//
// 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"

StoreProcessTask::StoreProcessTask(unsigned int terminor_id)
    :m_publish_statu_thread(nullptr)
{
    m_command_id=-1;
    m_terminor_id=terminor_id;

    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_storing_process_statu_msg.mutable_base_info()->CopyFrom(base_info);
    m_storing_process_statu_msg.set_terminal_id(terminor_id);
    reset_process_statu();
}

StoreProcessTask::~StoreProcessTask()
{
    //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( unsigned int command_id,
        message::Locate_information locate_info,message::Car_info car_info)
{
    m_command_id=command_id;
    m_car_info=car_info;
    m_locate_info=locate_info;

    ///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!!!");
    }
}

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

    message::Measure_request_msg request;
    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
    request.mutable_base_info()->CopyFrom(base_info);

    request.set_command_id(m_command_id);
    request.set_terminal_id(m_terminor_id);

    code=Locate_communicator::get_instance_pointer()->locate_request(request,m_measure_response_msg);
    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());

}

/*
* 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_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*15); //测量超时15s
    request.mutable_base_info()->CopyFrom(base_info);

    request.set_command_id(m_command_id);
    request.set_terminal_id(m_terminor_id);
    request.set_dispatch_motion_direction(message::E_STORE_CAR);
    request.set_parkspace_id(m_parcspace_alloc_response_msg.allocated_space_info().parkspace_id());

    code=Dispatch_communicator::get_instance_pointer()->dispatch_request(request,m_dispatch_response_msg);
    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");
}

/*
     * reset 进度信息
     */
void StoreProcessTask::reset_process_statu()
{
    message::Alloc_space_step_statu alloc_step;
    alloc_step.set_step_statu(message::eWaiting);

    message::Measure_step_statu     measure_step;
    measure_step.set_step_statu(message::eWaiting);

    message::Dispatch_store_step_statu  store_step;
    store_step.set_step_statu(message::eWaiting);

    message::Confirm_space_step_statu   confirm_step;
    confirm_step.set_step_statu(message::eWaiting);

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

    m_storing_process_statu_msg.mutable_alloc_space_step()->CopyFrom(alloc_step);
    m_storing_process_statu_msg.mutable_measure_step()->CopyFrom(measure_step);
    m_storing_process_statu_msg.mutable_dispatch_step()->CopyFrom(store_step);
    m_storing_process_statu_msg.mutable_confirm_space_step()->CopyFrom(confirm_step);
    m_storing_process_statu_msg.mutable_failed_release_space_step()->CopyFrom(release_step);

}

/*
     * 检查当前任务是否处于空闲准备状态
     */
bool StoreProcessTask::is_ready()
{
    bool cond_alloc_space = m_storing_process_statu_msg.alloc_space_step().step_statu()==message::eWaiting
                            ||m_storing_process_statu_msg.alloc_space_step().step_statu()==message::eComplete;
    bool cond_measure = m_storing_process_statu_msg.measure_step().step_statu()==message::eWaiting
                            ||m_storing_process_statu_msg.measure_step().step_statu()==message::eComplete;
    bool cond_dispatch = m_storing_process_statu_msg.dispatch_step().step_statu()==message::eWaiting
                            ||m_storing_process_statu_msg.dispatch_step().step_statu()==message::eComplete;
    bool cond_confirm_space = m_storing_process_statu_msg.confirm_space_step().step_statu()==message::eWaiting
                            ||m_storing_process_statu_msg.confirm_space_step().step_statu()==message::eComplete;
    bool cond_release_space = m_storing_process_statu_msg.failed_release_space_step().step_statu()==message::eWaiting
                            ||m_storing_process_statu_msg.failed_release_space_step().step_statu()==message::eComplete;
    return cond_alloc_space && cond_measure && cond_dispatch && cond_confirm_space && cond_release_space;
}

/*
     * 分配车位
     */
Error_manager StoreProcessTask::alloc_space()
{
    //更新车位分配步骤状态
    m_storing_process_statu_msg.mutable_alloc_space_step()->mutable_car_info()->CopyFrom(m_locate_info);
    m_storing_process_statu_msg.mutable_alloc_space_step()->set_step_statu(message::eWorking);

    /*
     * 检查是否有测量数据
     */
    if(m_locate_info.has_locate_height()==false||m_locate_info.has_locate_width()==false)
    {
        m_storing_process_statu_msg.mutable_alloc_space_step()->set_step_statu(message::eError);
        m_storing_process_statu_msg.mutable_alloc_space_step()->set_description("停车请求缺少车辆高度和宽度信息");
        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)
    {
        m_storing_process_statu_msg.mutable_alloc_space_step()->set_step_statu(message::eError);
        m_storing_process_statu_msg.mutable_alloc_space_step()->set_description(code.get_error_description());
        return code;
    }

    //发送分配请求
    message::Parkspace_allocation_request_msg request;
    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); //测量超时1s
    request.mutable_base_info()->CopyFrom(base_info);

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

    request.set_command_id(m_command_id);
    request.set_terminal_id(m_terminor_id);

    code=Parkspace_communicator::get_instance_pointer()->alloc_request(request,m_parcspace_alloc_response_msg);
    if(code!=SUCCESS)
    {
        m_storing_process_statu_msg.mutable_alloc_space_step()->set_step_statu(message::eError);
        m_storing_process_statu_msg.mutable_alloc_space_step()->set_description(code.get_error_description());
        return code;
    }

    if(m_parcspace_alloc_response_msg.error_manager().error_code()==0)
    {
        m_storing_process_statu_msg.mutable_alloc_space_step()->set_step_statu(message::eComplete);
        return SUCCESS;
    }
    else
    {
        m_storing_process_statu_msg.mutable_alloc_space_step()->set_step_statu(message::eError);
        m_storing_process_statu_msg.mutable_alloc_space_step()->set_description("分配车位反馈结果错误");
        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 confirm 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_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_id(m_command_id);


    message::Parkspace_confirm_alloc_response_msg confirm_response;
    code=Parkspace_communicator::get_instance_pointer()->confirm_request(request,confirm_response);
    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_id
                    <<", 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");
}

/*
 * 车位解锁,当停车失败时需要车位解锁
 */
Error_manager StoreProcessTask::release_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_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) {
        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_id
                 <<", 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();
        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
    //第一步测量
    switch (0)
    {
        //第一步,测量
        case 0:
        {
            //更新状态信息
            m_storing_process_statu_msg.mutable_measure_step()->set_step_statu(message::eWorking);
            //开始定位
            code=locate_step();
            if(code!=SUCCESS)
            {
                m_storing_process_statu_msg.mutable_measure_step()->set_step_statu(message::eError);
                m_storing_process_statu_msg.mutable_measure_step()->set_description(code.get_error_description());
                LOG(ERROR)<<"测量失败:"<<code.get_error_description();
                break;
            }
            //更新状态信息
            m_storing_process_statu_msg.mutable_measure_step()->mutable_locate_info()->CopyFrom(m_measure_response_msg.locate_information());
            m_storing_process_statu_msg.mutable_measure_step()->set_step_statu(message::eComplete);
        }
        //第二步,调度
        case 1:
        {
            //更新状态信息
            m_storing_process_statu_msg.mutable_dispatch_step()->set_step_statu(message::eWorking);
            m_storing_process_statu_msg.mutable_dispatch_step()->mutable_locate_info()->CopyFrom(m_measure_response_msg.locate_information());
            m_storing_process_statu_msg.mutable_dispatch_step()->mutable_space_info()->CopyFrom(m_parcspace_alloc_response_msg.allocated_space_info());
            //开始调度
            code=dispatch_step();
            if(code!=SUCCESS)
            {
                m_storing_process_statu_msg.mutable_dispatch_step()->set_step_statu(message::eError);
                m_storing_process_statu_msg.mutable_dispatch_step()->set_description(code.get_error_description());
                LOG(ERROR)<<"调度失败:"<<code.get_error_description();
                break;
            }
            //更新状态信息
            m_storing_process_statu_msg.mutable_dispatch_step()->set_step_statu(message::eComplete);
        }
        //第三步,占据车位
        case 2:
        {
            //更新状态信息
            m_storing_process_statu_msg.mutable_confirm_space_step()->set_step_statu(message::eWorking);
            m_storing_process_statu_msg.mutable_confirm_space_step()->mutable_space_info()->CopyFrom(m_parcspace_alloc_response_msg.allocated_space_info());
            //开始工作
            code=confirm_space_step();
            if(code!=SUCCESS)
            {
                m_storing_process_statu_msg.mutable_confirm_space_step()->set_step_statu(message::eError);
                m_storing_process_statu_msg.mutable_confirm_space_step()->set_description(code.get_error_description());
                LOG(ERROR)<<"停车流程:"<<code.get_error_description();
                break;
            }
            //更新状态信息
            m_storing_process_statu_msg.mutable_confirm_space_step()->set_step_statu(message::eComplete);
        }
        //第四步,打印...  日志 .... 记录.....
        case 3:
        {
            LOG(INFO)<<"停车成功,停车终端:"<<m_terminor_id<<"指令id:"<<m_command_id
                     <<", 车位id:"<<m_parcspace_alloc_response_msg.allocated_space_info().parkspace_id()
                     <<", 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_car_info.license()
                     <<", 库内车牌号:"<<m_parcspace_alloc_response_msg.allocated_space_info().car_info().license();
            return ;
        }
    }

    /*
     * switch 语句break,说明停车故障,需清除车位
     */

    //失败,清理车位
    m_storing_process_statu_msg.mutable_failed_release_space_step()->set_step_statu(message::eWorking);
    code=release_space_step();
    if(code!=SUCCESS)
    {
        m_storing_process_statu_msg.mutable_failed_release_space_step()->set_step_statu(message::eError);
        m_storing_process_statu_msg.mutable_failed_release_space_step()->set_description(code.get_error_description());
        LOG(ERROR)<<"致命故障,停车失败,清理车位故障:"<<code.get_error_description();

    }
    else
    {
        m_storing_process_statu_msg.mutable_failed_release_space_step()->set_step_statu(message::eComplete);
    }
    /*
    *   流程异常,此处应暂停系统,待管理员介入
    */
}

/*
 * 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(200)))
    {
        /*
         * 通过communicator 发布状态
         */
        if(System_communicator::get_instance_pointer())
        {
            if(m_storing_process_statu_msg.has_base_info()==true)
            {
                System_communicator::get_instance_pointer()->post_entrance_statu(m_storing_process_statu_msg);
            }

        }

    }
}