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

#include <parkspace_excutor.h>
#include <dispatch_message.pb.h>
#include "PickupProcessTask.h"
#include "process_message.pb.h"
#include "command_manager.h"
#include "command_accepter.h"
#include "exception_solver.h"
#include "uniq_key.h"

PickupProcessTask::PickupProcessTask(unsigned int terminal_id,message::Car_info car_info)
       :Process_task(terminal_id,car_info)
{
}
PickupProcessTask::~PickupProcessTask()
{
    Exception_solver::get_instance_pointer()->delete_task_cancel_condition(m_car_info.license());

}
Error_manager PickupProcessTask::init_task()
{
    reset_recv_msg();
    //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(m_car_info.license(),this);
    if(code!=SUCCESS)
        return code;

    //设置状态消息,基本信息
    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_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_current_step_type=message::eSearch_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;

}

void PickupProcessTask::reset_recv_msg()
{
    m_search_request_msg=message::Parkspace_search_request_msg();
    m_search_response_msg=message::Parkspace_search_response_msg();
    m_dispatch_request_msg=message::Dispatch_request_msg();
    m_dispatch_response_msg=message::Dispatch_response_msg();
    m_command_response_msg=message::Pickup_command_response_msg();
}

/*
 * 查询车位
 */
Error_manager PickupProcessTask::search_space_step()
{

    message::Base_info base_info_response;
    base_info_response.set_msg_type(message::ePickup_command_response_msg);
    base_info_response.set_sender(message::eMain);
    base_info_response.set_receiver(message::eTerminor);
    m_command_response_msg.mutable_base_info()->CopyFrom(base_info_response);
    m_command_response_msg.set_terminal_id(m_terminor_id);

    if(Command_manager::get_instance_pointer()->is_paused()==true)
    {
        return Error_manager(PAUSE, MINOR_ERROR, "系统已急停");
    }

    message::Entrance_statu statu=Command_manager::get_instance_pointer()->export_statu(m_terminor_id);
    if(statu.has_paused()==false) {
        return Error_manager(ERROR, MINOR_ERROR, "出口已禁止使用 Disable");
    }
    if(statu.paused()==true)
    {
        return Error_manager(ERROR, MINOR_ERROR, "出口已禁止使用 Disable");
    }

    /*
     * 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)
    {
        return Error_manager(INVALID_MESSAGE,CRITICAL_ERROR,"查询车位请求信息错误");
    }

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

    message::Base_info base_info_request;
    base_info_request.set_msg_type(message::eParkspace_search_request_msg);
    base_info_request.set_sender(message::eMain);
    base_info_request.set_receiver(message::eParkspace);
    base_info_request.set_timeout_ms(2000);

    message::Parkspace_search_request_msg request;
    request.set_command_key(create_key());
    request.mutable_base_info()->CopyFrom(base_info_request);
    request.mutable_car_info()->CopyFrom(m_car_info);

    code = Parkspace_excutor::get_instance_pointer()->search_request(request,
            m_search_response_msg,m_cancel_condition);
    return code;
}

/*
 * 回退查询车位
 */
Error_manager PickupProcessTask::back_search_space_step()
{
    return SUCCESS;
}

/*
     * 控制流程到下一步
     */
Error_manager PickupProcessTask::next_step()
{
    if(m_current_step_statu==message::eWaiting || m_current_step_statu== message::eWorking)
        return Error_manager(ERROR,MINOR_ERROR,"当前状态禁止改变步骤类型");
    switch (m_current_step_type)
    {
        case message::eSearch_step:
            m_current_step_type=(m_current_step_statu==message::eFinished)?message::eDispatch_step:message::eBackComplete;
            break;
        case message::eDispatch_step:
            m_current_step_type=(m_current_step_statu==message::eFinished)?message::eWait_step:message::eBackSearch_step;
            break;
        case message::eWait_step:
            m_current_step_type=(m_current_step_statu==message::eFinished)?message::eComplete:message::eBackDispatch_step;
            break;
        case message::eComplete:
            break;
        case message::eBackDispatch_step:
            m_current_step_type=message::eBackSearch_step;
            break;
        case message::eBackSearch_step:
            m_current_step_type=message::eBackComplete;
            break;
        case message::eBackComplete:
            break;
        default:
            LOG(ERROR)<<"  取车流程未知步骤 : "<<message::Step_type_Name(m_current_step_type);
            break;
    }
    return SUCCESS;
}

void PickupProcessTask::Main()
{
    Error_manager code;
    //进入取车流程
    while(is_canceled()==false)
    {
        //第一步查询
        if(m_current_step_type==message::eSearch_step)
        {
            code=search_space_step();
            message::Error_manager error_msg;
            error_msg.set_error_code(code.get_error_code());
            error_msg.set_error_description(code.get_error_description());
            m_command_response_msg.mutable_code()->CopyFrom(error_msg);
            Communication_message msg;
            msg.reset(m_command_response_msg.base_info(),m_command_response_msg.SerializeAsString());
            Message_communicator::get_instance_pointer()->send_msg(&msg);
            LOG_IF(ERROR, code != SUCCESS) << "查询失败,取车终端:"<<m_terminor_id
                                           <<", 车牌号:"<<m_car_info.license();
            LOG(WARNING)<<"查询成功:"<<m_terminor_id
                                 <<", 车牌号:"<<m_car_info.license();
            m_current_step_type = (code != SUCCESS) ?  message::eBackComplete :  message::eDispatch_step;
        }

        if(m_current_step_type== message::eDispatch_step)
        {
            code=dispatch_step();
            usleep(1000*1000);
            LOG_IF(ERROR, code != SUCCESS) << "取车调度失败,取车终端:"<<m_terminor_id
                                           <<", 车位id:"<<m_search_response_msg.car_position().parkspace_id()
                                           <<", 车位楼层:"<<m_search_response_msg.car_position().floor()
                                           <<", 车位序号:"<<m_search_response_msg.car_position().index()
                                           <<", 车牌号:"<<m_car_info.license()
                                           <<", 库内车牌号:"<<m_search_response_msg.car_position().car_info().license()
                                           <<code.get_error_description();
            m_current_step_type = (code != SUCCESS) ?  message::eBackDispatch_step :  message::eWait_step;
        }
        if(m_current_step_type== message::eWait_step)
        {
            code=wait_for_leave_step();
            LOG_IF(ERROR, code != SUCCESS) << "等待车辆离开失败,取车终端:"<<m_terminor_id
                                           <<", 车牌号:"<<m_car_info.license();
            m_current_step_type = (code != SUCCESS) ?  message::eBackWait_step :  message::eRelease_step;
        }
        if(m_current_step_type== message::eRelease_step)
        {
            code=release_space_step();
            LOG_IF(ERROR, code != SUCCESS) << "取车释放车位失败,取车终端:"<<m_terminor_id
                                           <<", 车牌号:"<<m_car_info.license();
            if(code!=SUCCESS)
            {
                //升级故障,急停
                break;
            }
            else
            {
                m_current_step_type= message::eComplete;
            }
        }
        if(m_current_step_type==message::eComplete) {
            //至少发送一次流程完成状态
            updata_step_statu_msg();
            Command_accepter::get_instance_pointer()->post_process_statu(m_process_msg);
            break;
        }
        if(m_current_step_type== message::eBackWait_step)
        {
            code=back_wait_for_leave_step();
            if(code!=SUCCESS)
            {
                //提升错误等级为四级
                break;
            }
            else
            {
                m_current_step_type= message::eBackDispatch_step;
            }
        }
        if(m_current_step_type== message::eBackDispatch_step)
        {
            code=back_dispatch_step();
            if(code!=SUCCESS)
            {
                //提升错误等级为四级
                break;
            }
            else
            {
                m_current_step_type= message::eBackSearch_step;
            }
        }
        if(m_current_step_type== message::eBackSearch_step)
        {
            code=back_search_space_step();
            if(code!=SUCCESS)
            {
                //提升错误等级为四级,急停
                break;
            }
            else
            {
                m_current_step_type= message::eBackComplete;
            }
        }
        if(m_current_step_type== message::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)
      */
    if(m_current_step_type== message::eBackComplete)
    {
        //异常结束
        usleep(1000*1000);
        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_current_step_type== message::eComplete)
    {
        //正常结束
        usleep(1000*1000);
        LOG(WARNING)<<"取车结束,"<<"车牌号:"<<m_car_info.license()
                 <<",--------------  终端:"<<m_terminor_id<<"  --------------";
    }

}

/*
 * 执行取车动作请求,并等待执行完成
 */
Error_manager PickupProcessTask::dispatch_step()
{
    /*
  * 检查是否曾经分配过车位
  */
    if(m_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_excutor::get_instance_pointer()->check_export_statu(m_terminor_id);
    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_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_key(create_key());


    message::Dispatch_response_msg response;
    code=Dispatch_excutor::get_instance_pointer()->dispatch_request(request,response,m_cancel_condition);
    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");

}
/*
 * 回退取车调度
 */
Error_manager PickupProcessTask::back_dispatch_step()
{
    /*
     * 关门,搬运将车从出口抓回去
     */
    return SUCCESS;
}

/*
 * 等待车辆离开
 */
Error_manager PickupProcessTask::wait_for_leave_step()
{
    return SUCCESS;
}
/*
 * 回退等待车辆离开
 */
Error_manager PickupProcessTask::back_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_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_excutor::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(5000); //测量超时1s
    request.mutable_base_info()->CopyFrom(base_info);

    message::Parkspace_info space_info=m_search_response_msg.car_position();
    request.mutable_release_space_info()->CopyFrom(space_info);

    request.set_command_key(create_key());


    message::Parkspace_release_response_msg release_response;
    code=Parkspace_excutor::get_instance_pointer()->release_request(request,release_response,m_cancel_condition);
    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");
}


void PickupProcessTask::publish_step_status() {
    /*
     * 通过communicator 发布状态
     */
    if (Command_accepter::get_instance_pointer()) {
        updata_step_statu_msg();
        Command_accepter::get_instance_pointer()->post_process_statu(m_process_msg);
    }
}

/*
     * 根据当前流程状态,生成状态消息
     */
void PickupProcessTask::updata_step_statu_msg()
{
    message::Search_space_step_statu            search_step_statu;
    message::Dispatch_pick_step_statu           dispatch_step_statu;
    message::Waitfor_leave_step_statu           wait_step_statu;
    message::Release_space_step_statu           release_step_statu;
    search_step_statu.set_step_statu(message::eWaiting);
    dispatch_step_statu.set_step_statu(message::eWaiting);
    wait_step_statu.set_step_statu(message::eWaiting);
    release_step_statu.set_step_statu(message::eWaiting);

    switch (m_current_step_type) {
        case  message::eSearch_step: {
            search_step_statu.set_step_statu(message::eWorking);
            if(m_current_step_type==message::eSearch_step)
                break;
        }
        case  message::eDispatch_step: {
            search_step_statu.set_step_statu(message::eFinished);
            dispatch_step_statu.set_step_statu(message::eWorking);
            dispatch_step_statu.mutable_space_info()->CopyFrom(m_search_response_msg.car_position());
            if(m_current_step_type==message::eDispatch_step)
                break;
        }
        case  message::eWait_step: {
            dispatch_step_statu.set_step_statu(message::eFinished);
            wait_step_statu.set_step_statu(message::eWorking);
            wait_step_statu.mutable_car_info()->CopyFrom(m_car_info);
            if(m_current_step_type== message::eWait_step)
                break;
        }
        case  message::eRelease_step:
        {
            wait_step_statu.set_step_statu(message::eFinished);
            release_step_statu.set_step_statu(message::eWorking);
            release_step_statu.mutable_space_info()->CopyFrom(m_search_response_msg.car_position());
            if(m_current_step_type== message::eRelease_step)
                break;
        }
        case  message::eComplete: {
            release_step_statu.set_step_statu(message::eFinished);
            if(m_current_step_type==message::eComplete)
                break;
        }
        case  message::eBackWait_step :{
            wait_step_statu.set_step_statu(message::eError);
            if(m_current_step_type== message::eBackWait_step)
                break;
        }
        case message::eBackDispatch_step: {
            dispatch_step_statu.set_step_statu(message::eError);
            if(m_current_step_type==message::eBackDispatch_step)
                break;
        }
        case message::eBackSearch_step: {
            search_step_statu.set_step_statu(message::eError);
            if(m_current_step_type==message::eBackSearch_step)
                break;
        }
        case message::eBackComplete: {
            release_step_statu.set_step_statu(message::eFinished);
            if(m_current_step_type==message::eBackComplete)
                break;
        }
        default:
            break;
    }
    m_process_msg.mutable_search_space_step()->CopyFrom(search_step_statu);
    m_process_msg.mutable_dispatch_step()->CopyFrom(dispatch_step_statu);
    m_process_msg.mutable_waitfor_leave_step()->CopyFrom(wait_step_statu);
    m_process_msg.mutable_release_space_step()->CopyFrom(release_step_statu);

}