package com.mes.job;

import cn.hutool.core.collection.CollectionUtil;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.github.xingshuangs.iot.protocol.s7.serializer.S7Serializer;
import com.kangaroohy.milo.model.ReadWriteEntity;
import com.kangaroohy.milo.service.MiloService;
import com.mes.common.config.Const;
import com.mes.engineering.entity.Engineering;
import com.mes.engineering.mapper.EngineeringMapper;
import com.mes.opctask.entity.LoadGlassDeviceTask;
import com.mes.opctask.service.LoadGlassDeviceTaskService;
import com.mes.rawglassdetails.entity.RawGlassStorageDetails;
import com.mes.rawglassdetails.service.RawGlassStorageDetailsService;
import com.mes.rawglassstation.entity.RawGlassStorageStation;
import com.mes.rawglassstation.service.RawGlassStorageStationService;
import com.mes.rawglasstask.entity.RawGlassStorageTask;
import com.mes.rawglasstask.service.RawGlassStorageTaskService;
import com.mes.s7.entity.S7Data;
import com.mes.uppattenusage.entity.UpPattenUsage;
import com.mes.uppattenusage.entity.vo.UpPattenUsageVO;
import com.mes.uppattenusage.mapper.UpPattenUsageMapper;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
import org.springframework.util.CollectionUtils;

import javax.annotation.Resource;
import java.util.*;
import java.util.stream.Collectors;

/**
 * @Author : zhoush
 * @Date: 2024/10/11 16:13
 * @Description:
 */
@Slf4j
@Component
public class RawGlassTask {

    @Autowired
    private RawGlassStorageDetailsService rawGlassStorageDetailsService;

    @Autowired
    private RawGlassStorageTaskService rawGlassStorageTaskService;
    @Autowired
    private RawGlassStorageStationService rawGlassStorageStationService;

    @Resource
    private EngineeringMapper engineeringMapper;
    @Resource
    private UpPattenUsageMapper upPattenUsageMapper;

    @Resource
    private LoadGlassDeviceTaskService loadGlassDeviceTaskService;

    @Autowired(required = false)
    private MiloService miloService;

    @Autowired(required = false)
    S7Serializer s7Serializer;


    private static final String LOAD_GLASS_DEVICE_ONE_TASK = "load_glass_device_one_task";

    private static final String LOAD_GLASS_DEVICE_TWO_TASK = "load_glass_device_two_task";

    private static final List<Integer> LOAD_STATION_01 = Collections.singletonList(101);
//    private static final List<Integer> LOAD_STATION_02 = Arrays.asList(103, 104);
//    private static final List<Integer> LOAD_STATION_ALL = Arrays.asList(101, 102, 103, 104);
    private static final Integer LEFTING_01 = 99;
//    private static final Integer LEFTING_02 = 99;
    private static final Integer LOAD_GLASS_ONE_DEVICE = 5;
    private static final Integer LOAD_GLASS_TWO_DEVICE = 6;

    @Scheduled(fixedDelay = 1000)
    public void rawStorageTask() throws Exception {
        S7Data S7DataWL1 = s7Serializer.read(S7Data.class);
//        S7Data S7DataWL1 = new S7Data();
//        S7DataWL1.setRequest((short) 1);
//        S7DataWL1.setConfirmation((short) 0);
//        S7DataWL1.setReportWord((short) 0);
//        S7DataWL1.setTaskWord((short) 0);
//        String requestWord = S7DataWL1.getRequest().toString();
//        String confireWord = S7DataWL1.getConfirmation().toString();
//        String reportWord = S7DataWL1.getReportWord().toString();
//        String taskWord = S7DataWL1.getTaskWord().toString();

        String requestWord = S7DataWL1.getRequest().toString();
        String confireWord = S7DataWL1.getConfirmation().toString();
        String reportWord = S7DataWL1.getReportWord().toString();
        String taskWord = S7DataWL1.getTaskWord().toString();
        String requestValue = requestWord;
//        ReadWriteEntity requestWord = miloService.readFromOpcUa("CC.CC.request");
//        ReadWriteEntity confireWord = miloService.readFromOpcUa("CC.CC.confirmation");
//        ReadWriteEntity reportWord = miloService.readFromOpcUa("CC.CC.reportWord");
//        ReadWriteEntity taskWord = miloService.readFromOpcUa("CC.CC.taskWord");
//        String requestValue = requestWord.getValue() + "";
        if ("0".equals(requestValue)) {
            if ("1".equals(confireWord) && "0".equals(reportWord)) {
//            if ("1".equals(confireWord.getValue() + "") && "0".equals(reportWord.getValue() + "")) {
                S7Data s7Data = new S7Data();
                s7Data.setConfirmation((short) 0);
                s7Serializer.write(s7Data);
//                List<ReadWriteEntity> list = new ArrayList<>();
//                list.add(generateReadWriteEntity("CC.CC.confirmation", 0));
//                miloService.writeToOpcWord(list);
            }
            if ("1".equals(taskWord)) {
//          if ("1".equals(taskWord.getValue() + "")) {
                S7Data s7Data = new S7Data();
                s7Data.setTaskWord((short) 0);
                s7Data.setStartSlot((short) 0);
                s7Data.setEndSlot((short) 0);
                s7Serializer.write(s7Data);
//                List<ReadWriteEntity> list = new ArrayList<>();
//                list.add(generateReadWriteEntity("CC.CC.taskWord", 0));
//                list.add(generateReadWriteEntity("CC.CC.startSlot", 0));
//                list.add(generateReadWriteEntity("CC.CC.endSlot", 0));
//                miloService.writeToOpcWord(list);
            }
            return;
        }
        if (!"1".equals(requestValue)) {
            log.info("无请求");
            return;
        }
        //是否有正在执行的任务
        boolean flag = isHasRunningTask();
        if (flag) {
            log.info("有未完成的任务，结束");
            return;
        }
        //todo:优先进上片机位
        flag = rawGlassDispatchTask();
        if (flag) {
            log.info("执行调度任务，结束");
            return;
        }
        flag = inboundRequestTask();
        if (flag) {
            log.info("执行吊装位请求任务");
            return;
        }
        flag = warehouseTask();
        if (flag) {
            log.info("执行回库任务");
            return;
        }
        flag = outboundTask();
        if (flag) {
            log.info("执行出库任务，结束");
            return;
        }
        log.info("无任务执行，结束");
    }

    @Scheduled(fixedDelay = 1000)
    public void rawStorageInCar() throws Exception {
        S7Data S7DataWL1 = s7Serializer.read(S7Data.class);
//        S7Data S7DataWL1 = new S7Data();
//        S7DataWL1.setInCar((short) 1);
        String value = S7DataWL1.getInCar().toString();
//        ReadWriteEntity entity = miloService.readFromOpcUa("CC.CC.inCar");
//        String value = entity.getValue() + "";
        if (!"1".equals(value)) {
            log.info("大车上没有架子");
            return;
        }
        //查询任务
        RawGlassStorageDetails one = rawGlassStorageDetailsService.getOne(new LambdaQueryWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_RUNNING));
        if (one == null) {
            log.info("没有正在执行的任务");
            return;
        }
        rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>().eq(RawGlassStorageDetails::getId, one.getId())
                .set(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_CAR));
    }

    @Scheduled(fixedDelay = 1000)
    public void rawStorageFinish() throws Exception {
        S7Data S7DataWL1 = s7Serializer.read(S7Data.class);
//        S7Data S7DataWL1 = new S7Data();
//        S7DataWL1.setReportWord((short) 1);
        String value = S7DataWL1.getReportWord().toString();
//        ReadWriteEntity entity = miloService.readFromOpcUa("CC.CC.reportWord");
//        String value = entity.getValue() + "";
        if ("0".equals(value)) {
            log.info("当前任务未汇报，结束本次任务");
            return;
        }
        RawGlassStorageDetails details = rawGlassStorageDetailsService.getOne(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_CAR));
        if (null == details) {
            log.info("无执行中的任务");
            return;
        }
        RawGlassStorageTask task = rawGlassStorageTaskService.getOne(new LambdaQueryWrapper<RawGlassStorageTask>()
                .in(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_RUNNING, Const.RAW_GLASS_TASK_NEW));
        RawGlassStorageDetails targetDetails = rawGlassStorageDetailsService.generateDetails(details, task.getEndSlot());
        int deviceId = details.getDeviceId();
        Integer taskType = task.getTaskType();
        if ("1".equals(value)) {
            log.info("将详情表的状态改为已出库");
            rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                    .set(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_OUT)
                    .eq(RawGlassStorageDetails::getSlot, task.getStartSlot()).eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_CAR));
            log.info("任务状态已更改为：已完成");
            rawGlassStorageTaskService.update(new LambdaUpdateWrapper<RawGlassStorageTask>()
                    .eq(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_RUNNING)
                    .set(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_SUCCESS));
            switch (taskType) {
                case 1:
                case 3:
                    log.info("1、入库，3、调度任务。{}", taskType);
                    if (targetDetails.getRemainQuantity() > 0) {
                        rawGlassStorageDetailsService.save(targetDetails);
                    }
                    break;
                case 2:
                case 4:
                    log.info("2、出片,4、吊装位请求。{}", taskType);
                    targetDetails = new RawGlassStorageDetails();
                    targetDetails.setSlot(task.getEndSlot());
                    targetDetails.setDeviceId(deviceId);
                    targetDetails.setShelf(task.getStartSlot());
                    targetDetails.setState(Const.RAW_GLASS_STATE_IN);
                    rawGlassStorageDetailsService.save(targetDetails);
                    break;
                default:
                    break;
            }
        } else {
            if (taskType.equals(Const.RAW_GLASS_TASK_TYPE_IN_REQUEST)) {
                rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                        .set(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_OUT)
                        .eq(RawGlassStorageDetails::getSlot, task.getStartSlot())
                        .in(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_RUNNING, Const.RAW_GLASS_STATE_CAR));
            } else {
                rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                        .set(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_IN)
                        .eq(RawGlassStorageDetails::getSlot, task.getStartSlot())
                        .in(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_RUNNING, Const.RAW_GLASS_STATE_CAR));
            }
            rawGlassStorageTaskService.update(new LambdaUpdateWrapper<RawGlassStorageTask>()
                    .eq(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_RUNNING)
                    .set(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_FAILURE));

        }
        S7Data s7Data = new S7Data();
        s7Data.setConfirmation((short) 1);
        s7Serializer.write(s7Data);
    }

    private boolean isHasRunningTask() {
        RawGlassStorageTask task = rawGlassStorageTaskService.getOne(new LambdaQueryWrapper<RawGlassStorageTask>()
                .in(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_RUNNING));
        return task == null ? Boolean.FALSE : Boolean.TRUE;
    }

    /**
     * 原片调度：1、查询工程原片表，按照顺序将原片放入上片1号位，后续原片放上片2号位，出现尺寸替换，判断原上片位是否有玻璃，有 先出后进，无 直接进片
     */
    public boolean rawGlassDispatchTask() throws Exception {
        //查询当前系统正在执行的订单
        List<Engineering> engineeringList = engineeringMapper.selectList(new LambdaQueryWrapper<Engineering>()
                .eq(Engineering::getState, Const.ENGINEERING_RUNNING).last("order by id"));
        if (CollectionUtils.isEmpty(engineeringList)) {
            log.info("没有正在执行的工程");
            return false;
        }
        for (Engineering engineering : engineeringList) {
            boolean flag = rawGlassDispatchByEngineering(engineering.getStationCell(), engineering.getEngineerId());
            if (flag) {
                return flag;
            }
        }
        return Boolean.FALSE;

    }

    /**
     * 处理空架子吊装位请求任务：将仓库的空架子送到吊装位99，等待入库
     *
     * @return
     */
    public boolean inboundRequestTask() throws Exception {
        // 步骤1：查询“未执行的空架子到吊装位请求任务”（类型IN_REQUEST，状态NEW）
        RawGlassStorageTask inRequestTask = rawGlassStorageTaskService.getOne(new LambdaQueryWrapper<RawGlassStorageTask>()
                .eq(RawGlassStorageTask::getTaskType, Const.RAW_GLASS_TASK_TYPE_IN_REQUEST) // 空架子入库请求类型
                .eq(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_NEW)
                .last("limit 1")); // 每次处理一个任务，避免冲突

        if (inRequestTask == null) {
            log.info("无待执行的空架子吊装位请求任务");
            return Boolean.FALSE;
        }

        // 步骤2：检查任务关联的空架子状态（需为“待入库”，且确实是空架子）
        RawGlassStorageDetails emptyShelf = rawGlassStorageDetailsService.getOne(new LambdaQueryWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getSlot, inRequestTask.getStartSlot()) // 起始位：仓库空架子位
                .eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_RUNNING)); // 待入库状态);

        if (emptyShelf == null) {
            log.info("空架子到吊装位请求任务关联的架子异常（非空架子或状态错误），跳过执行");
            return Boolean.FALSE;
        }

        // 步骤3：检查目标吊装位99是否空闲
        List<RawGlassStorageDetails> liftingShelfList = rawGlassStorageDetailsService.list(new LambdaQueryWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getSlot, inRequestTask.getEndSlot()) // 目标位：吊装位99
                .in(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_IN_ALL));

        if (CollectionUtil.isNotEmpty(liftingShelfList)) {
            log.info("吊装位{}已有关联架子，无法执行空架子到吊装位请求", inRequestTask.getEndSlot());
            return Boolean.FALSE;
        }

        // 步骤4：更新空架子状态为“执行中”
        rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getSlot, emptyShelf.getSlot())
                .eq(RawGlassStorageDetails::getState, Const.GLASS_STATE_IN)
                .set(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_RUNNING));

        // 步骤5：更新任务状态为“执行中”，避免重复执行
        rawGlassStorageTaskService.update(new LambdaUpdateWrapper<RawGlassStorageTask>()
                .eq(RawGlassStorageTask::getId, inRequestTask.getId())
                .set(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_RUNNING));

        // 步骤6：发送PLC指令，驱动空架子从仓库→吊装位
        S7Data s7Data = new S7Data();
        s7Data.setTaskWord((short) 1); // 任务触发信号
        s7Data.setStartSlot((short) inRequestTask.getStartSlot().intValue()); // 起始位：仓库空架子位
        s7Data.setEndSlot((short) inRequestTask.getEndSlot().intValue());     // 目标位：吊装位99
        s7Serializer.write(s7Data);

        log.info("执行空架子到吊装位请求任务：从仓库{}到吊装位{}", inRequestTask.getStartSlot(), inRequestTask.getEndSlot());
        return Boolean.TRUE;
    }

    /**
     * 出库任务：1、点出库，立马生成出片任务 2、点出库修改工位详情内的状态为待出库，定时任务扫描生成出库任务
     */
    public boolean outboundTask() throws Exception {
        // 步骤1：查询已生成的“未执行出库任务”（状态为NEW，类型为OUT）
        RawGlassStorageTask outboundTask = rawGlassStorageTaskService.getOne(new LambdaQueryWrapper<RawGlassStorageTask>()
                .eq(RawGlassStorageTask::getTaskType, Const.RAW_GLASS_TASK_TYPE_OUT)
                .eq(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_NEW)
                .last("limit 1")); // 每次处理一个任务

        if (outboundTask == null) {
            log.info("无待执行的出库任务");
            return Boolean.FALSE;
        }

        // 步骤2：获取任务关联的架子详情，检查状态是否合法（待出库）
        RawGlassStorageDetails details = rawGlassStorageDetailsService.getOne(new LambdaQueryWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getSlot, outboundTask.getStartSlot()) // 任务起始位（仓库位）
                .eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_WAIT_OUT)); // 待出库状态
        if (details == null) {
            log.info("出库任务关联的架子状态异常，跳过执行");
            return Boolean.FALSE;
        }

        // 步骤3：检查吊装位99是否空闲（无架子）
        List<RawGlassStorageDetails> emptyLeftingList = rawGlassStorageDetailsService.list(new LambdaQueryWrapper<RawGlassStorageDetails>()
                .in(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_IN_ALL)
                .in(RawGlassStorageDetails::getSlot, "select slot from raw_glass_storage_station where enable_state = 1 and device_id = 4"));

        if (CollectionUtil.isNotEmpty(emptyLeftingList)) {
            log.info("吊装位99当前有架子，无法执行出库任务");
            return Boolean.FALSE;
        }

        // 步骤4：更新架子状态为“执行中”
        rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getSlot, details.getSlot())
                .eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_WAIT_OUT)
                .set(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_RUNNING));

        // 步骤5：更新任务状态为“执行中”（避免重复执行）
        rawGlassStorageTaskService.update(new LambdaUpdateWrapper<RawGlassStorageTask>()
                .eq(RawGlassStorageTask::getId, outboundTask.getId())
                .set(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_RUNNING));


        S7Data s7Data = new S7Data();
        s7Data.setTaskWord((short) 1);
        s7Data.setStartSlot((short) outboundTask.getStartSlot().intValue()); // 仓库存储位（起始位）
        s7Data.setEndSlot((short) outboundTask.getEndSlot().intValue());     // 吊装位99（目标位）
        s7Serializer.write(s7Data);

        return Boolean.TRUE;
    }

    /**
     * 复位任务：1、点复位，立马生成复位任务 2、点出库修改工位详情内的状态为架子复位，定时任务扫描生成复位任务
     */
    public boolean shelfResetTask() throws Exception {
        // 1. 查询“待复位”的架子（状态为RESET，且工位启用）
        List<RawGlassStorageDetails> rawGlassList = rawGlassStorageDetailsService.list(new LambdaQueryWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_RESET)
                .inSql(RawGlassStorageDetails::getSlot, "select slot from raw_glass_storage_station where enable_state = 1"));
        if (CollectionUtil.isEmpty(rawGlassList)) {
            log.info("系统没有需要复位的原片信息");
            return Boolean.FALSE;
        }

        // 2. 取第一条待复位的架子（每次处理一个）
        RawGlassStorageDetails details = rawGlassList.get(0);
        Integer startSlot = details.getSlot();       // 复位起始位（当前架子所在位）
        Integer targetSlot = details.getShelf();     // 复位目标位（初始仓库存储位）

        // 3. 生成复位任务（类型建议单独定义：如Const.RAW_GLASS_TASK_TYPE_RESET，避免与调度任务混淆）
        rawGlassStorageDetailsService.generateTask(
                startSlot,
                targetSlot,
                targetSlot,
                details.getRemainQuantity(),
                Const.RAW_GLASS_TASK_TYPE_DISPATCH
        );

        // 4. 更新架子状态为“执行中”
        rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getSlot, startSlot)
                .eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_RESET)
                .set(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_RUNNING));

        // 5. 补充PLC交互：发送复位指令
        S7Data s7Data = new S7Data();
        s7Data.setTaskWord((short) 1); // 任务触发信号
        s7Data.setStartSlot((short) startSlot.intValue()); // 起始位：当前架子位
        s7Data.setEndSlot((short) targetSlot.intValue());   // 目标位：初始仓库位
        s7Serializer.write(s7Data);

        log.info("执行架子复位任务：从{}到{}", startSlot, targetSlot);
        return Boolean.TRUE;
    }

    /**
     * 入库任务：吊装位有玻璃，先去工位表查询空格子，生成入库任务从吊装位到目标格子
     *
     * @throws Exception
     */
    public boolean warehouseTask() throws Exception {
//        List<RawGlassStorageDetails> rawGlassList = rawGlassStorageDetailsService.list(new LambdaQueryWrapper<RawGlassStorageDetails>()
//                .eq(RawGlassStorageDetails::getState, Const.GLASS_STATE_IN)
//                .gt(RawGlassStorageDetails::getRemainQuantity, 0)
//                .inSql(RawGlassStorageDetails::getSlot, "select slot from raw_glass_storage_station where enable_state = 1 and device_id = 4")
//                .inSql(RawGlassStorageDetails::getShelf, "select slot from raw_glass_storage_station where enable_state = 1 "));
//        if (CollectionUtil.isEmpty(rawGlassList)) {
//            log.info("吊装位被禁用/架子所在工位被禁用/无原片信息");
//            return Boolean.FALSE;
//        }
        // 查询回库任务
        RawGlassStorageTask task = rawGlassStorageTaskService.getOne(new LambdaQueryWrapper<RawGlassStorageTask>()
                .in(RawGlassStorageTask::getTaskType,  Const.RAW_GLASS_TASK_TYPE_IN)
                .eq(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_NEW)
                .last("limit 1"));

        if (task == null) {
            log.info("无待执行的回库任务");
            return false;
        }
        RawGlassStorageDetails details = rawGlassStorageDetailsService.getOne(new LambdaQueryWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getSlot, task.getStartSlot()) // 任务起始位（吊装位）
                .eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_RUNNING)); // 已标记为执行中
        if (details == null) {
            log.info("任务关联的架子状态异常，跳过执行");
            return false;
        }

        rawGlassStorageTaskService.update(new LambdaUpdateWrapper<RawGlassStorageTask>()
                .eq(RawGlassStorageTask::getId, task.getId())
                .set(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_RUNNING));
        log.info("执行回库任务：从{}到{}", task.getStartSlot(), task.getEndSlot());
//        List<ReadWriteEntity> list = new ArrayList<>();
//        list.add(generateReadWriteEntity("CC.CC.taskWord", 1));
//        list.add(generateReadWriteEntity("CC.CC.taskSending", 1));
//        list.add(generateReadWriteEntity("CC.CC.startSlot", details.getSlot()));
//        list.add(generateReadWriteEntity("CC.CC.endSlot", details.getShelf()));
//        miloService.writeToOpcWord(list);

        S7Data s7Data = new S7Data();
        s7Data.setTaskWord((short) 1);
        s7Data.setStartSlot((short) details.getSlot().intValue());
        s7Data.setEndSlot((short) details.getShelf().intValue());
        s7Serializer.write(s7Data);
        return Boolean.TRUE;
    }

    /**
     * @param stationCell 设备信息  5  、 6
     * @param enginneerId 共亨号
     * @return
     * @throws Exception
     */
    private boolean rawGlassDispatchByEngineering(int stationCell, String enginneerId) throws Exception {
        //当前尺寸需要上片的数量
        List<UpPattenUsageVO> pattenUsageList = upPattenUsageMapper.queryRawGlassByEngineeringId(enginneerId);
        if (CollectionUtils.isEmpty(pattenUsageList)) {
            log.info("正在执行的工程原片无可上片的原片信息");
            return Boolean.FALSE;
        }
        //获取当前需要上片的原片数据
        Map<String, List<UpPattenUsageVO>> upListMap = pattenUsageList.stream()
                .collect(Collectors.groupingBy(UpPattenUsageVO::getGroupNumber));
        List<UpPattenUsageVO> usageVOS = upListMap.get("1");
        //获取当前上片位1号架子信息
        List<Integer> loadStation = LOAD_STATION_01;
        List<RawGlassStorageStation> stations = rawGlassStorageStationService.list(new LambdaQueryWrapper<RawGlassStorageStation>()
                .in(RawGlassStorageStation::getSlot, loadStation)
                .eq(RawGlassStorageStation::getEnableState, Const.SLOT_ON)
                .orderByAsc(RawGlassStorageStation::getSlot));
        if (CollectionUtils.isEmpty(stations)) {
            log.info("101的上片位不可用");
            return Boolean.FALSE;
        }

        List<RawGlassStorageDetails> loadStationList = rawGlassStorageDetailsService.list(new LambdaQueryWrapper<RawGlassStorageDetails>()
                .inSql(RawGlassStorageDetails::getSlot, "select slot from raw_glass_storage_station where enable_state = 1")
                .eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_IN)
                .eq(RawGlassStorageDetails::getDeviceId, stationCell));
        if (CollectionUtils.isEmpty(loadStationList)) {
            RawGlassStorageDetails rawDetails = getRawGlassStorageDetailsBySize(usageVOS.get(0), usageVOS.size());
            if (rawDetails == null) {
                log.info("仓库无匹配规格的原片，无法调度到101工位");
                return Boolean.FALSE;
            }
            // 生成调度任务：仓库原片位 → 101上片位
            rawGlassStorageDetailsService.generateTask(
                    rawDetails.getSlot(),
                    stations.get(0).getSlot(),
                    rawDetails.getShelf(),
                    rawDetails.getRemainQuantity(),
                    Const.RAW_GLASS_TASK_TYPE_DISPATCH);

            rawGlassStorageTaskService.update(new LambdaUpdateWrapper<RawGlassStorageTask>()
                    .eq(RawGlassStorageTask::getTaskType, Const.RAW_GLASS_TASK_TYPE_DISPATCH)
                    .eq(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_NEW)
                    .set(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_RUNNING));

            rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                    .eq(RawGlassStorageDetails::getSlot, rawDetails.getSlot())
                    .eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_IN)
                    .set(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_RUNNING));
            S7Data s7Data = new S7Data();
            s7Data.setTaskWord((short) 1);
            s7Data.setStartSlot((short) rawDetails.getSlot().intValue()); // 起始位：仓库
            s7Data.setEndSlot((short) LOAD_STATION_01.get(0).intValue()); // 目标位：上片位101
            s7Serializer.write(s7Data); // 发送到PLC

            log.info("调度任务已发送PLC：从仓库{}到上片位{}", rawDetails.getSlot(), LOAD_STATION_01);
            return Boolean.TRUE;
        }
        // 上片位101有玻璃 → 判断尺寸是否匹配
        RawGlassStorageDetails oneLoadStation = loadStationList.get(0);
        if (oneLoadStation.getRemainQuantity() <= 0 || !compareRawSize(usageVOS.get(0), oneLoadStation)) {

            // 检查上片机是否正在工作，若正在工作则不生成退回任务
            if (pattenUsageList.stream().allMatch(vo -> vo.getState() == 101)) {
                log.warn("上片机{}正在工作，无法执行退回任务", stationCell);
                return Boolean.FALSE;
            }

            // 生成退回任务：101上片位 → 原仓库存储位
            rawGlassStorageDetailsService.generateTask(
                    stations.get(0).getSlot(),
                    oneLoadStation.getShelf(),
                    oneLoadStation.getShelf(),
                    oneLoadStation.getRemainQuantity(),
                    Const.RAW_GLASS_TASK_TYPE_DISPATCH);

            rawGlassStorageTaskService.update(new LambdaUpdateWrapper<RawGlassStorageTask>()
                    .eq(RawGlassStorageTask::getTaskType, Const.RAW_GLASS_TASK_TYPE_DISPATCH)
                    .eq(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_NEW)
                    .set(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_RUNNING));

            rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                    .eq(RawGlassStorageDetails::getSlot, oneLoadStation.getSlot())
                    .eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_IN)
                    .set(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_RUNNING));
            S7Data s7Data = new S7Data();
            s7Data.setTaskWord((short) 1); // 任务触发信号
            s7Data.setStartSlot((short) LOAD_STATION_01.get(0).intValue()); // 起始位：上片位101
            s7Data.setEndSlot((short) oneLoadStation.getShelf().intValue()); // 目标位：仓库
            s7Serializer.write(s7Data); // 发送到PLC

            log.info("退回任务已发送PLC：从上片位{}到仓库{}", LOAD_STATION_01, oneLoadStation.getShelf());
            return Boolean.FALSE;
        }
        // 上片位101玻璃尺寸匹配且数量充足 → 无需调度
        log.info("101工位玻璃尺寸匹配且数量充足，无需调度");
        return Boolean.FALSE;
    }

    private ReadWriteEntity generateReadWriteEntity(String identifier, int value) {
        ReadWriteEntity readWriteEntity = new ReadWriteEntity();
        readWriteEntity.setIdentifier(identifier);
        readWriteEntity.setValue(value);
        return readWriteEntity;
    }

    private RawGlassStorageDetails getRawGlassStorageDetailsBySize(UpPattenUsageVO usageVO, int remainQuantity) {
        return rawGlassStorageDetailsService.getOne(new LambdaQueryWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getFilmsId, usageVO.getFilmsId())
                .eq(RawGlassStorageDetails::getPatternWidth, usageVO.getWidth())
                .eq(RawGlassStorageDetails::getPatternHeight, usageVO.getHeight())
                .eq(RawGlassStorageDetails::getPatternThickness, usageVO.getThickness())
                .notIn(RawGlassStorageDetails::getSlot, LOAD_STATION_01)
                .eq(RawGlassStorageDetails::getState, Const.GLASS_STATE_IN)
                .orderByAsc(RawGlassStorageDetails::getRemainQuantity)
                .last("order by abs(t.remain_quantity - " + remainQuantity + ")  asc")
                .last("limit 1"));
    }

    /**
     * 尺寸一样并且原片数量大于0
     *
     * @param upPattenUsage
     * @param details
     * @return
     */
    private boolean compareRawSize(UpPattenUsage upPattenUsage, RawGlassStorageDetails details) {
        boolean flag = upPattenUsage.getWidth() == details.getPatternWidth() && upPattenUsage.getHeight() == details.getPatternHeight() &&
                upPattenUsage.getThickness() == details.getPatternThickness() && upPattenUsage.getFilmsId().equals(details.getFilmsId());
        return flag;
    }

}