package handler

import (
	"encoding/json"
	"net/http"
	"strings"
	"time"

	"bj_power_wms/ent"
	"bj_power_wms/ent/agvtask"
	"bj_power_wms/ent/dock"
	"bj_power_wms/internal/svc"

	"github.com/google/uuid"
)

// ---------- AGV 配送接口 ----------

// submitAgvRequest 仓管下发 AGV：至少选一批待发料行，按 target_dock 聚合生成任务
type submitAgvRequest struct {
	// rows: 待发料行（每行含 requestNo/物料/数量/targetDock），来自 MES 备料单
	Rows []agvSubmitRow `json:"rows"`
	// 也可以直接给一个 group：sourceDock + 多目标
	SourceDock string `json:"sourceDock"`
}

type agvSubmitRow struct {
	RequestNo    string  `json:"requestNo"`
	MaterialCode string  `json:"materialCode"`
	MaterialName string  `json:"materialName"`
	Unit         string  `json:"unit"`
	Qty          float64 `json:"qty"`
	TargetDock   string  `json:"targetDock"`
}

func submitAgvHandler(ctx *svc.ServiceContext) http.HandlerFunc {
	return func(w http.ResponseWriter, r *http.Request) {
		var req submitAgvRequest
		if err := parseJSON(r, &req); err != nil {
			fail(w, http.StatusBadRequest, "参数错误: "+err.Error())
			return
		}
		if len(req.Rows) == 0 {
			fail(w, http.StatusBadRequest, "请至少选择一批待发料")
			return
		}
		source := req.SourceDock
		if source == "" {
			source = "DOCK21"
		}
		operator := r.Header.Get("X-Username")

		// 按 target_dock 聚合
		groups := map[string][]agvSubmitRow{}
		for _, row := range req.Rows {
			if row.TargetDock == "" {
				continue
			}
			groups[row.TargetDock] = append(groups[row.TargetDock], row)
		}
		if len(groups) == 0 {
			fail(w, http.StatusBadRequest, "所选料行缺少目标接驳台(targetDock)")
			return
		}

		created := 0
		failed := []string{}
		for target, rows := range groups {
			// 1. 生成我方任务号并落库（PENDING→下发）
			taskNo := "AGV" + strings.ToUpper(uuid.NewString()[:10])
			mats, _ := json.Marshal(rows)
			t, err := ctx.EntClient.AgvTask.Create().
				SetTaskNo(taskNo).
				SetSourceDock(source).
				SetTargetDock(target).
				SetMaterialsJSON(string(mats)).
				SetStatus("PENDING").
				SetOperator(operator).
				SetDispatchedAt(0).
				SetArrivedAt(0).
				Save(ctx0())
			if err != nil {
				failed = append(failed, target)
				continue
			}
			// 2. 调海康 RCS 下发
			robCode, aerr := ctx.Agv.SubmitTask(ctx0(), source, target, "")
			if aerr != nil {
				ctx.EntClient.AgvTask.UpdateOneID(t.ID).
					SetStatus("FAILED").SetRemark("RCS下发失败: "+aerr.Error()).
					Exec(ctx0())
				failed = append(failed, target)
				continue
			}
			ctx.EntClient.AgvTask.UpdateOneID(t.ID).
				SetHikTaskCode(robCode).
				SetStatus("DISPATCHED").
				SetDispatchedAt(time.Now().Unix()).
				Exec(ctx0())
			// 3. 回写 MES 备料单 → DELIVERING
			for _, row := range rows {
				_ = ctx.Mes.MarkStatus(ctx0(), row.RequestNo, "DELIVERING")
			}
			// 4. 记录事件日志
			ctx.EventLog.Write(ctx0(), "agv.dispatch", operator, "agv_task", taskNo,
				"下发AGV搬运 "+source+"→"+target, map[string]any{"rows": len(rows)})
			created++
		}
		ok(w, map[string]any{"created": created, "failed": failed})
	}
}

func listAgvTasksHandler(ctx *svc.ServiceContext) http.HandlerFunc {
	return func(w http.ResponseWriter, r *http.Request) {
		q := r.URL.Query()
		query := ctx.EntClient.AgvTask.Query()
		if st := q.Get("status"); st != "" {
			query = query.Where(agvtask.Status(st))
		}
		if dock2 := q.Get("targetDock"); dock2 != "" {
			query = query.Where(agvtask.TargetDock(dock2))
		}
		page := atoi(q.Get("page"), 1)
		size := atoi(q.Get("pageSize"), 20)
		if size < 1 || size > 200 {
			size = 20
		}
		total, err := query.Clone().Count(ctx0())
		if err != nil {
			fail(w, http.StatusInternalServerError, err.Error())
			return
		}
		list, err := query.
			Order(ent.Desc("created_at")).
			Offset((page - 1) * size).Limit(size).
			All(ctx0())
		if err != nil {
			fail(w, http.StatusInternalServerError, err.Error())
			return
		}
		ok(w, map[string]any{"list": list, "total": total, "page": page, "pageSize": size})
	}
}

// refreshAgvHandler 轮询海康 RCS 更新各任务状态
func refreshAgvHandler(ctx *svc.ServiceContext) http.HandlerFunc {
	return func(w http.ResponseWriter, r *http.Request) {
		// 取所有未终态(DISPATCHED/DELIVERING)且已下发的任务
		list, err := ctx.EntClient.AgvTask.Query().
			Where(
				agvtask.StatusIn("DISPATCHED", "DELIVERING"),
				agvtask.HikTaskCodeNEQ(""),
			).All(ctx0())
		if err != nil {
			fail(w, http.StatusInternalServerError, err.Error())
			return
		}
		changed := 0
		for _, t := range list {
			st, qerr := ctx.Agv.QueryTask(ctx0(), t.HikTaskCode)
			if qerr != nil {
				continue
			}
			// 海康状态映射到我们的状态
			our := mapHikStatus(st)
			if our == "DONE" {
				ctx.EntClient.AgvTask.UpdateOneID(t.ID).
					SetStatus("DONE").SetArrivedAt(time.Now().Unix()).
					Exec(ctx0())
				// 到位后回写 MES 备料单 → DONE
				mats := []agvSubmitRow{}
				_ = json.Unmarshal([]byte(t.MaterialsJSON), &mats)
				for _, row := range mats {
					_ = ctx.Mes.MarkStatus(ctx0(), row.RequestNo, "DONE")
				}
				ctx.EventLog.Write(ctx0(), "agv.arrive", r.Header.Get("X-Username"), "agv_task", t.TaskNo,
					"AGV已到位 "+t.TargetDock, nil)
				changed++
			} else if our != "" && t.Status != our && our == "DELIVERING" {
				ctx.EntClient.AgvTask.UpdateOneID(t.ID).SetStatus("DELIVERING").Exec(ctx0())
				changed++
			}
		}
		ok(w, map[string]any{"changed": changed})
	}
}

// mapHikStatus 海康 taskStatus → 我方状态
// 海康: QUEUE/WAIT/EXECUTING/MANUALED/FINISHED/CANCELLED
func mapHikStatus(s string) string {
	switch s {
	case "EXECUTING", "DELIVERING":
		return "DELIVERING"
	case "FINISHED", "MANUALED":
		return "DONE"
	case "CANCELLED":
		return "CANCELLED"
	default: // QUEUE / WAIT / 未知
		return "DISPATCHED"
	}
}

func listDocksHandler(ctx *svc.ServiceContext) http.HandlerFunc {
	return func(w http.ResponseWriter, r *http.Request) {
		q := r.URL.Query()
		query := ctx.EntClient.Dock.Query()
		if typ := q.Get("dockType"); typ != "" {
			query = query.Where(dock.DockType(typ))
		}
		list, err := query.Order(ent.Asc("id")).All(ctx0())
		if err != nil {
			fail(w, http.StatusInternalServerError, err.Error())
			return
		}
		// 显式构造，避免 ent omitempty 吞掉 hasPallet=false 导致前端看不到空闲状态
		type dockView struct {
			ID        int64  `json:"id"`
			DockCode  string `json:"dockCode"`
			Name      string `json:"name"`
			DockType  string `json:"dockType"`
			StationNo int    `json:"stationNo"`
			Status    string `json:"status"`
			HasPallet bool   `json:"hasPallet"`
			PalletRef string `json:"palletRef"`
		}
		views := make([]dockView, 0, len(list))
		for _, d := range list {
			views = append(views, dockView{
				ID:        int64(d.ID),
				DockCode:  d.DockCode,
				Name:      d.Name,
				DockType:  d.DockType,
				StationNo: d.StationNo,
				Status:    d.Status,
				HasPallet: d.HasPallet,
				PalletRef: d.PalletRef,
			})
		}
		ok(w, map[string]any{"list": views})
	}
}

// listAgvMaterialsHandler 仓管下发 AGV 时拉取 MES 备料单（含 target_dock），本地分页。
// MES 内部接口全量返回备料单行；备料单行数可控，内存分页足够。
func listAgvMaterialsHandler(ctx *svc.ServiceContext) http.HandlerFunc {
	return func(w http.ResponseWriter, r *http.Request) {
		q := r.URL.Query()
		status := q.Get("status")
		all, err := ctx.Mes.ListMaterialRequests(ctx0(), status)
		if err != nil {
			fail(w, http.StatusInternalServerError, "拉取备料单失败: "+err.Error())
			return
		}
		page := atoi(q.Get("page"), 1)
		size := atoi(q.Get("pageSize"), 20)
		if size < 1 || size > 200 {
			size = 20
		}
		total := len(all)
		start := (page - 1) * size
		if start > total {
			start = total
		}
		end := start + size
		if end > total {
			end = total
		}
		ok(w, map[string]any{"list": all[start:end], "total": total, "page": page, "pageSize": size})
	}
}

// syncDockPalletHandler 内部接口：MES 同步某接驳台是否有托盘（PLC 托盘传感器）。
func syncDockPalletHandler(ctx *svc.ServiceContext) http.HandlerFunc {
	return wrapInternal(ctx)(func(w http.ResponseWriter, r *http.Request) {
		var req struct {
			DockCode   string `json:"dockCode"`
			HasPallet  bool   `json:"hasPallet"`
			PalletRef  string `json:"palletRef"`
		}
		if err := parseJSON(r, &req); err != nil {
			fail(w, http.StatusBadRequest, "参数错误")
			return
		}
		upd := ctx.EntClient.Dock.Update().
			Where(dock.DockCode(req.DockCode)).
			SetHasPallet(req.HasPallet)
		if req.PalletRef != "" {
			upd = upd.SetPalletRef(req.PalletRef)
		}
		if err := upd.Exec(ctx0()); err != nil {
			fail(w, http.StatusInternalServerError, err.Error())
			return
		}
		ok(w, nil)
	})
}