import sys
import math
from data import whichmap
import order9
sell1=[]
sell2=[]
sell3=[]
sell4=['1', '2']
sell5=['1', '3']
sell6=['2', '3']
sell7=['4', '5', '6']
sell8=['7']
sell9=['1', '2', '3', '4', '5', '6', '7']



# only9机器人指令类
class Order9():
    def __init__(self, frame_id, WB, WB_indexnumber, robot, stat, WBlist, needlist, distance_dic, distance_roboteachother, \
                 distance_9to456, distance_7to456, free_set, WB_lock, WB_distribution_stat, dic_countneed, exist):
        self.frame_id = frame_id
        self.stat = stat
        self.WBlist = WBlist
        self.WB = WB
        self.WB_indexnumber = WB_indexnumber
        self.robot = robot
        self.needlist = needlist
        self.distance_dic = distance_dic
        self.distance_roboteachother = distance_roboteachother
        self.distance_9to456 = distance_9to456
        self.distance_7to456 = distance_7to456
        self.robot_stat = free_set
        self.WB_lock = WB_lock
        self.WB_distribution_stat = WB_distribution_stat
        self.dic_countneed = dic_countneed
        self.exist = exist
        self.exist456 = self.exist[3:6]
        self.exist123 = self.exist[0:3]
        
    def changeNeedlist_only9(self):
        for i in range(4):
            if self.robot[str(i)][1] == '0':
                if self.robot[str(i)][1] == '1' or self.robot[str(i)][1] == '2' or self.robot[str(i)][1] == '3':
                    for k, v in self.WB.items():
                        if k == self.robot_stat[i]:
                            self.needlist[int(v[0])-1] -= 1
    
    # if stat == only9
    def goto9_goods4(self, robot_id):
        for i in range(self.WBlist[8]): # 所有9号工作台无脑送 
            if '9_'+str(i) not in self.ls_alive:
                continue
            self.robot_start[robot_id] = self.laststat[robot_id]
            self.robot_stat[robot_id] = '9_'+str(i)
            self.laststat[robot_id] = self.robot_stat[robot_id]
            break
    
    def goto9_goods5(self, robot_id):
        for i in range(self.WBlist[8]): # 所有9号工作台无脑送
            if '9_'+str(i) not in self.ls_alive:
                continue
            self.robot_start[robot_id] = self.laststat[robot_id]
            self.robot_stat[robot_id] = '9_'+str(i)
            self.laststat[robot_id] = self.robot_stat[robot_id]
            break
            
    
    def goto9_goods6(self, robot_id):
        for i in range(self.WBlist[8]): # 所有9号工作台无脑送
            if '9_'+str(i) not in self.ls_alive:
                continue
            self.robot_start[robot_id] = self.laststat[robot_id]
            self.robot_stat[robot_id] = '9_'+str(i)
            self.laststat[robot_id] = self.robot_stat[robot_id]
            break
    
    #############################################################################
    ################# if stat == only9 分配规则和9的距离优先  #####################
    #############################################################################
    # 如果只有1个9，默认是self.distance_9to456[0]
    
    
    
    # 456无脑送给9
    def goto9_goods4_last(self, robot_id):
        for i in range(self.WBlist[8]): 
            aim = '9_'+str(i)
            break
        return aim
    def goto9_goods5_last(self, robot_id):
        for i in range(self.WBlist[8]): 
            aim = '9_'+str(i)
            break
        return aim      
    def goto9_goods6_last(self, robot_id):
        for i in range(self.WBlist[8]): 
            aim = '9_'+str(i)
            break
        return aim
    
    def test6_only9(self):
        # 若有任一6号生产完，派一个空闲机器人过去
        for i in range(self.WBlist[5]):
            if self.WB['6_'+str(i)][5] == '1' and self.WB['6_'+str(i)][4] == '12' and self.WB['6_'+str(i)][3] == '0' and self.WB_lock['6_'+str(i)][2] == 'OK':
                for j in range(4):
                    if self.robot_stat[j] == 'free' and self.robot[str(j)][1] == '0':
                        self.robot_stat[j] = '6_'+str(i)
                        self.WB_lock['6_'+str(i)][2] = 'NO'
                        break
        for i in range(self.WBlist[5]):
            if self.frame_id > 8500 and self.frame_id < 8700 and (self.WB['6_'+str(i)][5] == '1' or (int(self.WB['6_'+str(i)][3]) < 200 and int(self.WB['6_'+str(i)][3]) > 0)) and self.WB_lock['6_'+str(i)][2] == 'OK':
                for j in range(4):
                    if self.robot_stat[j] == 'free' and self.needlist[5] > 0 and self.robot[str(j)][1] == '0':
                        self.robot_stat[j] = '6_'+str(i)
                        self.WB_lock['6_'+str(i)][2] = 'NO'
                        self.needlist[5] -= 1
                        break

    def test5_only9(self):
        # 若有任一5号生产完，派一个机器人过去
        for i in range(self.WBlist[4]):
            if self.WB['5_'+str(i)][5] == '1' and self.WB['5_'+str(i)][4] == '10' and self.WB['5_'+str(i)][3] == '0' and self.WB_lock['5_'+str(i)][2] == 'OK':
                for j in range(4):
                    if self.robot_stat[j] == 'free' and self.robot[str(j)][1] == '0':
                        self.robot_stat[j] = '5_'+str(i)
                        self.WB_lock['5_'+str(i)][2] = 'NO'
                        break
    
    def test4_only9(self):
        # 若有任一4号生产完，派一个机器人过去
        for i in range(self.WBlist[3]):
            if self.WB['4_'+str(i)][5] == '1' and self.WB['4_'+str(i)][4] == '6' and self.WB['4_'+str(i)][3] == '0' and self.WB_lock['4_'+str(i)][2] == 'OK':
                for j in range(4):
                    if self.robot_stat[j] == 'free' and self.robot[str(j)][1] == '0':
                        self.robot_stat[j] = '4_'+str(i)
                        self.WB_lock['4_'+str(i)][2] = 'NO'
                        break