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.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.rawglassdetails.entity.RawGlassStorageDetails;
import com.mes.rawglassdetails.service.RawGlassStorageDetailsService;
import com.mes.rawglassstation.service.RawGlassStorageStationService;
import com.mes.rawglasstask.entity.RawGlassStorageTask;
import com.mes.rawglasstask.service.RawGlassStorageTaskService;
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 RawGlassStorageStationService rawGlassStorageStationService;
    @Autowired
    private RawGlassStorageDetailsService rawGlassStorageDetailsService;

    @Autowired
    private RawGlassStorageTaskService rawGlassStorageTaskService;

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

    @Autowired(required = false)
    private MiloService miloService;

    private static final List<Integer> LIFTING_STATION = Arrays.asList(4);
    private static final List<String> LOAD_STATION_01 = Arrays.asList("101", "102");
    private static final List<String> LOAD_STATION_02 = Arrays.asList("103", "104");
    private static final List<Integer> LOAD_STATION_MAX = Arrays.asList(102, 104);

    @Scheduled(fixedDelay = 1000)
    public void rawStorageTask() throws Exception {
        ReadWriteEntity requestWord = miloService.readFromOpcUa("storage-device.dev.Task Request");
        ReadWriteEntity confireWord = miloService.readFromOpcUa("storage-device.dev.Task Confirmation Word");
        ReadWriteEntity taskWord = miloService.readFromOpcUa("storage-device.dev.Task sending word");
        String requestValue = requestWord.getValue() + "";
        if ("0".equals(requestValue)) {
            if ("1".equals(confireWord.getValue() + "")) {
                List<ReadWriteEntity> list = new ArrayList<>();
                list.add(generateReadWriteEntity("storage-device.dev.Task Confirmation Word", 0));
                miloService.writeToOpcWord(list);
            }
            if ("1".equals(taskWord.getValue() + "")) {
                List<ReadWriteEntity> list = new ArrayList<>();
                list.add(generateReadWriteEntity("storage-device.dev.Task sending word", 0));
                list.add(generateReadWriteEntity("storage-device.dev.Task distribution", 0));
                list.add(generateReadWriteEntity("storage-device.dev.Starting material rack number", 0));
                list.add(generateReadWriteEntity("storage-device.dev.End shelf number", 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 = outboundTask();
        if (flag) {
            log.info("执行出库任务，结束");
            return;
        }
        flag = warehouseTask();
        if (flag) {
            log.info("执行入库任务");
            return;
        }
        log.info("无任务执行，结束");
    }

    @Scheduled(fixedDelay = 1000)
    public void rawStorageInCar() throws Exception {
        ReadWriteEntity entity = miloService.readFromOpcUa("storage-device.dev.Loading rack");
        String value = entity.getValue() + "";
        if (!"1".equals(value)) {
            log.info("大车忙碌");
            return;
        }
        //查询任务
        RawGlassStorageDetails one = rawGlassStorageDetailsService.getOne(new LambdaQueryWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_RUNNING));
        if (one == null) {
            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 {
        ReadWriteEntity entity = miloService.readFromOpcUa("storage-device.dev.Task report letter");
        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_NEW));
        RawGlassStorageDetails targetDetails = generateDetails(details, task.getEndSlot());
        Integer taskType = task.getTaskType();
        if ("1".equals(value)) {
            switch (taskType) {
                case 1:
                    log.info("进片任务");
                    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));
                    //todo:生成入库详情表：其他信息不变，
                    rawGlassStorageDetailsService.save(targetDetails);
                    break;
                case 2:
                    log.info("出片任务");
                    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));
                    targetDetails = new RawGlassStorageDetails();
                    targetDetails.setSlot(task.getEndSlot());
                    targetDetails.setShelf(task.getStartSlot());
                    targetDetails.setState(Const.RAW_GLASS_STATE_IN);
                    rawGlassStorageDetailsService.save(targetDetails);
                    break;
                case 3:
                    log.info("调度任务");
                    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));
                    rawGlassStorageDetailsService.save(targetDetails);
                    break;
                default:
                    break;
            }
            rawGlassStorageTaskService.update(new LambdaUpdateWrapper<RawGlassStorageTask>()
                    .eq(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_NEW)
                    .set(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_SUCCESS));
        } else {
            rawGlassStorageTaskService.update(new LambdaUpdateWrapper<RawGlassStorageTask>()
                    .eq(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_NEW)
                    .set(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_FAILURE));
            rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                    .set(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_IN)
                    .eq(RawGlassStorageDetails::getSlot, task.getStartSlot()).eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_CAR));
        }

        List<ReadWriteEntity> list = new ArrayList<>();
        list.add(generateReadWriteEntity("storage-device.dev.Task Confirmation Word", 1));
        miloService.writeToOpcWord(list);
    }

    private boolean isHasRunningTask() {
        RawGlassStorageTask task = rawGlassStorageTaskService.getOne(new LambdaQueryWrapper<RawGlassStorageTask>()
                .in(RawGlassStorageTask::getTaskState, Const.RAW_GLASS_TASK_NEW));
        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;


    }

    /**
     * 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 {
        List<RawGlassStorageDetails> rawGlassList = rawGlassStorageDetailsService.list(new LambdaQueryWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_WAIT_OUT));
//                .inSql(RawGlassStorageDetails::getSlot, "select slot from raw_glass_storage_station where enable_state = 1 and device_id = 4"));
        if (CollectionUtil.isEmpty(rawGlassList)) {
            log.info("系统没有需要出库的原片信息");
            return Boolean.FALSE;
        }
        //获取工位上是否有架子，
        List<RawGlassStorageDetails> emptyLeftingList = rawGlassStorageDetailsService.list(new LambdaQueryWrapper<RawGlassStorageDetails>()
                .in(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_IN_ALL)
                .in(RawGlassStorageDetails::getSlot, 98, 99));
        if (CollectionUtil.isNotEmpty(emptyLeftingList) && emptyLeftingList.size() >= 2) {
            log.info("吊装位当前都有架子，结束出片任务");
            return Boolean.FALSE;
        }
        //获取需要落架的
        //生成出库任务
        rawGlassStorageDetailsService.generateTask(rawGlassList.get(0).getSlot(), 98, rawGlassList.get(0).getSlot(),
                rawGlassList.get(0).getRemainQuantity(), Const.RAW_GLASS_TASK_TYPE_OUT);

        List<ReadWriteEntity> list = new ArrayList<>();
        list.add(generateReadWriteEntity("storage-device.dev.Task sending word", 1));
        list.add(generateReadWriteEntity("storage-device.dev.Task distribution", 1));
        list.add(generateReadWriteEntity("storage-device.dev.Starting material rack number", rawGlassList.get(0).getSlot()));
        list.add(generateReadWriteEntity("storage-device.dev.End shelf number", 98));
        miloService.writeToOpcWord(list);

        //修改出片任务状态
        rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getSlot, rawGlassList.get(0).getSlot())
                .eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_WAIT_OUT)
                .set(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_RUNNING));
        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;
        }
        //获取吊装位架子信息
//        List<Integer> shelfList = rawGlassList.stream().map(RawGlassStorageDetails::getShelf).collect(Collectors.toList());
//        List<RawGlassStorageStation> stationList = rawGlassStorageStationService.list(new LambdaQueryWrapper<RawGlassStorageStation>().notInSql(RawGlassStorageStation::getSlot, "select slot from raw_glass_storage_details where " +
//                "state in('100','102','103')")
//                .eq(RawGlassStorageStation::getEnableState, Const.SLOT_ON)
//                .in(RawGlassStorageStation::getDeviceId, Const.RAW_GLASS_DEVICE));
//        if (CollectionUtil.isEmpty(stationList)) {
//            log.info("没有空的工位");
//            return Boolean.FALSE;
//        }
        //生成进笼任务
        RawGlassStorageDetails details = rawGlassList.get(0);
        rawGlassStorageDetailsService.generateTask(details.getSlot(), details.getShelf(), details.getShelf(),
                details.getRemainQuantity(), Const.RAW_GLASS_TASK_TYPE_IN);
        List<ReadWriteEntity> list = new ArrayList<>();
        list.add(generateReadWriteEntity("storage-device.dev.Task sending word", 1));
        list.add(generateReadWriteEntity("storage-device.dev.Task distribution", 1));
        list.add(generateReadWriteEntity("storage-device.dev.Starting material rack number", details.getSlot()));
        list.add(generateReadWriteEntity("storage-device.dev.End shelf number", details.getShelf()));
        miloService.writeToOpcWord(list);
        //生成工位任务，将吊装位的玻璃状态改位进笼中
//        修改吊装位的原片状态为103 出片中
        //修改出片任务状态
        rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getSlot, rawGlassList.get(0).getSlot())
                .eq(RawGlassStorageDetails::getState, Const.GLASS_STATE_IN)
                .set(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_RUNNING));
        return Boolean.TRUE;
    }

    private boolean rawGlassDispatchByEngineering(String 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;
        }
        Map<String, List<UpPattenUsageVO>> upListMap = pattenUsageList.stream()
                .collect(Collectors.groupingBy(UpPattenUsageVO::getGroupNumber));
        //1、查询2个上片的原片详情
        List<RawGlassStorageDetails> rawGlassDetailsList = rawGlassStorageDetailsService.list(new LambdaQueryWrapper<RawGlassStorageDetails>()
                .eq(RawGlassStorageDetails::getState, Const.GLASS_STATE_IN).in(RawGlassStorageDetails::getDeviceId, stationCell)
                .orderByAsc(RawGlassStorageDetails::getSlot));
        List<UpPattenUsageVO> upPattenUsage01VOS = upListMap.get("1");
        UpPattenUsageVO usageVO = upPattenUsage01VOS.get(0);
        if (CollectionUtils.isEmpty(rawGlassDetailsList)) {
            //表示1上片位没有架子，直接找原片放入对应路线的1号上片位
            RawGlassStorageDetails details = 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())
//                    .gt(RawGlassStorageDetails::getRemainQuantity, upPattenUsage01VOS.size())
                            .orderByAsc(RawGlassStorageDetails::getRemainQuantity)
                            .last("limit 1")
            );
            rawGlassStorageDetailsService.generateTask(details.getSlot(), rawGlassDetailsList.get(0).getSlot(), details.getSlot(), details.getRemainQuantity(), Const.RAW_GLASS_TASK_TYPE_DISPATCH);

            List<ReadWriteEntity> list = new ArrayList<>();
            list.add(generateReadWriteEntity("storage-device.dev.Task sending word", 1));
            list.add(generateReadWriteEntity("storage-device.dev.Task distribution", 1));
            list.add(generateReadWriteEntity("storage-device.dev.Starting material rack number", details.getSlot()));
            list.add(generateReadWriteEntity("storage-device.dev.End shelf number", rawGlassDetailsList.get(0).getSlot()));
            miloService.writeToOpcWord(list);
            //结束调度任务 修改工位状态(起始位）状态为103 RAW_GLASS_STATE_RUNNING 任务完成后将状态改为101  目标位新增一条数据，架子号为（起始位）
            rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                    .eq(RawGlassStorageDetails::getShelf, details.getShelf()).eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_IN)
                    .set(RawGlassStorageDetails::getDeviceId, Const.RAW_GLASS_STATE_RUNNING));
            return Boolean.TRUE;
        }
        if (rawGlassDetailsList.size() == 2) {
            RawGlassStorageDetails glassStorageDetails = rawGlassDetailsList.get(0);
            if (usageVO.getWidth() == glassStorageDetails.getPatternWidth() && usageVO.getHeight() == glassStorageDetails.getPatternHeight() &&
                    usageVO.getThickness() == glassStorageDetails.getPatternThickness() && usageVO.getFilmsId().equals(glassStorageDetails.getFilmsId())) {
                if (glassStorageDetails.getRemainQuantity() == 0) {
                    //将架子放回原工位上
                    rawGlassStorageDetailsService.generateTask(glassStorageDetails.getSlot(), glassStorageDetails.getShelf(), glassStorageDetails.getShelf(), glassStorageDetails.getRemainQuantity(), Const.RAW_GLASS_TASK_TYPE_DISPATCH);
                    List<ReadWriteEntity> list = new ArrayList<>();
                    list.add(generateReadWriteEntity("storage-device.dev.Task sending word", 1));
                    list.add(generateReadWriteEntity("storage-device.dev.Task distribution", 1));
                    list.add(generateReadWriteEntity("storage-device.dev.Starting material rack number", glassStorageDetails.getSlot()));
                    list.add(generateReadWriteEntity("storage-device.dev.End shelf number", glassStorageDetails.getShelf()));
                    miloService.writeToOpcWord(list);
                    rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                            .eq(RawGlassStorageDetails::getSlot, glassStorageDetails.getSlot()).eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_IN)
                            .set(RawGlassStorageDetails::getDeviceId, Const.RAW_GLASS_STATE_RUNNING));
                    return Boolean.TRUE;
                }
            }
            log.info("上片位都有架子，结束本条线{}的调度任务", stationCell);
            return Boolean.FALSE;
        }
        RawGlassStorageDetails glassStorageDetails = rawGlassDetailsList.get(0);
        if (LOAD_STATION_MAX.contains(glassStorageDetails.getSlot())) {
            log.info("上片位2号有架子，结束本条线{}的调度任务", stationCell);
            return Boolean.FALSE;
        }
        //比较当前1号架子上的玻璃剩余数量是否为0或者已用完
        if (usageVO.getWidth() == glassStorageDetails.getPatternWidth() && usageVO.getHeight() == glassStorageDetails.getPatternHeight() &&
                usageVO.getThickness() == glassStorageDetails.getPatternThickness() && usageVO.getFilmsId().equals(glassStorageDetails.getFilmsId())) {
            RawGlassStorageDetails details = null;
            if (upPattenUsage01VOS.size() > glassStorageDetails.getRemainQuantity()) {
                //2号位上片：继续当前尺寸的原片
                details = 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())
                        .gt(RawGlassStorageDetails::getRemainQuantity, upPattenUsage01VOS.size())
                        .orderByAsc(RawGlassStorageDetails::getRemainQuantity)
                        .last("limit 1"));
            } else {
                //2号位上片：获取第二种尺寸的原片
                List<UpPattenUsageVO> upPattenUsage02VOS = upListMap.get("2");
                if (CollectionUtils.isEmpty(upPattenUsage01VOS)) {
                    return Boolean.FALSE;
                }
                usageVO = upPattenUsage02VOS.get(0);
                details = 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())
                        .gt(RawGlassStorageDetails::getRemainQuantity, upPattenUsage01VOS.size())
                        .orderByAsc(RawGlassStorageDetails::getRemainQuantity)
                        .last("limit 1"));
            }
            //将工位的架子传送到上片位
            rawGlassStorageDetailsService.generateTask(details.getShelf(), glassStorageDetails.getSlot(), details.getShelf(), details.getRemainQuantity(), Const.RAW_GLASS_TASK_TYPE_DISPATCH);
            rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                    .eq(RawGlassStorageDetails::getSlot, glassStorageDetails.getSlot()).eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_IN)
                    .set(RawGlassStorageDetails::getDeviceId, Const.RAW_GLASS_STATE_RUNNING));

            List<ReadWriteEntity> list = new ArrayList<>();
            list.add(generateReadWriteEntity("storage-device.dev.Task sending word", 1));
            list.add(generateReadWriteEntity("storage-device.dev.Task distribution", 1));
            list.add(generateReadWriteEntity("storage-device.dev.Starting material rack number", glassStorageDetails.getShelf()));
            list.add(generateReadWriteEntity("storage-device.dev.End shelf number", glassStorageDetails.getSlot()));
            miloService.writeToOpcWord(list);

            return Boolean.TRUE;
        } else {
            //将架子放回原工位上
            rawGlassStorageDetailsService.generateTask(0, glassStorageDetails.getShelf(), glassStorageDetails.getShelf(), glassStorageDetails.getRemainQuantity(), Const.RAW_GLASS_TASK_TYPE_DISPATCH);
            rawGlassStorageDetailsService.update(new LambdaUpdateWrapper<RawGlassStorageDetails>()
                    .eq(RawGlassStorageDetails::getSlot, glassStorageDetails.getSlot()).eq(RawGlassStorageDetails::getState, Const.RAW_GLASS_STATE_IN)
                    .set(RawGlassStorageDetails::getDeviceId, Const.RAW_GLASS_STATE_RUNNING));

            List<ReadWriteEntity> list = new ArrayList<>();
            list.add(generateReadWriteEntity("storage-device.dev.Task sending word", 1));
            list.add(generateReadWriteEntity("storage-device.dev.Task distribution", 1));
            list.add(generateReadWriteEntity("storage-device.dev.Starting material rack number", glassStorageDetails.getShelf()));
            list.add(generateReadWriteEntity("storage-device.dev.End shelf number", glassStorageDetails.getSlot()));
            miloService.writeToOpcWord(list);
            return Boolean.TRUE;
        }
    }

    private RawGlassStorageDetails generateDetails(RawGlassStorageDetails details, Integer targetSlot) {

        RawGlassStorageDetails targetDetails = new RawGlassStorageDetails();
//        details.setDeviceId();
        targetDetails.setSlot(targetSlot);
        targetDetails.setShelf(details.getShelf());
        targetDetails.setPatternWidth(details.getPatternWidth());
        targetDetails.setPatternHeight(details.getPatternHeight());
        targetDetails.setPatternThickness(details.getPatternThickness());
        targetDetails.setFilmsId(details.getFilmsId());
        targetDetails.setRemainQuantity(details.getRemainQuantity());
        targetDetails.setCreateTime(new Date());
        targetDetails.setState(Const.RAW_GLASS_STATE_IN);
        return targetDetails;
    }

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