package com.mes.job;

import cn.hutool.core.collection.CollectionUtil;
import cn.hutool.core.lang.Assert;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.github.yulichang.toolkit.JoinWrappers;
import com.kangaroohy.milo.model.ReadWriteEntity;
import com.kangaroohy.milo.service.MiloService;
import com.mes.base.entity.BigStorageCageBaseInfo;
import com.mes.bigstorage.entity.BigStorageCage;
import com.mes.bigstorage.entity.BigStorageCageDetails;
import com.mes.bigstorage.entity.dto.BigStorageDTO;
import com.mes.bigstorage.entity.dto.BigStorageRelationDTO;
import com.mes.bigstorage.entity.dto.BigStorageSequenceDTO;
import com.mes.bigstorage.entity.dto.TemperingLayoutDTO;
import com.mes.bigstorage.service.BigStorageCageDetailsService;
import com.mes.bigstorage.service.BigStorageCageService;
import com.mes.bigstorage.service.BigStorageGlassInfoService;
import com.mes.bigstorage.service.BigStorageGlassRelationInfoService;
import com.mes.bigstoragecagetask.entity.BigStorageCageHistoryTask;
import com.mes.bigstoragecagetask.entity.BigStorageCageTask;
import com.mes.bigstoragecagetask.service.BigStorageCageHistoryTaskService;
import com.mes.bigstoragecagetask.service.BigStorageCageTaskService;
import com.mes.bigstoragetask.entity.UpdateBigStorageCageDTO;
import com.mes.common.config.Const;
import com.mes.common.config.ConstSysConfig;
import com.mes.damage.entity.Damage;
import com.mes.damage.service.DamageService;
import com.mes.edgglasstask.entity.EdgGlassTaskInfo;
import com.mes.edgglasstask.service.EdgGlassTaskInfoService;
import com.mes.glassinfo.entity.GlassInfo;
import com.mes.glassinfo.service.GlassInfoService;
import com.mes.sysconfig.service.SysConfigService;
import com.mes.temperingglass.entity.TemperingGlassInfo;
import com.mes.temperingglass.service.TemperingGlassInfoService;
import com.mes.utils.RedisUtil;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang.StringUtils;
import org.springframework.beans.BeanUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;

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

/**
 * @author SNG-015
 */
@Component
@Slf4j
public class OpcPlcStorageCageNewTask {
    @Resource
    private BigStorageCageDetailsService bigStorageCageDetailsService;
    @Resource
    private TemperingGlassInfoService temperingGlassInfoService;
    @Resource
    private DamageService damageService;
    @Resource
    private GlassInfoService glassInfoService;
    @Resource
    private BigStorageGlassRelationInfoService bigStorageGlassRelationInfoService;
    @Resource
    private BigStorageCageService bigStorageCageService;
    @Resource
    private BigStorageCageHistoryTaskService bigStorageCageHistoryTaskService;
    @Resource
    private BigStorageCageTaskService bigStorageCageTaskService;
    @Resource
    private BigStorageGlassInfoService bigStorageGlassInfoService;
    @Resource
    private EdgGlassTaskInfoService edgGlassTaskInfoService;

    @Autowired(required = false)
    MiloService miloService;

    @Resource
    SysConfigService sysConfigService;

    /**
     * 直通格子
     */
    private static final Integer THROUGH_SLOT = 920;

    @Resource
    private RedisUtil redisUtil;

//    @Scheduled(fixedDelay = 1000)
    public void inBigStorageTask() throws Exception {
        ReadWriteEntity inkageEntity = miloService.readFromOpcUa("DLP1A.DLP1A.mesControl");
        if (true != Boolean.parseBoolean(inkageEntity.getValue() + "")) {
            log.info("当前为非联机状态，结束进片任务");
            return;
        }
        ReadWriteEntity requestEntity = miloService.readFromOpcUa("DLP1A.DLP1A.RequestMes");
        if (!"1".equals(requestEntity.getValue() + "")) {
            log.info("当前未收到进片请求，结束进片任务");
            return;
        }
        ReadWriteEntity mesReplyEntity = miloService.readFromOpcUa("DLP1A.DLP1A.MesReply");
        if ("1".equals(mesReplyEntity.getValue() + "")) {
            log.info("有正在执行的任务，结束进片任务");
            return;
        }
        //获取进片任务信息
        List<BigStorageCageTask> inTaskList = new ArrayList();
        ReadWriteEntity fromOpcUa = miloService.readFromOpcUa("DLP1A.DLP1A.FROM1");
        List<String> glassIdList = new ArrayList<>();
        for (int i = 1; i <= 6; i++) {
            ReadWriteEntity requestWord = miloService.readFromOpcUa("DLP1A.DLP1A.DI" + i);
            if (null != requestWord.getValue()) {
                BigStorageCageTask task = new BigStorageCageTask();
                task.setGlassId(requestWord.getValue() + "");
                task.setStartSlot(Integer.parseInt(fromOpcUa.getValue() + ""));
                inTaskList.add(task);
                glassIdList.add(requestWord.getValue() + "");
                continue;
            }
        }
        if (CollectionUtil.isEmpty(inTaskList)) {
            log.info("当前大车无进片玻璃，结束进片任务");
            return;
        }
        log.info("获取任务的玻璃id：{}", glassIdList);
        ReadWriteEntity countEntity = miloService.readFromOpcUa("DLP1A.DLP1A.glassCount");
        if (null == countEntity.getValue() || Integer.parseInt(countEntity.getValue() + "") != glassIdList.size()) {
            log.info("当前大车进片玻璃数量{}与mes读取到的数量{}不匹配，结束进片任务", countEntity.getValue(), glassIdList.size());
            //向plc发送报警:当前大车进片玻璃数量与mes读取到的数量不匹配
            miloService.writeToOpcWord(generateReadWriteEntity("DLP1A.DLP1A.alarmSignal", 1));
            return;
        }
        Map<String, Long> glassCountMap = glassIdList.stream().collect(Collectors.groupingBy(e -> e, Collectors.counting()));
        for (Map.Entry<String, Long> entry : glassCountMap.entrySet()) {
            if (entry.getValue() > 1) {
                log.info("进片玻璃{}存在相同，结束本次任务", entry.getKey());
                //向plc发送报警:同一车进片玻璃存在相同
                miloService.writeToOpcWord(generateReadWriteEntity("DLP1A.DLP1A.alarmSignal", 2));
                return;
            }
        }
        List<BigStorageCageDetails> detailsList = bigStorageCageDetailsService.list(new LambdaQueryWrapper<BigStorageCageDetails>().in(BigStorageCageDetails::getGlassId, glassIdList)
                .in(BigStorageCageDetails::getState, Const.GLASS_STATE_IN_ALL_ZERO));
        if (CollectionUtil.isNotEmpty(detailsList)) {
            log.info("理片笼存在相同的进片玻璃{}，结束本次任务", detailsList);
            //向plc发送报警:理片笼存在相同的进片玻璃
            miloService.writeToOpcWord(generateReadWriteEntity("DLP1A.DLP1A.alarmSignal", 4));
            return;
        }
        List<GlassInfo> glassInfoList = glassInfoService.list(new LambdaQueryWrapper<GlassInfo>().in(GlassInfo::getGlassId, glassIdList));

        if (glassInfoList.size() != inTaskList.size()) {
            log.info("进片任务数量{}与玻璃数量{}不匹配，结束本次进片", inTaskList.size(), glassInfoList.size());
            //向plc发送报警:进片任务数量与系统查询到的玻璃数量不匹配
            miloService.writeToOpcWord(generateReadWriteEntity("DLP1A.DLP1A.alarmSignal", 8));
            return;
        }
        Integer glassGap = sysConfigService.queryConfigValue(ConstSysConfig.VERTICAL_GLASS_GAP);
        Integer slotMaxthickness = sysConfigService.queryConfigValue(ConstSysConfig.VERTICAL_SLOT_MAX_THICKNESS);
        Integer slotWidth = sysConfigService.queryConfigValue(ConstSysConfig.VERTICAL_SLOT_WIDTH);
        Integer slotMaxHeight = sysConfigService.queryConfigValue(ConstSysConfig.VERTICAL_SLOT_MAX_HEIGHT);
        //按照玻璃厚度分组，判断剩余格子是否可以存放
        Map<Double, Long> thickCountMap = glassInfoList.stream().collect(Collectors.groupingBy(GlassInfo::getThickness, Collectors.counting()));
        if (glassInfoList.get(0).getThickness() < slotMaxthickness) {
            for (Map.Entry<Double, Long> entry : thickCountMap.entrySet()) {
                int count = bigStorageCageService.count(new LambdaQueryWrapper<BigStorageCage>()
                        .eq(BigStorageCage::getEnableState, Const.SLOT_ON).eq(BigStorageCage::getRemainWidth, slotWidth)
                        .le(BigStorageCage::getMinThickness, entry.getKey())
                        .ge(BigStorageCage::getMaxThickness, entry.getKey()));
                if (count < entry.getValue()) {
                    log.info("笼内格子剩余数量不足，结束本次进片");
                    //向plc发送报警:笼内格子剩余数量不足
                    miloService.writeToOpcWord(generateReadWriteEntity("DLP1A.DLP1A.alarmSignal", 16));
                    return;
                }
            }
        }
        //超大尺寸
        if (slotMaxHeight < Math.min(glassInfoList.get(0).getWidth(), glassInfoList.get(0).getHeight()) || glassInfoList.get(0).getThickness() >= slotMaxthickness) {
            int count = bigStorageCageDetailsService.count(new LambdaQueryWrapper<BigStorageCageDetails>()
                    .eq(BigStorageCageDetails::getSlot, THROUGH_SLOT)
                    .in(BigStorageCageDetails::getState, Const.GLASS_STATE_IN_ALL));
            if (count > 0) {
                log.info("直通片台存在玻璃，结束本次进片");
                //向plc发送报警:直通片台存在玻璃，无法继续直通
                miloService.writeToOpcWord(generateReadWriteEntity("DLP1A.DLP1A.alarmSignal", 64));
                return;
            }
        }

        //修改磨边对列表的玻璃状态
        edgGlassTaskInfoService.update(new LambdaUpdateWrapper<EdgGlassTaskInfo>()
                .set(EdgGlassTaskInfo::getState, Const.EDG_GLASS_SUCCESS).in(EdgGlassTaskInfo::getGlassId, glassIdList));
        //报工
        for (String glass : glassIdList) {
            damageService.autoSubmitReport(glass, inTaskList.get(0).getStartSlot(), "磨边", "进大理片笼", 1);
        }

        Map<String, List<GlassInfo>> glassListMap = glassInfoList.stream().collect(Collectors.groupingBy(GlassInfo::getGlassId));
        //计算目标格子
        List<BigStorageCageHistoryTask> historyTasks = new ArrayList<>();
        //超大尺寸与正常尺寸玻璃计算方式不一样
        if (slotMaxHeight > Math.min(glassInfoList.get(0).getWidth(), glassInfoList.get(0).getHeight()) && glassInfoList.get(0).getThickness() < slotMaxthickness) {
            for (BigStorageCageTask task : inTaskList) {
                GlassInfo info = glassListMap.get(task.getGlassId()).get(0);
                BigStorageDTO bigStorageDTO = bigStorageGlassInfoService.queryBigStorageTargetSlot(info.getEngineerId(), info.getTemperingLayoutId(), info.getTemperingFeedSequence());
                //获取目标格子信息
//            BigStorageDTO bigStorageDTO = bigStorageCageDetailsService.queryTargetSlotByTempering(info);
//            临时更新格子的剩余尺寸：防止相邻玻璃进同一格子造成剩余尺寸不足，玻璃越界的情况，任务完成后再次更新大理片笼表剩余宽度（按照笼内玻璃数量更新大理片笼剩余尺寸）
                bigStorageCageService.update(new LambdaUpdateWrapper<BigStorageCage>()
                        .set(BigStorageCage::getRemainWidth, bigStorageDTO.getWidth() - Math.max(info.getWidth(), info.getHeight()) - glassGap)
                        .eq(BigStorageCage::getSlot, bigStorageDTO.getSlot()));
                task.setTargetSlot(bigStorageDTO.getSlot());
                task.setGlassId(info.getGlassId());
                bigStorageCageTaskService.updateTaskMessage("big_storage_cage_in_one_task", task);
                //存放历史任务
                BigStorageCageHistoryTask historyTask = new BigStorageCageHistoryTask();
                BeanUtils.copyProperties(task, historyTask);
                historyTask.setTaskType(Const.BIG_STORAGE_BEFORE_IN);
                historyTask.setGlassCount(glassInfoList.size());
                historyTask.setTaskState(Const.ENGINEERING_NEW);
                historyTasks.add(historyTask);
                BigStorageCageDetails cageDetails = new BigStorageCageDetails();
                BeanUtils.copyProperties(info, cageDetails);
                cageDetails.setSlot(bigStorageDTO.getSlot());
                cageDetails.setState(Const.GLASS_STATE_NEW);
                cageDetails.setDeviceId(bigStorageDTO.getDeviceId());
                cageDetails.setSequence(bigStorageDTO.getSlotSequence());
                cageDetails.setAngle((int) info.getAngle());
                cageDetails.setGap(glassGap);
                cageDetails.setFilmsId(info.getFilmsid());
                cageDetails.setId(null);
                bigStorageCageDetailsService.save(cageDetails);
            }
        } else {
            BigStorageCageTask task = inTaskList.get(0);
            task.setTargetSlot(THROUGH_SLOT);
            bigStorageCageTaskService.updateTaskMessage("big_storage_cage_in_one_task", task);
            //存放历史任务
            BigStorageCageHistoryTask historyTask = new BigStorageCageHistoryTask();
            BeanUtils.copyProperties(task, historyTask);
            historyTask.setTaskType(Const.BIG_STORAGE_BEFORE_IN);
            historyTask.setGlassCount(glassInfoList.size());
            historyTask.setTaskState(Const.ENGINEERING_NEW);
            historyTasks.add(historyTask);
            GlassInfo info = glassInfoList.get(0);
            BigStorageCageDetails cageDetails = new BigStorageCageDetails();
            BeanUtils.copyProperties(info, cageDetails);
            cageDetails.setSlot(THROUGH_SLOT);
            cageDetails.setState(Const.GLASS_STATE_NEW);
            cageDetails.setDeviceId(0);
            cageDetails.setSequence(0);
            cageDetails.setGap(glassGap);
            cageDetails.setAngle((int) info.getAngle());
            cageDetails.setFilmsId(info.getFilmsid());
            cageDetails.setId(null);
            bigStorageCageDetailsService.save(cageDetails);
        }
        //历史数据入库
        bigStorageCageHistoryTaskService.saveBatch(historyTasks);
        //向opc发送启动信号
        List<ReadWriteEntity> list = new ArrayList<>();
        for (int i = 1; i <= inTaskList.size(); i++) {
            list.add(generateReadWriteEntity("DLP1A.DLP1A.TO" + i, inTaskList.get(i - 1).getTargetSlot()));
        }
        list.add(generateReadWriteEntity("DLP1A.DLP1A.MesReply", 1));
        miloService.writeToOpcWord(list);
    }

//    @Scheduled(fixedDelay = 1000)
    public void outBigStorageTask() throws Exception {
        Date startDate = new Date();
        ReadWriteEntity inkageEntity = miloService.readFromOpcUa("DLP1B.DLP1B.mesControl");
        if (true != Boolean.parseBoolean(inkageEntity.getValue() + "")) {
            log.info("当前为非联机状态，结束进片任务");
            return;
        }
        ReadWriteEntity requestEntity = miloService.readFromOpcUa("DLP1B.DLP1B.RequestMes");
        if (!"1".equals(requestEntity.getValue() + "")) {
            log.info("当前未收到出片请求，结束出片任务");
            return;
        }
        //获取出片任务表
        List<BigStorageCageTask> outTaskList = bigStorageCageTaskService.queryTaskMessage("big_storage_cage_out_one_task");
        if (CollectionUtil.isNotEmpty(outTaskList)) {
            log.info("有正在执行的出片任务，结束本次出片任务");
            return;
        }
        //是否允许钢化
        //是否有正在钢化的玻璃:钢化小片表关联历史任务表，筛选未出笼的玻璃信息
//            获取当前钢化任务未完成出片的玻璃信息

        Integer temperingOutTargetPosition = sysConfigService.queryConfigValue(ConstSysConfig.VERTICAL_TEMPERING_OUT_TARGET_POSITION);
        List<TemperingGlassInfo> unFinishTemperingGlassInfoList = temperingGlassInfoService.list(new LambdaQueryWrapper<TemperingGlassInfo>()
                .eq(TemperingGlassInfo::getState, Const.TEMPERING_NEW).orderByAsc(TemperingGlassInfo::getTemperingLayoutId).orderByAsc(TemperingGlassInfo::getTemperingFeedSequence));
        if (CollectionUtil.isNotEmpty(unFinishTemperingGlassInfoList)) {
            log.info("有正在出片的钢化任务");
            computeOutGlassInfoByVirtualSlot(unFinishTemperingGlassInfoList, "big_storage_cage_out_one_task", temperingOutTargetPosition, Const.GLASS_STATE_OUT_ING, Const.BIG_STORAGE_BEFORE_OUT);
            Date endDate = new Date();
            log.info("大理片笼出片任务结束时间：{}，共耗时：{}ms,结束扫码任务", endDate, endDate.getTime() - startDate.getTime());
            return;
        }

        BigStorageCageDetails details = bigStorageCageDetailsService.getOne(new LambdaQueryWrapper<BigStorageCageDetails>()
                .eq(BigStorageCageDetails::getSlot, THROUGH_SLOT)
                .in(BigStorageCageDetails::getState, Const.GLASS_STATE_IN_ALL).last("limit 1"));
        if (details != null) {
            TemperingGlassInfo temperingGlassInfo = new TemperingGlassInfo();
            BeanUtils.copyProperties(details, temperingGlassInfo);
            temperingGlassInfo.setState(-1);
            temperingGlassInfoService.save(temperingGlassInfo);
            computeOutGlassInfoByVirtualSlot(Arrays.asList(temperingGlassInfo), "big_storage_cage_out_one_task", temperingOutTargetPosition, Const.GLASS_STATE_OUT_ING, Const.BIG_STORAGE_BEFORE_OUT);
            return;
        }

        if (redisUtil.getCacheObject("temperingSwitch")) {
            //钢化优先：获取理片笼  玻璃小片  破损表 数量   判断笼内版图是否到齐
            List<TemperingLayoutDTO> temperingLayoutDTOList = bigStorageCageDetailsService.temperingIsAll();
            if (CollectionUtil.isNotEmpty(temperingLayoutDTOList)) {
                //玻璃到齐包括已出片的
                //到齐，将玻璃小片数据存入钢化小片表，逻辑生成出片任务  结束
                for (TemperingLayoutDTO item : temperingLayoutDTOList) {
//                    if (item.getEngineerId().equals(redisUtil.getCacheObject("temperingengineerId"))) {
                    List<TemperingGlassInfo> temperingGlassInfos = glassInfoService.selectJoinList(TemperingGlassInfo.class, JoinWrappers.lambda(GlassInfo.class)
                            .select("-1 as state,t.filmsid as films_id,t.glass_id,t.flow_card_id,t.glass_type,t.width,t.height" +
                                    ",t.thickness,t.ishorizontal,t.tempering_layout_id,t.tempering_feed_sequence,t.x_coordinate,t.y_coordinate," +
                                    "t.angle,t1.slot,t.engineer_id")
                            .innerJoin(BigStorageCageDetails.class, BigStorageCageDetails::getGlassId, GlassInfo::getGlassId)
                            .eq(BigStorageCageDetails::getState, Const.GLASS_STATE_IN)
                            .eq(GlassInfo::getTemperingLayoutId, item.getTemperingLayoutId())
                            .eq(GlassInfo::getEngineerId, item.getEngineerId())
                            .orderByAsc(GlassInfo::getTemperingFeedSequence));
                    if (CollectionUtil.isNotEmpty(temperingGlassInfos)) {
                        temperingGlassInfoService.saveBatch(temperingGlassInfos);
                        computeOutGlassInfoByVirtualSlot(temperingGlassInfos, "big_storage_cage_out_one_task", temperingOutTargetPosition, Const.GLASS_STATE_OUT_ING, Const.BIG_STORAGE_BEFORE_OUT);
                        Date endDate = new Date();
                        log.info("大理片笼出片任务结束时间：{}，共耗时：{}ms,结束扫码任务", endDate, endDate.getTime() - startDate.getTime());
                        return;
                    }
//                    }
                }
            }
        }
        //是否有人工下片任务   有直接出
        Integer artificialOutTargetPosition = sysConfigService.queryConfigValue(ConstSysConfig.VERTICAL_ARTIFICIAL_OUT_TARGET_POSITION);
        Integer outCarMaxSize = sysConfigService.queryConfigValue(ConstSysConfig.VERTICAL_OUT_CAR_SIZE);
        List<BigStorageCageDetails> artificialList = bigStorageCageDetailsService.list(new LambdaQueryWrapper<BigStorageCageDetails>()
                .eq(BigStorageCageDetails::getState, Const.GLASS_STATE_ARTIFICIAL)
                .orderByAsc(BigStorageCageDetails::getSlot)
                .orderByAsc(BigStorageCageDetails::getId).last("limit " + outCarMaxSize));
        if (CollectionUtil.isNotEmpty(artificialList)) {
            computeOutGlassInfoByVirtualSlot(artificialList, "big_storage_cage_out_one_task", artificialOutTargetPosition, Const.GLASS_STATE_OUT_ING, Const.BIG_STORAGE_BEFORE_OUT);
            Date endDate = new Date();
            log.info("大理片笼出片任务结束时间：{}，共耗时：{}ms,结束扫码任务", endDate, endDate.getTime() - startDate.getTime());
            return;
        }
        //是否存在需要内部调度的格子:执行内部调度任务
        if (redisUtil.getCacheObject("dispatchSwitch")) {
            //todo:获取笼内单格已经到齐的玻璃格子信息
            List<BigStorageRelationDTO> virtualList = bigStorageCageDetailsService.queryIsAllNeedDispatchVirtualSlot();
            if (CollectionUtil.isEmpty(virtualList)) {
                log.info("没有需要调度的格子");
                return;
            }
            List<BigStorageCageDetails> list = new ArrayList<>();
            loop:
            for (BigStorageRelationDTO dto : virtualList) {
                List<BigStorageSequenceDTO> sequenceDTOList = bigStorageCageDetailsService.dispatchBigStorageGlassInfo(dto);
                if (CollectionUtil.isEmpty(sequenceDTOList) || sequenceDTOList.size() == 1) {
                    continue;
                }
                int sequence = -1;
                int targetSlot = -1;
                for (BigStorageSequenceDTO item : sequenceDTOList) {
                    if (item.getMaxSequence() == sequence - 1) {
                        //生成调度任务
                        int startSlot = item.getSlot();
                        list = bigStorageCageDetailsService.list(new LambdaQueryWrapper<BigStorageCageDetails>()
                                .eq(BigStorageCageDetails::getState, Const.GLASS_STATE_IN).eq(BigStorageCageDetails::getSlot, startSlot));
                        computeOutGlassInfoByVirtualSlot(list, "big_storage_cage_out_one_task",
                                targetSlot, Const.GLASS_STATE_SCHEDULE_ING, Const.BIG_STORAGE_BEFORE_DISPATCH);
                        List<Integer> slotList = new ArrayList<>();
                        slotList.add(targetSlot);
                        updateSlotRemainBySlots(slotList);
                        break loop;
                    }
                    sequence = item.getMinSequence();
                    targetSlot = item.getSlot();
                }
            }
        }
        Date endDate = new Date();
        log.info("大理片笼出片任务结束时间：{}，共耗时：{}ms,结束扫码任务", endDate, endDate.getTime() - startDate.getTime());
        return;
    }

//    @Scheduled(fixedDelay = 1000)
    public void finishInBigStorageTask() throws Exception {
        ReadWriteEntity inkageEntity = miloService.readFromOpcUa("DLP1A.DLP1A.mesControl");
        if (true != Boolean.parseBoolean(inkageEntity.getValue() + "")) {
            log.info("当前为非联机状态，结束完成进片任务");
            return;
        }
        //获取进片任务表
//        List<BigStorageCageTask> inTaskList = bigStorageCageTaskService.queryTaskMessage("big_storage_cage_in_one_task");
        List<BigStorageCageTask> inTaskList = new ArrayList();

        List<String> glassIdList = new ArrayList<>();
        ReadWriteEntity toWord = miloService.readFromOpcUa("DLP1A.DLP1A.TO1");
        if ("0".equals(toWord.getValue() + "")) {
            log.info("完成任务已执行，结束本次完成进片任务");
            return;
        }
        for (int i = 1; i <= 6; i++) {
            ReadWriteEntity requestWord = miloService.readFromOpcUa("DLP1A.DLP1A.DI" + i);
            ReadWriteEntity statetWord = miloService.readFromOpcUa("DLP1A.DLP1A.STATE" + i);
            ReadWriteEntity toOpcUa = miloService.readFromOpcUa("DLP1A.DLP1A.TO" + i);
            ReadWriteEntity fromOpcUa = miloService.readFromOpcUa("DLP1A.DLP1A.FROM" + i);

            if (null != requestWord.getValue()) {
                BigStorageCageTask task = new BigStorageCageTask();
                task.setGlassId(requestWord.getValue() + "");
                task.setTargetSlot(Integer.parseInt(toOpcUa.getValue() + ""));
                task.setTaskState(Integer.parseInt(statetWord.getValue() + ""));
                task.setStartSlot(Integer.parseInt(fromOpcUa.getValue() + ""));
                inTaskList.add(task);
                glassIdList.add(requestWord.getValue() + "");
                continue;
            }
        }
        if (CollectionUtil.isEmpty(inTaskList)) {
            log.info("当前大车无进片玻璃，结束完成进片任务");
            return;
        }
        List<BigStorageCageTask> unFinishTaskList = inTaskList.stream().filter(e -> e.getTaskState() <= 1 || e.getStartSlot() == 0).collect(Collectors.toList());
        if (CollectionUtil.isNotEmpty(unFinishTaskList)) {
            log.info("存在未完成的玻璃信息,玻璃：{}", unFinishTaskList);
            return;
        }
        Map<Integer, List<BigStorageCageTask>> taskMap = inTaskList.stream().collect(Collectors.groupingBy(BigStorageCageTask::getTaskState));
        //按照任务状态修改大理片笼内的玻璃数据
//        重新计算大理片笼内的剩余尺寸
        taskMap.forEach((e1, v) -> {
            if (e1 == 2) {
                //进片完成
                log.info("3、获取进片已完成的玻璃信息id:{}", v);
                List<Integer> inSuccessGlassSlot = v.stream().map(BigStorageCageTask::getTargetSlot).collect(Collectors.toList());
                List<UpdateBigStorageCageDTO> storageCageDTOList = v.stream().map(e -> {
                    UpdateBigStorageCageDTO storageCageDTO = new UpdateBigStorageCageDTO();
                    BeanUtils.copyProperties(e, storageCageDTO);
                    return storageCageDTO;
                }).collect(Collectors.toList());
                bigStorageCageDetailsService.updateBySlot(storageCageDTOList, Const.GLASS_STATE_IN);
                log.info("4、大理片笼进片状态已完成已完成的玻璃信息id:{}", v);
                updateSlotRemainBySlots(inSuccessGlassSlot);
            } else if (e1 == 3) {
                //破损处理
                dealDamageInTask(v);
            } else {
                //清空理片笼空数据
                noDealInTask(v);
            }
        });
        for (BigStorageCageTask item : inTaskList) {
            //更新历史任务表中的任务状态
            bigStorageCageHistoryTaskService.update(new LambdaUpdateWrapper<BigStorageCageHistoryTask>()
                    .set(BigStorageCageHistoryTask::getTaskState, item.getTaskState())
                    .eq(BigStorageCageHistoryTask::getTaskType, Const.BIG_STORAGE_BEFORE_IN)
                    .eq(BigStorageCageHistoryTask::getTargetSlot, item.getTargetSlot())
                    .eq(BigStorageCageHistoryTask::getGlassId, item.getGlassId()));
            item.setTargetSlot(0);
            //清空任务表数据
            bigStorageCageTaskService.updateTaskMessage("big_storage_cage_in_one_task", item);
        }
        //清空启动状态
        //向opc发送启动信号
        //向opc发送启动信号
        List<ReadWriteEntity> list = new ArrayList<>();
        for (int i = 1; i <= 6; i++) {
            list.add(generateReadWriteEntity("DLP1A.DLP1A.TO" + i, 0));
        }
        list.add(generateReadWriteEntity("DLP1A.DLP1A.MesReply", 0));
        miloService.writeToOpcWord(list);
    }

//    @Scheduled(fixedDelay = 1000)
    public void finishOutBigStorageTask() throws Exception {
        ReadWriteEntity inkageEntity = miloService.readFromOpcUa("DLP1B.DLP1B.mesControl");
        if (true != Boolean.parseBoolean(inkageEntity.getValue() + "")) {
            log.info("当前为非联机状态，结束完成出片任务");
            return;
        }
        //获取进片任务表
        List<BigStorageCageTask> outTaskList = bigStorageCageTaskService.queryTaskMessage("big_storage_cage_out_one_task");
        if (CollectionUtil.isEmpty(outTaskList)) {
            log.info("当前大车无出片玻璃，结束完成出片任务");
            return;
        }
        List<BigStorageCageTask> unFinishTaskList = outTaskList.stream().filter(e -> e.getTaskState() <= 1 || e.getStartSlot() == 0).collect(Collectors.toList());
        if (CollectionUtil.isNotEmpty(unFinishTaskList)) {
            log.info("存在未完成的玻璃信息,玻璃：{}", unFinishTaskList);
            return;
        }
        Map<Integer, List<BigStorageCageTask>> taskMap = outTaskList.stream().collect(Collectors.groupingBy(BigStorageCageTask::getTaskState));
        int taskType = 0;
        if (Const.OUT_TARGET_POSITION_ALL.contains(outTaskList.get(0).getTargetSlot())) {
            taskType = Const.BIG_STORAGE_BEFORE_OUT;
        } else {
            taskType = Const.BIG_STORAGE_BEFORE_DISPATCH;
        }
        //按照任务状态修改大理片笼内的玻璃数据
//        重新计算大理片笼内的剩余尺寸
        Integer finalTaskType = taskType;
        taskMap.forEach((e1, v) -> {
            if (e1 == 2) {
                //进片完成
                log.info("3、获取进片已完成的玻璃信息id:{}", v);
                List<Integer> outSuccessGlassSlot = new ArrayList<>();
                if (finalTaskType.equals(Const.BIG_STORAGE_BEFORE_OUT)) {
                    outSuccessGlassSlot = v.stream().map(BigStorageCageTask::getStartSlot).collect(Collectors.toList());
                } else {
                    List<Integer> targetSuccessGlassSlot = v.stream().map(BigStorageCageTask::getTargetSlot).collect(Collectors.toList());
                    List<Integer> startoutSuccessGlassSlot = v.stream().map(BigStorageCageTask::getStartSlot).collect(Collectors.toList());
                    outSuccessGlassSlot.addAll(targetSuccessGlassSlot);
                    outSuccessGlassSlot.addAll(startoutSuccessGlassSlot);
                }
                List<UpdateBigStorageCageDTO> storageCageDTOList = v.stream().map(e -> {
                    UpdateBigStorageCageDTO storageCageDTO = new UpdateBigStorageCageDTO();
                    storageCageDTO.setGlassId(e.getGlassId());
                    if (finalTaskType.equals(Const.BIG_STORAGE_BEFORE_OUT)) {
                        storageCageDTO.setTargetSlot(e.getStartSlot());
                    } else {
                        storageCageDTO.setTargetSlot(e.getTargetSlot());
                    }
                    return storageCageDTO;
                }).collect(Collectors.toList());
                if (finalTaskType.equals(Const.BIG_STORAGE_BEFORE_OUT)) {
                    bigStorageCageDetailsService.updateBySlot(storageCageDTOList, Const.GLASS_STATE_OUT);
                } else {
                    bigStorageCageDetailsService.updateBySlot(storageCageDTOList, Const.GLASS_STATE_IN);
                    //按照格子信息更新对应的设备id
                    List<Integer> slotList = storageCageDTOList.stream().map(UpdateBigStorageCageDTO::getTargetSlot).distinct().collect(Collectors.toList());
                    bigStorageCageDetailsService.updateDeviceIdBySlot(slotList);

                }
                log.info("4、大理片笼进片状态已完成已完成的玻璃信息id:{}", v);
                updateSlotRemainBySlots(outSuccessGlassSlot);
            } else if (e1 == 3) {
                //破损处理
                dealDamageOutTask(v);
            } else {
                //清空理片笼空数据
                noDealOutTask(v);
            }
        });
        for (BigStorageCageTask item : outTaskList) {
            //更新历史任务表中的任务状态
            bigStorageCageHistoryTaskService.update(new LambdaUpdateWrapper<BigStorageCageHistoryTask>()
                    .set(BigStorageCageHistoryTask::getTaskState, item.getTaskState())
                    .eq(BigStorageCageHistoryTask::getTaskType, taskType)
                    .eq(BigStorageCageHistoryTask::getGlassId, item.getGlassId()));
            //更新钢化小片表
            Integer taskState = item.getTaskState();
            if (taskState == 2) {
                temperingGlassInfoService.update(new LambdaUpdateWrapper<TemperingGlassInfo>()
                        .set(TemperingGlassInfo::getState, Const.TEMPERING_OUT).eq(TemperingGlassInfo::getGlassId, item.getGlassId()));
            } else if (taskState == 3) {
//                temperingGlassInfoService.remove(new LambdaQueryWrapper<TemperingGlassInfo>().eq(TemperingGlassInfo::getGlassId, item.getGlassId()));
                temperingGlassInfoService.update(new LambdaUpdateWrapper<TemperingGlassInfo>()
                        .set(TemperingGlassInfo::getState, Const.TEMPERING_DAMAGE
                        ).eq(TemperingGlassInfo::getGlassId, item.getGlassId()));

            } else {
//                空执行
            }
        }
//       重置任务表数据
        bigStorageCageTaskService.updateOutTaskMessage("big_storage_cage_out_one_task");
        //清空启动状态
        //向opc发送启动信号
        miloService.writeToOpcWord(generateReadWriteEntity("DLP1B.DLP1B.MesReply", 0));
    }

    private void dealDamageInTask(List<BigStorageCageTask> damageTaskList) {
//        获取进片任务表中状态为破损的数据
        log.info("破损的玻璃信息有：{}", damageTaskList);
        //移除理片笼详情表任务执行过程中破损的玻璃
        bigStorageCageDetailsService.remove(new LambdaQueryWrapper<BigStorageCageDetails>()
                .eq(BigStorageCageDetails::getState, Const.GLASS_STATE_NEW)
                .in(BigStorageCageDetails::getGlassId, damageTaskList.stream().map(BigStorageCageTask::getGlassId).collect(Collectors.toList())));
        //将破损信息新增入破损表
        List<Integer> slotList = new ArrayList<>();
        for (BigStorageCageTask item : damageTaskList) {
            Damage damage = new Damage();
            damage.setGlassId(item.getGlassId());
            damage.setLine(item.getStartSlot());
            damage.setWorkingProcedure("大理片笼");
            damage.setRemark("进笼前卧转立");
            damage.setStatus(1);
            damage.setType(item.getTaskState());
            damageService.insertDamage(damage);
            slotList.add(item.getTargetSlot());
        }
        //更新格子剩余宽度
        updateSlotRemainBySlots(slotList);
        log.info("进片任务-破损任务执行完成");
    }

    private void dealDamageOutTask(List<BigStorageCageTask> damageTaskList) {
//        获取进片任务表中状态为破损的数据
        log.info("破损的玻璃信息有：{}", damageTaskList);
        //移除理片笼详情表任务执行过程中破损的玻璃
        bigStorageCageDetailsService.remove(new LambdaQueryWrapper<BigStorageCageDetails>()
                .in(BigStorageCageDetails::getState, Const.GLASS_STATE_IN_ALL_ZERO)
                .in(BigStorageCageDetails::getGlassId, damageTaskList.stream().map(BigStorageCageTask::getGlassId).collect(Collectors.toList())));
        //将破损信息新增入破损表
        List<Integer> slotList = new ArrayList<>();
        for (BigStorageCageTask item : damageTaskList) {
            Damage damage = new Damage();
            damage.setGlassId(item.getGlassId());
            damage.setLine(item.getStartSlot());
            damage.setWorkingProcedure("钢化前");
            damage.setRemark("进笼后卧转立");
            damage.setStatus(1);
            damage.setType(item.getTaskState());
            damageService.insertDamage(damage);
            slotList.add(item.getTargetSlot());
            slotList.add(item.getStartSlot());
        }
        //更新格子剩余宽度
        updateSlotRemainBySlots(slotList);
        log.info("出片任务-破损任务执行完成");
    }

    private void noDealInTask(List<BigStorageCageTask> noDealTaskList) {
//        获取进片任务表中状态为破损的数据
        log.info("破损的玻璃信息有：{}", noDealTaskList);
        //移除理片笼详情表未执行任务的空记录信息
        bigStorageCageDetailsService.remove(new LambdaQueryWrapper<BigStorageCageDetails>()
                .eq(BigStorageCageDetails::getState, Const.GLASS_STATE_NEW)
                .in(BigStorageCageDetails::getGlassId, noDealTaskList.stream().map(BigStorageCageTask::getGlassId).collect(Collectors.toList())));
        //记录格子号，按格子号更新剩余尺寸
        List<Integer> slotList = new ArrayList<>();
        for (BigStorageCageTask item : noDealTaskList) {
            slotList.add(item.getTargetSlot());
            slotList.add(item.getStartSlot());
        }
        //更新格子剩余宽度
        updateSlotRemainBySlots(slotList);
        log.info("进片任务-无动作执行完成");
    }

    private void noDealOutTask(List<BigStorageCageTask> noDealTaskList) {
//        获取进片任务表中状态为破损的数据
        log.info("破损的玻璃信息有：{}", noDealTaskList);
        if (Const.OUT_TARGET_POSITION_ALL.contains(noDealTaskList.get(0).getTargetSlot())) {
            //出片任务:将出片中状态恢复为在笼内
            List<String> glassList = noDealTaskList.stream().map(BigStorageCageTask::getGlassId).collect(Collectors.toList());
            bigStorageCageDetailsService.update(new LambdaUpdateWrapper<BigStorageCageDetails>()
                    .set(BigStorageCageDetails::getState, Const.GLASS_STATE_IN)
                    .ne(BigStorageCageDetails::getState, Const.GLASS_STATE_OUT)
                    .in(BigStorageCageDetails::getGlassId, glassList));

        } else {
            //调度任务：将调度中状态改为在笼内，格子号恢复为调度前的格子
            for (BigStorageCageTask item : noDealTaskList) {
                bigStorageCageDetailsService.update(new LambdaUpdateWrapper<BigStorageCageDetails>()
                        .set(BigStorageCageDetails::getSlot, item.getStartSlot())
                        .set(BigStorageCageDetails::getState, Const.GLASS_STATE_IN)
                        .ne(BigStorageCageDetails::getState, Const.GLASS_STATE_OUT)
                        .eq(BigStorageCageDetails::getGlassId, item.getGlassId()));
            }
        }
        //将破损信息新增入破损表
        List<Integer> slotList = new ArrayList<>();
        for (BigStorageCageTask item : noDealTaskList) {
            slotList.add(item.getTargetSlot());
            slotList.add(item.getStartSlot());
        }
        //更新格子剩余宽度
        updateSlotRemainBySlots(slotList);
        log.info("出片任务-无动作执行完成");
    }

    /**
     * 出片一次仅生成一车玻璃
     *
     * @param list
     * @param <T>
     * @return
     */
    private <T extends BigStorageCageBaseInfo> Boolean computeOutGlassInfoByVirtualSlot(List<T> list, String tableName, int targetSlot, int state, int taskType) {
        //任务数据:获取车子存放玻璃最大数量,玻璃间隔
        List<T> outGlassList = list;
        if (!THROUGH_SLOT.equals(list.get(0).getSlot())) {
            //todo:临时解决方案:出片时考虑玻璃碰撞，改为一片一出
            // 界面关闭调度开关 !Const.BIG_STORAGE_BEFORE_DISPATCH.equals(taskType)
            if (list.get(0).getThickness() >= 8) {
                outGlassList = list.subList(0, 1);
            } else {
                List<String> glassIdList = bigStorageGlassRelationInfoService.queryNeedOutGlassId(
                        list.get(0).getEngineerId(), list.get(0).getTemperingLayoutId(), list.get(0).getTemperingFeedSequence());
                outGlassList = list.stream().filter(e -> glassIdList.contains(e.getGlassId())).collect(Collectors.toList());
            }
        }
        Assert.isFalse(CollectionUtil.isEmpty(outGlassList), "未获取出片数据，结束出片任务");
        log.info("获取出片任务数据{}条，执行保存", outGlassList.size());
        List<BigStorageCageTask> bigStorageCageTaskList = outGlassList.stream()
                .map(e -> new BigStorageCageTask(e.getGlassId(), e.getSlot(), targetSlot, 0)).collect(Collectors.toList());

        List<String> glassIds = bigStorageCageTaskList.stream().map(BigStorageCageTask::getGlassId).collect(Collectors.toList());
        int glassCount = bigStorageCageTaskList.size();
        //生成出片任务条数不足6补全
        while (bigStorageCageTaskList.size() < 6) {
            bigStorageCageTaskList.add(new BigStorageCageTask("", 0, 0, 0));
        }
        //清空任务表数据
        bigStorageCageTaskService.removeAll("big_storage_cage_out_one_task");
        bigStorageCageTaskService.saveTaskMessage(tableName, bigStorageCageTaskList);
        List<BigStorageCageHistoryTask> historyList = bigStorageCageTaskList.stream().filter(e -> StringUtils.isNotBlank(e.getGlassId())).map(e -> {
            BigStorageCageHistoryTask history = new BigStorageCageHistoryTask();
            BeanUtils.copyProperties(e, history);
            history.setGlassCount(glassCount);
            history.setTaskType(taskType);
            return history;
        }).collect(Collectors.toList());
        bigStorageCageHistoryTaskService.saveBatch(historyList);

        log.info("将出片玻璃{}玻璃状态改为出片中", glassIds);
        bigStorageCageDetailsService.update(new LambdaUpdateWrapper<BigStorageCageDetails>()
                .set(BigStorageCageDetails::getState, state)
                .set(Const.BIG_STORAGE_BEFORE_DISPATCH.equals(taskType), BigStorageCageBaseInfo::getSlot, targetSlot)
                .ne(BigStorageCageDetails::getState, Const.GLASS_STATE_OUT)
                .in(BigStorageCageDetails::getGlassId, glassIds));
        try {
            miloService.writeToOpcWord(generateReadWriteEntity("DLP1B.DLP1B.MesReply", 1));
        } catch (Exception e) {
            e.printStackTrace();
        }
        return Boolean.TRUE;
    }

    //    /**
//     * 出片一次仅生成一车玻璃
//     *
//     * @param list
//     * @param <T>
//     * @return
//     */
    private <T extends BigStorageCageBaseInfo> Boolean computeOutGlassInfo(List<T> list, String tableName, int targetSlot, int state, int taskType) {
        //任务数据:获取车子存放玻璃最大数量,玻璃间隔
        List<BigStorageCageTask> bigStorageCageTaskList = new ArrayList<>();
        //打车剩余尺寸
        Integer outCarMaxSize = sysConfigService.queryConfigValue(ConstSysConfig.VERTICAL_OUT_CAR_SIZE);
        Integer glassGap = sysConfigService.queryConfigValue(ConstSysConfig.VERTICAL_GLASS_GAP);
        Integer remainWidth = sysConfigService.queryConfigValue(ConstSysConfig.VERTICAL_CAR_WIDTH);
        for (T e : list) {
            if (bigStorageCageTaskList.size() >= outCarMaxSize || Math.max((int) e.getWidth(), (int) e.getHeight()) > remainWidth) {
                break;
            }
            //计算当前出片车剩尺寸
            remainWidth = remainWidth - Math.max((int) e.getWidth(), (int) e.getHeight()) - glassGap;
            bigStorageCageTaskList.add(new BigStorageCageTask(e.getGlassId(), e.getSlot(), targetSlot,
                    0));
        }
        Assert.isFalse(CollectionUtil.isEmpty(bigStorageCageTaskList), "未获取出片数据，结束出片任务");
        log.info("获取出片任务数据{}条，执行保存", bigStorageCageTaskList.size());
        List<String> glassIds = bigStorageCageTaskList.stream().map(BigStorageCageTask::getGlassId).collect(Collectors.toList());
        int glassCount = bigStorageCageTaskList.size();
        //生成出片任务条数不足6补全
        while (bigStorageCageTaskList.size() < 6) {
            bigStorageCageTaskList.add(new BigStorageCageTask("", 0, 0, 0));
        }
        //清空任务表数据
        bigStorageCageTaskService.removeAll("big_storage_cage_out_one_task");
        bigStorageCageTaskService.saveTaskMessage(tableName, bigStorageCageTaskList);
        List<BigStorageCageHistoryTask> historyList = bigStorageCageTaskList.stream().filter(e -> StringUtils.isNotBlank(e.getGlassId())).map(e -> {
            BigStorageCageHistoryTask history = new BigStorageCageHistoryTask();
            BeanUtils.copyProperties(e, history);
            history.setGlassCount(glassCount);
            history.setTaskType(taskType);
            return history;
        }).collect(Collectors.toList());
        bigStorageCageHistoryTaskService.saveBatch(historyList);

        log.info("将出片玻璃{}玻璃状态改为出片中", glassIds);
        bigStorageCageDetailsService.update(new LambdaUpdateWrapper<BigStorageCageDetails>()
                .set(BigStorageCageDetails::getState, state)
                .ne(BigStorageCageDetails::getState, Const.GLASS_STATE_OUT)
                .set(Const.GLASS_STATE_SCHEDULE_ING.equals(state), BigStorageCageBaseInfo::getSlot, targetSlot)
                .in(BigStorageCageDetails::getGlassId, glassIds));
        try {
            miloService.writeToOpcWord(generateReadWriteEntity("DLP1B.DLP1B.MesReply", 1));
        } catch (Exception e) {
            e.printStackTrace();
        }
        return Boolean.TRUE;
    }


    public void updateSlotRemainBySlots(List<Integer> slotList) {
        //获取格子内所有的玻璃信息
        List<BigStorageCageDetails> inSlotGlassList = bigStorageCageDetailsService.list(new LambdaQueryWrapper<BigStorageCageDetails>()
                .in(BigStorageCageDetails::getSlot, slotList).in(BigStorageCageDetails::getState, Const.GLASS_STATE_IN_ALL));
        Map<Integer, Double> slotRemainMap = new HashMap<>();
        Integer glassGap = sysConfigService.queryConfigValue(ConstSysConfig.VERTICAL_GLASS_GAP);
        Integer slotWidth = sysConfigService.queryConfigValue(ConstSysConfig.VERTICAL_SLOT_WIDTH);
        //是否存在有格子非空的玻璃
        if (CollectionUtil.isNotEmpty(inSlotGlassList)) {
            //存在  将格子内的玻璃分别进行更新
            slotRemainMap = inSlotGlassList.stream()
                    .collect(Collectors.groupingBy(BigStorageCageDetails::getSlot, Collectors.summingDouble(item -> Math.max(item.getWidth(), item.getHeight()) + glassGap)));
            slotRemainMap.forEach((e, v) -> {
                double remainWidth = slotWidth - v >= 0 ? slotWidth - v : 0;
                bigStorageCageService.update(new LambdaUpdateWrapper<BigStorageCage>().set(BigStorageCage::getRemainWidth, remainWidth)
                        .eq(BigStorageCage::getSlot, e));
            });
        }
        //过滤不存在玻璃的格子 将宽度重置为原始宽度5000
        Set<Integer> remainSlotList = slotRemainMap.keySet();
        slotList.removeAll(remainSlotList);
        if (CollectionUtil.isNotEmpty(slotList)) {
            bigStorageCageService.update(new LambdaUpdateWrapper<BigStorageCage>().set(BigStorageCage::getRemainWidth, slotWidth)
                    .in(BigStorageCage::getSlot, slotList));
        }
    }

    private ReadWriteEntity generateReadWriteEntity(String identifier, Object value) {
        return ReadWriteEntity.builder()
                .identifier(identifier)
                //Kep中是Long类型，即：Int32，Java中的int类型
                .value(value)
                .build();
    }
}