using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.PlacedBlockDTO;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_IBasicInfoService;

namespace WIDESEAWCS_BasicInfoService
{
    public class PlaceBlockService
    {
        public static int SPACING = AppSettings.GetValue("Spacing").ObjToInt();

        public static int MaxRotateLength = AppSettings.GetValue("MaxRotateLength").ObjToInt();

        /// <summary>
        /// 最大Y坐标限制（毫米）
        /// </summary>
        public const int MaxY = 600;

        /// <summary>
        /// 最小横向Y坐标限制（毫米）
        /// </summary>
        public static int MinY = AppSettings.GetValue("MinY").ObjToInt();

        /// <summary>
        /// 吸盘横向长度
        /// </summary>
        public const int SuctionLengthH = 920;

        /// <summary>
        /// 吸盘横向宽度
        /// </summary>
        public const int SuctionWidthH = 530;

        /// <summary>
        /// 吸盘纵向长度
        /// </summary>
        public const int SuctionLengthZ = 530;

        /// <summary>
        /// 吸盘纵向宽度
        /// </summary>
        public const int SuctionWidthZ = 130;

        /// <summary>
        /// 容器尺寸
        /// </summary>
        public ContainerSize ContainerSize { get; private set; }

        /// <summary>
        /// 已放置货物
        /// </summary>
        public List<PlacedBlock> PlacedBlocks { get; private set; }

        private readonly PlacedBlock containerFloor;

        public PlaceBlockService(ContainerSize containerSize, List<PlacedBlock>? placedBlocks = null)
        {
            containerSize.Length = containerSize.Length;
            containerSize.Width = containerSize.Width;
            ContainerSize = containerSize;
            if (placedBlocks == null || placedBlocks.Count == 0)
            {
                PlacedBlocks = new List<PlacedBlock>();
            }
            else
            {
                PlacedBlocks = placedBlocks;
            }


            containerFloor = new PlacedBlock(new Point3D(SPACING, SPACING, 0), ContainerSize.Length - 2 * SPACING, ContainerSize.Width - 2 * SPACING, 0);
        }

        /// <summary>
        /// 主放置方法：尝试放置指定尺寸的货物
        /// </summary>
        /// <param name="length">货物长度（X轴方向）</param>
        /// <param name="width">货物宽度（Y轴方向）</param>
        /// <param name="height">货物高度（Z轴方向）</param>
        /// <returns>
        /// 成功：返回可放置位置的左下前角Point3D坐标
        /// 失败：返回null（尺寸无效或空间不足）
        /// </returns>
        public Point3D? PlaceBlock(int length, int width, int height)
        {
            int tempLength = length;
            int tempWidth = width;

            if (length < width)
            {
                length = tempWidth;
                width = tempLength;
            }

            if (!IsValidBlock(length, width, height))
                return null;

            return FindStackablePosition(length, width, height);
        }

        /// <summary>
        /// 主放置方法：尝试放置指定尺寸的货物
        /// </summary>
        /// <param name="length">货物长度（X轴方向）</param>
        /// <param name="width">货物宽度（Y轴方向）</param>
        /// <param name="height">货物高度（Z轴方向）</param>
        /// <returns>
        /// 成功：返回可放置位置的左下前角Point3D坐标
        /// 失败：返回null（尺寸无效或空间不足）
        /// </returns>
        public TaskPosition? PlaceBlock(int length, int width, int height, int edge)
        {
            int tempLength = length;
            int tempWidth = width;

            if (length < width)
            {
                length = tempWidth;
                width = tempLength;
            }

            if (!IsValidBlock(length, width, height))
                return null;

            return FindStackablePosition(length, width, height, edge);
        }

        /// <summary>
        /// 验证货物尺寸有效性
        /// 校验规则：
        /// 1. 各维度尺寸必须大于等于50mm
        /// 2. 各维度尺寸不得超过容器对应维度（扣除间隔后）
        /// 3. 高度必须 <= 容器剩余高度
        /// </summary>
        /// <param name="l"></param>
        /// <param name="w"></param>
        /// <param name="h"></param>
        /// <returns></returns>
        private bool IsValidBlock(int l, int w, int h)
        {
            return l > 0 && w > 0 && h > 0 &&
                   l <= ContainerSize.Length - 2 * SPACING &&
                   w <= ContainerSize.Width - 2 * SPACING &&
                   h < ContainerSize.Height;
        }

        /// <summary>
        /// 在现有货物顶部寻找叠放位置（堆叠模式）
        /// 叠放条件：
        /// - 支撑面积 >= 被支撑面面积的70%
        /// - 新货物完全位于支撑货物上方
        /// - 满足间隔要求
        /// </summary>
        /// <param name="l">长度</param>
        /// <param name="w">宽度</param>
        /// <param name="h">高度</param>
        /// <returns></returns>
        private Point3D? FindStackablePosition(int l, int w, int h)
        {
            // 生成候选支撑层（包含容器底部）
            var candidateLayers = PlacedBlocks
                .Select(b => b.Position.Z + b.Height)
                .Append(0)
                .Distinct()
                .OrderBy(z => z)
                .ToList();

            foreach (var baseZ in candidateLayers)
            {
                if (baseZ + h > ContainerSize.Height) continue;

                // 获取当前层的支撑块（包含虚拟容器底部）
                var supports = GetSupportBlocks(baseZ);

                foreach (var support in supports)
                {
                    // 计算有效叠放区域（修正间隔逻辑）
                    int xStart = support.Position.X;
                    int yStart = support.Position.Y;

                    // 容器底部支撑必须内缩间隔（即使尺寸相同）
                    if (support == containerFloor)
                    {
                        xStart = support.Position.X;
                        yStart = support.Position.Y;
                    }

                    int xEnd = support.Position.X + support.Length - l;
                    int yEnd = support.Position.Y + support.Width - w;

                    // 普通支撑块仅在尺寸不同时加间隔
                    if (support != containerFloor &&
                       (l != support.Length && w != support.Width))
                    {
                        xStart += SPACING;
                        yStart += SPACING;
                        xEnd -= SPACING;
                        yEnd -= SPACING;
                    }

                    // 最终容器边界约束
                    xEnd = Math.Min(xEnd, ContainerSize.Length - l - SPACING);
                    yEnd = Math.Min(yEnd, ContainerSize.Width - w - SPACING);

                    if (xStart > xEnd || yStart > yEnd) continue;

                    // 优化搜索：优先角落位置
                    for (int x = xStart; x <= xEnd; x += 10)
                    {
                        for (int y = yStart; y <= yEnd; y += 10)
                        {
                            var candidate = new Point3D(x, y, baseZ);
                            if (IsPositionValid(candidate, l, w, h))
                            {
                                var placed = new PlacedBlock(candidate, l, w, h);
                                //PlacedBlocks.Add(placed);
                                return candidate;
                            }
                        }
                    }
                }
            }
            return null;
        }

        /// <summary>
        /// 在现有货物顶部寻找叠放位置（堆叠模式）
        /// 叠放条件：
        /// - 支撑面积 >= 被支撑面面积的70%
        /// - 新货物完全位于支撑货物上方
        /// - 满足间隔要求
        /// </summary>
        /// <param name="l">长度</param>
        /// <param name="w">宽度</param>
        /// <param name="h">高度</param>
        /// <returns></returns>
        private TaskPosition? FindStackablePosition(int l, int w, int h, int edge)
        {
            // 生成候选支撑层（包含容器底部）
            var candidateLayers = PlacedBlocks
                .Select(b => b.Position.Z + b.Height)
                .Append(0)
                .Distinct()
                .OrderBy(z => z)
                .ToList();

            foreach (var baseZ in candidateLayers)
            {
                if (baseZ + h > ContainerSize.Height) continue;

                // 获取当前层的支撑块（包含虚拟容器底部）
                var supports = GetSupportBlocks(baseZ);

                foreach (var support in supports)
                {
                    // 计算有效叠放区域（修正间隔逻辑）
                    int xStart = support.Position.X;
                    int yStart = support.Position.Y;

                    // 容器底部支撑必须内缩间隔（即使尺寸相同）
                    if (support == containerFloor)
                    {
                        xStart = support.Position.X;
                        yStart = support.Position.Y;
                    }

                    int xEnd = support.Position.X + support.Length - l;
                    int yEnd = support.Position.Y + support.Width - w;

                    // 普通支撑块仅在尺寸不同时加间隔
                    if (support != containerFloor &&
                       (l != support.Length && w != support.Width))
                    {
                        xStart += SPACING;
                        yStart += SPACING;
                        xEnd -= SPACING;
                        yEnd -= SPACING;
                    }

                    // 最终容器边界约束
                    xEnd = Math.Min(xEnd, ContainerSize.Length - l);
                    yEnd = Math.Min(yEnd, ContainerSize.Width - w);

                    if (xStart > xEnd || yStart > yEnd) continue;

                    // 优化搜索：优先角落位置
                    for (int x = xStart; x <= xEnd; x += 10)
                    {
                        for (int y = yStart; y <= yEnd; y += 10)
                        {
                            var candidate = new Point3D(x, y, baseZ);
                            if (IsPositionValid(candidate, l, w, h))
                            {
                                TaskPosition taskPosition = GetTaskPosition(candidate, l, w, h, edge);
                                if (IsPositionValid(taskPosition))
                                {
                                    return taskPosition;
                                }

                            }
                        }
                    }
                }
            }
            return null;
        }

        /// <summary>
        /// 获取支撑当前货物的底层货物列表
        /// 特殊处理：当baseZ=0时返回虚拟容器底部作为支撑
        /// 支撑条件：货物底面与支撑货物顶面接触且Z坐标匹配
        /// </summary>
        /// <param name="baseZ">支撑块高度</param>
        /// <returns></returns>
        private IEnumerable<PlacedBlock> GetSupportBlocks(int baseZ)
        {
            var blocks = PlacedBlocks
                .Where(b => b.Position.Z + b.Height == baseZ)
                /*.OrderByDescending(b => b.Length * b.Width)*/.ToList();

            // 当baseZ=0时添加容器底部支撑
            if (baseZ == 0 && blocks.Count == 0)
            {
                return new List<PlacedBlock> { containerFloor };
            }

            return blocks;
        }

        /// <summary>
        /// 验证指定位置是否合法
        /// 校验内容：
        /// 1. 边界条件：货物不得超出容器有效空间
        /// 2. 碰撞检测：与已放置货物无空间重叠
        /// 3. 间隔要求：保持最小间隔（SPACING常量）
        /// </summary>
        /// <param name="pos">坐标</param>
        /// <param name="l">长度</param>
        /// <param name="w">宽度</param>
        /// <param name="h">高度</param>
        /// <returns></returns>
        private bool IsPositionValid(Point3D pos, int l, int w, int h)
        {
            // 边界检查（含容器边缘间隔）
            if (pos.X < SPACING ||
                pos.Y < SPACING ||
                pos.X + l > ContainerSize.Length - SPACING ||
                pos.Y + w > ContainerSize.Width - SPACING)
                return false;

            if (pos.X > 1600)
                return false;

            if (pos.X > MaxY && l > MaxRotateLength) return false;

            // 三维碰撞检测
            var newBlock = new PlacedBlock(pos, l, w, h);
            return !PlacedBlocks.Any(existing =>
            {
                bool xOverlap = newBlock.Position.X < existing.Position.X + existing.Length + SPACING &&
                              newBlock.Position.X + newBlock.Length + SPACING > existing.Position.X;

                bool yOverlap = newBlock.Position.Y < existing.Position.Y + existing.Width + SPACING &&
                              newBlock.Position.Y + newBlock.Width + SPACING > existing.Position.Y;

                bool zOverlap = newBlock.Position.Z < existing.Position.Z + existing.Height &&
                              newBlock.Position.Z + h > existing.Position.Z;

                return xOverlap && yOverlap && zOverlap;
            });
        }

        private bool IsPositionValid(TaskPosition pos)
        {
            // 边界检查（含容器边缘间隔）
            //if (pos.X < SPACING ||
            //    pos.Y < SPACING ||
            //    pos.X + l > ContainerSize.Length - SPACING ||
            //    pos.Y + w > ContainerSize.Width - SPACING)
            //    return false;

            return pos.PutPositionY <= MaxY && pos.PutPositionY >= 0 && pos.TakePositionY >= 0;
        }

        public TaskPosition GetTaskPosition(Point3D point3D, int length, int width, int height, int edge)
        {
            //放货位置板材中心点
            Point3D putCenter = new Point3D(point3D.X + length / 2, point3D.Y + width / 2, point3D.Z + height / 2);

            //取货位置板材中心点
            Point3D takeCenter = new Point3D(length / 2, width / 2, height / 2);

            //吸盘长530 间隔660  最大920 吸盘宽130

            int positionR = 1;

            int takePositionX = 0;
            int takePositionY = 0;
            int takePositionZ = 0;
            int putPositionX = 0;
            int putPositionY = 0;
            int putPositionZ = 0;

            //1.如果长度大于920，宽度大于等于300，则可以使用双吸盘横向吸取
            if (length > 920) //横向双吸
            {
                //吸盘尺寸
                Point3D deviceCenter = new Point3D(530 / 2, 920 / 2, 0);

                positionR = 1;
                takePositionX = (takeCenter.Y - deviceCenter.X);
                takePositionY = (takeCenter.X - deviceCenter.Y);
                takePositionZ = 10;

                putPositionX = (putCenter.Y - deviceCenter.X);
                putPositionY = (putCenter.X - deviceCenter.Y);
                putPositionZ = point3D.Z; // putCenter.Z /*+ 10*/;
            }
            else//横向单吸
            {
                //吸盘尺寸
                Point3D deviceCenter = new Point3D(530 / 2, 130 / 2, 0);

                positionR = 1;
                takePositionX = (takeCenter.Y - deviceCenter.X);
                takePositionY = (takeCenter.X - deviceCenter.Y);
                takePositionZ = 10;

                putPositionX = (putCenter.Y - deviceCenter.X);
                putPositionY = (putCenter.X - deviceCenter.Y);
                putPositionZ = point3D.Z; // putCenter.Z /*+ 10*/;
            }

            //1.如果取货位最小Y坐标小于155
            if (takePositionY <= MinY)
            {
                takePositionY = 0;
                putPositionY = point3D.X + MinY;
            }
            else
            {
                takePositionY -= MinY;
            }

            if (putPositionY > MaxY)
            {
                int moreY = putPositionY - MaxY;
                if (takePositionY - moreY > 0)
                {
                    takePositionY -= moreY;
                    putPositionY = MaxY;
                }
                else if (Math.Abs(takePositionY - moreY) < SPACING)
                {
                    takePositionY = 0;
                    putPositionY = Math.Abs(takePositionY - moreY);
                }
                else
                {
                    int count = PlacedBlocks.Where(x => x.Position.Y == 10).Count();
                    //putPositionY -= (920 - 130 + takePositionY - (count + 1) * SPACING * 2);
                    putPositionY = point3D.X - 920 + 130;
                    takePositionY = length - MinY - 130;
                    if (putPositionY < 0 && takePositionY + putPositionY >= 0)
                    {
                        takePositionY += putPositionY;
                        putPositionY = 0;
                    }
                    positionR = 2;
                }
            }



            //横向时，最小Y坐标为155，纵向时，最小Y坐标为350。最大Y坐标为700
            //if (positionR == 1 && putPositionY < MinY)
            //{
            //    takePositionY = 0;

            //    putPositionY = point3D.X + MinY;
            //}
            //else if (positionR == 1 && putPositionY >= MinY && putPositionY <= MaxY)
            //{
            //    if (takePositionY >= MinY)
            //        takePositionY -= MinY;
            //    else
            //    {
            //        putPositionY += MinY - takePositionY;
            //        takePositionY = 0;
            //    }
            //}
            //else if (positionR == 1 && putPositionY > MaxY && putPositionY < 1700)
            //{
            //    int moreY = putPositionY - MaxY;
            //    if (takePositionY - moreY - MinY > 0)
            //    {
            //        takePositionY -= moreY + MinY;
            //        putPositionY = MaxY;
            //    }
            //    else if (Math.Abs(takePositionY - moreY - MinY) < SPACING)
            //    {
            //        if (takePositionY - moreY - MinY > 0)
            //        {
            //            takePositionY -= moreY + MinY;
            //        }
            //        else
            //        {
            //            takePositionY = 0;
            //        }
            //        putPositionY = MaxY;
            //    }
            //    else
            //    {
            //        int count = PlacedBlocks.Where(x => x.Position.Y == 10).Count();
            //        //putPositionY -= (920 - 130 + takePositionY - (count + 1) * SPACING * 2);
            //        putPositionY = point3D.X - 920 + 130;
            //        takePositionY = length - MinY - 130;

            //        if (putPositionY < 0 && takePositionY + putPositionY >= 0)
            //        {
            //            takePositionY += putPositionY;
            //            putPositionY = 0;
            //        }
            //        positionR = 2;
            //    }
            //}

            if (positionR == 2 && edge == 0)
            {
                takePositionX = width - 530;
                putPositionX = point3D.Y;
            }
            else if (positionR == 2 && edge == 1)
            {
                takePositionX = 0;
                putPositionX = point3D.Y + width - 530;
            }
            else if (positionR == 1 && edge == 1)
            {
                takePositionX = width - 530;
                putPositionX = point3D.Y + (width - 530);
            }
            else if (positionR == 1 && edge == 0)
            {
                if (putPositionX < 0)
                {
                    takePositionX = 0;
                    putPositionX = point3D.Y;
                }
            }

            if (takePositionY < 0 && Math.Abs(takePositionY) < SPACING)
            {
                takePositionY = 0;
            }

            TaskPosition taskPosition = new TaskPosition()
            {
                PositionR = positionR,
                TakePositionX = takePositionX,
                TakePositionY = takePositionY,
                TakePositionZ = takePositionZ,
                PutPositionX = putPositionX,
                PutPositionY = putPositionY,
                PutPositionZ = putPositionZ,
                TakeCenterPositionX = takeCenter.X,
                TakeCenterPositionY = takeCenter.Y,
                TakeCenterPositionZ = takeCenter.Z,
                PutCenterPositionX = putCenter.X,
                PutCenterPositionY = putCenter.Y,
                PutCenterPositionZ = putCenter.Z,
                PositionX = point3D.X,
                PositionY = point3D.Y,
                PositionZ = point3D.Z
            };

            return taskPosition;
        }
    }
}