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

#include <Parkspace_communicator.h>
#include <dispatch_message.pb.h>
#include "PickupProcessTask.h"
#include "process_message.pb.h"
#include "command_manager.h"
#include "system_communicator.h"

PickupProcessTask::PickupProcessTask(unsigned int terminal_id)
    :m_publish_statu_thread(nullptr)
{
    m_terminor_id=terminal_id;
    m_command_id=-1;

    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_picking_process_statu_msg.mutable_base_info()->CopyFrom(base_info);
    m_picking_process_statu_msg.set_terminal_id(terminal_id);
    reset_process_statu();
}
PickupProcessTask::~PickupProcessTask()
{
    //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 PickupProcessTask::init_task(unsigned int command_id, message::Car_info car_info)
{
    m_command_id=command_id;
    m_car_info=car_info;

    message::Base_info base_info;
    base_info.set_msg_type(message::ePicking_process_statu_msg);
    base_info.set_sender(message::eMain);
    base_info.set_receiver(message::eEmpty);
    m_picking_process_statu_msg.mutable_base_info()->CopyFrom(base_info);
    reset_process_statu();

    ///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);
    }

    if(is_ready()) {
        return SUCCESS;
    }
    else
    {
        return Error_manager(ERROR,MINOR_ERROR,"终端未准备!!!");
    }
}

/*
     * reset 进度信息
     */
void PickupProcessTask::reset_process_statu()
{
    message::Check_space_step_statu check_step;
    check_step.set_step_statu(message::eWaiting);

    message::Dispatch_pick_step_statu  pick_step;
    pick_step.set_step_statu(message::eWaiting);

    message::Release_space_step_statu   release_step;
    release_step.set_step_statu(message::eWaiting);

    m_picking_process_statu_msg.mutable_check_space_step()->CopyFrom(check_step);
    m_picking_process_statu_msg.mutable_dispatch_step()->CopyFrom(pick_step);
    m_picking_process_statu_msg.mutable_release_space_step()->CopyFrom(release_step);

}

/*
     * 检查当前任务是否处于空闲准备状态
     */
bool PickupProcessTask::is_ready()
{
    bool cond_check_space = m_picking_process_statu_msg.check_space_step().step_statu()==message::eWaiting
                            ||m_picking_process_statu_msg.check_space_step().step_statu()==message::eComplete;
    bool cond_dispatch = m_picking_process_statu_msg.dispatch_step().step_statu()==message::eWaiting
                         ||m_picking_process_statu_msg.dispatch_step().step_statu()==message::eComplete;
    bool cond_release_space = m_picking_process_statu_msg.release_space_step().step_statu()==message::eWaiting
                              ||m_picking_process_statu_msg.release_space_step().step_statu()==message::eComplete;
    return cond_check_space && cond_dispatch && cond_release_space;
}

/*
 * 查询车位
 */
Error_manager PickupProcessTask::search_space()
{
    //更新状态
    m_picking_process_statu_msg.mutable_check_space_step()->set_step_statu(message::eWorking);

    /*
     * 检验汽车信息是否正常
     */
    if(m_car_info.has_car_width()==false||m_car_info.has_car_height()== false
        ||m_car_info.has_license()==false)
    {
        m_picking_process_statu_msg.mutable_check_space_step()->set_step_statu(message::eError);
        m_picking_process_statu_msg.mutable_check_space_step()->set_description("查询车位请求汽车信息错误");
        return Error_manager(INVALID_MESSAGE,CRITICAL_ERROR,"查询车位请求汽车信息错误");
    }

    /*
     * 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)
    {
        m_picking_process_statu_msg.mutable_check_space_step()->set_description(code.get_error_description());
        m_picking_process_statu_msg.mutable_check_space_step()->set_step_statu(message::eError);
        return code;
    }

    message::Base_info base_info;
    base_info.set_msg_type(message::eParkspace_search_request_msg);
    base_info.set_sender(message::eMain);
    base_info.set_receiver(message::eParkspace);
    base_info.set_timeout_ms(1000);

    message::Parkspace_search_request_msg request;
    request.set_command_id(m_command_id);
    request.mutable_base_info()->CopyFrom(base_info);
    request.mutable_car_info()->CopyFrom(m_car_info);


    code = Parkspace_communicator::get_instance_pointer()->search_request(request,m_parcspace_search_response_msg);
    if(code==SUCCESS)
    {
        m_picking_process_statu_msg.mutable_check_space_step()->mutable_space_info()->CopyFrom(m_parcspace_search_response_msg.car_position());
        m_picking_process_statu_msg.mutable_check_space_step()->set_step_statu(message::eComplete);
    }
    else {
        m_picking_process_statu_msg.mutable_check_space_step()->set_step_statu(message::eError);
        m_picking_process_statu_msg.mutable_check_space_step()->set_description(code.get_error_description());
    }
    return code;
}
void PickupProcessTask::Main()
{
    Error_manager code;

    //进入取车流程
    switch (0)
    {
        //第一步,执行取车动作
        case 0:
        {
            //更新状态
            m_picking_process_statu_msg.mutable_dispatch_step()->set_step_statu(message::eWorking);
            m_picking_process_statu_msg.mutable_dispatch_step()->mutable_space_info()->CopyFrom(m_parcspace_search_response_msg.car_position());
            //开始工作
            code=pickup_step();
            if(code!=SUCCESS)
            {
                LOG(ERROR)<<"取车调度失败,取车终端:"<<m_terminor_id<<"指令id:"<<m_command_id
                            <<", 车位id:"<<m_parcspace_search_response_msg.car_position().parkspace_id()
                            <<", 车位楼层:"<<m_parcspace_search_response_msg.car_position().floor()
                            <<", 车位序号:"<<m_parcspace_search_response_msg.car_position().index()
                            <<", 车牌号:"<<m_car_info.license()
                            <<", 库内车牌号:"<<m_parcspace_search_response_msg.car_position().car_info().license();
                m_picking_process_statu_msg.mutable_dispatch_step()->set_step_statu(message::eError);
                m_picking_process_statu_msg.mutable_dispatch_step()->set_description(code.get_error_description());
                break;
            }
            m_picking_process_statu_msg.mutable_dispatch_step()->set_step_statu(message::eComplete);
            LOG(WARNING)<<"取车调度成功,取车终端:"<<m_terminor_id<<"指令id:"<<m_command_id
                        <<", 车位id:"<<m_parcspace_search_response_msg.car_position().parkspace_id()
                        <<", 车位楼层:"<<m_parcspace_search_response_msg.car_position().floor()
                        <<", 车位序号:"<<m_parcspace_search_response_msg.car_position().index()
                        <<", 车牌号:"<<m_car_info.license()
                        <<", 库内车牌号:"<<m_parcspace_search_response_msg.car_position().car_info().license();
        }
        //第二步,清除车位
        case 1:
        {
            //更新状态
            m_picking_process_statu_msg.mutable_release_space_step()->set_step_statu(message::eWorking);
            m_picking_process_statu_msg.mutable_release_space_step()->mutable_space_info()->CopyFrom(m_parcspace_search_response_msg.car_position());
            code=release_space_step();
            if(code!=SUCCESS)
            {
                m_picking_process_statu_msg.mutable_release_space_step()->set_step_statu(message::eError);
                m_picking_process_statu_msg.mutable_release_space_step()->set_description(code.get_error_description());
                LOG(ERROR)<<"取车释放车位失败:"<<code.get_error_description();
                break;
            }
            m_picking_process_statu_msg.mutable_release_space_step()->set_step_statu(message::eComplete);
        }
        //第三步,等待车辆离开
        case 2:
        {
            //更新状态
            m_picking_process_statu_msg.mutable_waitfor_leave()->set_step_statu(message::eWorking);
            m_picking_process_statu_msg.mutable_waitfor_leave()->mutable_car_info()->CopyFrom(m_car_info);
            //等待离开
            code=wait_for_leave_step();
            if(code!=SUCCESS)
            {
                m_picking_process_statu_msg.mutable_waitfor_leave()->set_step_statu(message::eError);
                m_picking_process_statu_msg.mutable_waitfor_leave()->set_description(code.get_error_description());
                break;
            }
            m_picking_process_statu_msg.mutable_waitfor_leave()->set_step_statu(message::eComplete);
        }
    }

}

/*
 * 执行取车动作请求,并等待执行完成
 */
Error_manager PickupProcessTask::pickup_step()
{
    /*
  * 检查是否曾经分配过车位
  */
    if(m_parcspace_search_response_msg.has_car_position()==false)
    {
        return Error_manager(FAILED,MINOR_ERROR," 取车流程释放车位请求缺少车位信息");
    }

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

    message::Dispatch_request_msg request;
    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*300); //测量超时300s
    request.mutable_base_info()->CopyFrom(base_info);

    message::Parkspace_info space_info=m_parcspace_search_response_msg.car_position();
    request.set_dispatch_motion_direction(message::E_PICKUP_CAR);
    request.set_parkspace_id(space_info.parkspace_id());
    request.set_terminal_id(m_terminor_id);
    request.set_command_id(m_command_id);


    message::Dispatch_response_msg response;
    code=Dispatch_communicator::get_instance_pointer()->dispatch_request(request,response);
    if(code!=SUCCESS)
        return code;

    if(response.error_manager().error_code()==0) {
        return SUCCESS;
    }
    else
        return Error_manager(FAILED,MINOR_ERROR,"取车流程调度反馈错误码");

}

/*
 * 等待车辆离开
 */
Error_manager PickupProcessTask::wait_for_leave_step()
{
    return SUCCESS;
}

/*
     * 清除车位表中对应的车位
     */
Error_manager PickupProcessTask::release_space_step()
{
    /*
   * 检查是否曾经分配过车位
   */
    if(m_parcspace_search_response_msg.has_car_position()==false)
    {
        return Error_manager(FAILED,MINOR_ERROR," 取车流程释放车位请求缺少车位信息");
    }
    /*
     * 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;

    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_search_response_msg.car_position();
    request.mutable_release_space_info()->CopyFrom(space_info);

    request.set_command_id(m_command_id);


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

    if(release_response.error_manager().error_code()==0) {
        return SUCCESS;
    }
    else
        return Error_manager(FAILED,MINOR_ERROR,"取车流程parkspace release response error_code error");
}

/*
 * 发布状态线程
 */
void PickupProcessTask::publish_thread_func(PickupProcessTask* ptask)
{
    if(ptask)
    {
        ptask->publish_step_status();
    }
}
void PickupProcessTask::publish_step_status()
{
    //未收到退出信号
    while(false==m_publish_exit_condition.wait_for_ex(std::chrono::milliseconds(200)))
    {
        /*
         * 通过communicator 发布状态
         */
        if(System_communicator::get_instance_pointer())
        {
            if(m_picking_process_statu_msg.has_base_info()==true)
            {
                System_communicator::get_instance_pointer()->post_entrance_statu(m_picking_process_statu_msg);
            }

        }

    }
}