_step::eConfirm_step: {
            message::Confirm_space_step_statu           confirm_step_statu;
            confirm_step_statu.set_step_statu(message::eWorking);
            confirm_step_statu.mutable_space_info()->CopyFrom(m_parcspace_alloc_response_msg.allocated_space_info());
            m_process_msg.mutable_confirm_space_step()->CopyFrom(confirm_step_statu);
            if(m_process_msg.has_dispatch_step())
                m_process_msg.mutable_dispatch_step()->set_step_statu(message::eComplete);
            break;
        }
        case eStoring_step::eComplete: {
            m_process_msg.set_completed(true);
            break;
        }
        case eStoring_step::eBackConfirm_step: {
                message::Back_confirm_space_step_statu back_confirm_step_statu;
                back_confirm_step_statu.set_step_statu(message::eWaiting);
                if (m_process_msg.has_confirm_space_step())
                    m_process_msg.mutable_confirm_space_step()->set_step_statu(message::eError);

            break;
        }
        case eStoring_step::eBackDispatch_step: {
            message::Back_dispatch_store_step_statu   back_dispatch_step_statu;
            back_dispatch_step_statu.set_step_statu(message::eWorking);
            back_dispatch_step_statu.mutable_space_info()->CopyFrom(m_parcspace_alloc_response_msg.allocated_space_info());
            back_dispatch_step_statu.mutable_locate_info()->CopyFrom(m_compare_location_data);
            m_process_msg.mutable_back_dispatch_step()->CopyFrom(back_dispatch_step_statu);
            if(m_process_msg.has_back_confirm_step())
                m_process_msg.mutable_back_confirm_step()->set_step_statu(message::eComplete);
            else
                m_process_msg.mutable_dispatch_step()->set_step_statu(message::eError);
            break;
        }
        case eStoring_step::eBack_compare_step:{
            message::Back_compare_step_statu    back_compare_step_statu;
            back_compare_step_statu.set_step_statu(message::eWorking);
            back_compare_step_statu.mutable_locate_info_wj()->CopyFrom(m_locate_info);
            back_compare_step_statu.mutable_locate_info_dj()->CopyFrom(m_measure_response_msg.locate_information());
            back_compare_step_statu.mutable_locate_info_result()->CopyFrom(m_compare_location_data);
            m_process_msg.mutable_compare_step()->CopyFrom(back_compare_step_statu);
            if(m_process_msg.has_back_dispatch_step())
                m_process_msg.mutable_back_dispatch_step()->set_step_statu(message::eComplete);
            else
                m_process_msg.mutable_compare_step()->set_step_statu(message::eError);
            break;
        }
        case eStoring_step::eBackMeasure_step: {
            message::Back_measure_step_statu        back_measure_step_statu;
            back_measure_step_statu.set_step_statu(message::eWorking);
            m_process_msg.mutable_back_measure_step()->CopyFrom(back_measure_step_statu);
            if(m_process_msg.has_back_compare_step())
                m_process_msg.mutable_back_compare_step()->set_step_statu(message::eComplete);
            else
                m_process_msg.mutable_measure_step()->set_step_statu(message::eError);
            break;
        }
        case eStoring_step::eBackAlloc_step: {
            message::Back_alloc_space_step_statu    back_alloc_step_statu;
            back_alloc_step_statu.set_step_statu(message::eWorking);
            back_alloc_step_statu.mutable_space_info()->CopyFrom(m_parcspace_alloc_response_msg.allocated_space_info());
            m_process_msg.mutable_back_alloc_space_step()->CopyFrom(back_alloc_step_statu);
            if(m_process_msg.has_back_measure_step())
                m_process_msg.mutable_back_measure_step()->set_step_statu(message::eComplete);
            else
                m_process_msg.mutable_alloc_space_step()->set_step_statu(message::eError);
            break;
        }
        case eStoring_step::eBackComplete: {
            m_process_msg.set_back_completed(true);
            break;
        }
        default:
            break;
    }

    return SUCCESS;
}


/*
     * 初始化 接收到的消息
     */
void StoreProcessTask::reset_msg() {

    m_alloc_request_msg = message::Parkspace_allocation_request_msg();
    m_measure_request_msg = message::Measure_request_msg();
    m_dispatch_request_msg = message::Dispatch_request_msg();
    m_confirm_request_msg = message::Parkspace_confirm_alloc_request_msg();

    m_locate_info = message::Locate_information();
    m_measure_response_msg = message::Measure_response_msg();         //测量模块的测量数据
    m_parcspace_alloc_response_msg = message::Parkspace_allocation_response_msg(); //分配的车位数据
    m_dispatch_response_msg = message::Dispatch_response_msg();        //调度模块的反馈数据
}