CMVR-IOT-UI/src/utils/flowResources.js

import { getDeviceKindForAction } from '@/utils/robotDevice'

export const FLOW_SCHEMA_VERSION = 2
export const DEFAULT_ROLE_KEY = 'default_executor'
export const FLOW_NODE_RESOURCE_OWNER = 'FLOW_NODE'
export const USER_RESOURCE_OWNER = 'USER'

const DEVICE_KIND_META = Object.freeze({
  1: { key: 'agv', name: '移动底盘' },
  2: { key: 'arm', name: '机械臂' },
  4: { key: 'bio_head', name: '仿生头' },
  5: { key: 'camera', name: '摄像头' },
  9: { key: 'microphone', name: '麦克风' },
  12: { key: 'robot', name: '机器人本体' },
  13: { key: 'speaker', name: '扬声器' },
})

const clone = (value) => JSON.parse(JSON.stringify(value ?? null))
const normalizedText = (value) => String(value || '').trim()

export const createResourceKey = (prefix) => {
  const random = globalThis.crypto?.randomUUID?.().replace(/-/g, '').slice(0, 10)
    || `${Date.now()}${Math.random().toString(16).slice(2, 8)}`
  return `${prefix}_${random}`
}

export const createDefaultRobotRole = (legacyRobotId = '') => ({
  roleKey: DEFAULT_ROLE_KEY,
  resourceType: 'ROBOT',
  displayName: '执行机器人',
  required: true,
  quantity: { min: 1, max: 1 },
  deviceSlots: [],
  ...(legacyRobotId ? { legacyRobotId } : {}),
})

export const createDeviceSlot = (deviceKind, existingSlots = [], displayName = '') => {
  const meta = DEVICE_KIND_META[Number(deviceKind)] || { key: 'device', name: '执行设备' }
  const usedKeys = new Set(existingSlots.map((slot) => slot.slotKey))
  let index = 1
  let slotKey = meta.key
  while (usedKeys.has(slotKey)) slotKey = `${meta.key}_${++index}`
  const sameKindCount = existingSlots.filter((slot) => Number(slot.deviceKind) === Number(deviceKind)).length
  return {
    slotKey,
    displayName: displayName || `${meta.name}${sameKindCount ? sameKindCount + 1 : ''}`,
    deviceKind: deviceKind == null ? null : Number(deviceKind),
    required: true,
    allowReuse: false,
  }
}

export const getStartNode = (graph = globalThis.lf?.getGraphData?.()) => (
  graph?.nodes?.find((node) => node.type === 'start')
)

export const getResourceRoles = (graph = globalThis.lf?.getGraphData?.()) => (
  clone(getStartNode(graph)?.properties?.resourceRoles || []) || []
)

const isRobotNode = (node) => node?.properties?.nodeType === 'EDGE'
export const actionRequiresDevice = (action) => (
  getDeviceKindForAction(action) != null || action === 'DEVICE_EXECUTE_JSON_COMMAND'
)
export const nodeRequiresDevice = (node) => actionRequiresDevice(node?.properties?.action)

const resolveLegacyRobotId = (startProperties) => (
  startProperties?.inputParams?.find((item) => item.name === 'robotId')?.input
  || startProperties?.robotId
  || ''
)

const findOrCreateLegacySlot = (role, node, legacySlotByIdentity, legacyDeviceId = '') => {
  const kind = getDeviceKindForAction(node.properties?.action)
  const normalizedDeviceId = normalizedText(legacyDeviceId)
  const identity = `${role.roleKey}:${kind ?? 'any'}:${normalizedDeviceId || 'default'}`
  if (legacySlotByIdentity.has(identity)) return legacySlotByIdentity.get(identity)

  const slot = createDeviceSlot(kind, role.deviceSlots)
  slot.managedBy = FLOW_NODE_RESOURCE_OWNER
  if (normalizedDeviceId) slot.legacyDeviceId = normalizedDeviceId
  role.deviceSlots.push(slot)
  legacySlotByIdentity.set(identity, slot)
  return slot
}

/**
 * Loads old graphs as Schema V2 without mutating the source object. Physical IDs are
 * retained only as migration hints and are consumed by the trial-run assignment form.
 */
export const normalizeFlowResourceSchema = (sourceGraph) => {
  const graph = clone(sourceGraph || { nodes: [], edges: [] })
  const start = getStartNode(graph)
  if (!start) return graph

  const startProperties = start.properties || (start.properties = {})
  const legacyRobotId = resolveLegacyRobotId(startProperties)
  const roles = Array.isArray(startProperties.resourceRoles) && startProperties.resourceRoles.length
    ? startProperties.resourceRoles
    : [createDefaultRobotRole(legacyRobotId)]

  roles.forEach((role, index) => {
    role.roleKey ||= index === 0 ? DEFAULT_ROLE_KEY : createResourceKey('robot_role')
    role.resourceType = 'ROBOT'
    role.displayName ||= `机器人角色${index + 1}`
    role.required = role.required !== false
    role.quantity ||= { min: 1, max: 1 }
    role.deviceSlots = Array.isArray(role.deviceSlots) ? role.deviceSlots : []
  })

  startProperties.schemaVersion = FLOW_SCHEMA_VERSION
  startProperties.resourceRoles = roles
  startProperties.inputParams = (startProperties.inputParams || []).filter((item) => item.name !== 'robotId')

  const defaultRole = roles[0]
  const legacySlotByIdentity = new Map()
  roles.forEach((role) => role.deviceSlots.forEach((slot) => {
    const identity = `${role.roleKey}:${slot.deviceKind ?? 'any'}:${slot.legacyDeviceId || 'default'}`
    legacySlotByIdentity.set(identity, slot)
  }))

  graph.nodes.forEach((node) => {
    const properties = node.properties || (node.properties = {})
    if (!isRobotNode(node)) {
      delete properties.executionTarget
      return
    }
    const target = properties.executionTarget || {
      roleKey: defaultRole.roleKey,
      dispatchPolicy: 'ONE',
    }
    target.roleKey ||= defaultRole.roleKey
    target.dispatchPolicy ||= 'ONE'
    target.deviceSlotKey ||= target.deviceBindings?.[0]?.slotKey || ''

    const targetRole = roles.find((role) => role.roleKey === target.roleKey) || defaultRole
    const deviceParam = properties.nodeParams?.find((param) => param.name === 'deviceId')
    if (nodeRequiresDevice(node) && !target.deviceSlotKey) {
      const slot = findOrCreateLegacySlot(targetRole, node, legacySlotByIdentity, deviceParam?.input)
      if (slot) target.deviceSlotKey = slot.slotKey
    }
    const referencedSlot = targetRole.deviceSlots.find((slot) => slot.slotKey === target.deviceSlotKey)
    if (referencedSlot && !referencedSlot.managedBy) {
      referencedSlot.managedBy = FLOW_NODE_RESOURCE_OWNER
    }
    delete target.deviceBindings
    properties.nodeParams = (properties.nodeParams || []).filter((param) => param.name !== 'deviceId')
    properties.executionTarget = target
  })

  return graph
}

export const ensureNodeExecutionResources = (sourceGraph, nodeId) => {
  const graph = normalizeFlowResourceSchema(sourceGraph)
  const node = graph.nodes.find((item) => item.id === nodeId)
  return { graph, node, start: getStartNode(graph) }
}

/**
 * Removes role definitions and device usages that were registered automatically
 * for flow nodes and are no longer referenced by any remaining node.
 */
export const pruneUnusedNodeResources = (sourceGraph) => {
  const graph = clone(sourceGraph || { nodes: [], edges: [] })
  const start = getStartNode(graph)
  if (!start?.properties?.resourceRoles) {
    return { graph, start, removedRoles: 0, removedSlots: 0 }
  }

  const usedRoleKeys = new Set()
  const usedSlotsByRole = new Map()
  graph.nodes.filter(isRobotNode).forEach((node) => {
    const target = node.properties?.executionTarget
    if (!target?.roleKey) return
    usedRoleKeys.add(target.roleKey)
    if (!target.deviceSlotKey) return
    if (!usedSlotsByRole.has(target.roleKey)) usedSlotsByRole.set(target.roleKey, new Set())
    usedSlotsByRole.get(target.roleKey).add(target.deviceSlotKey)
  })

  let removedSlots = 0
  start.properties.resourceRoles.forEach((role) => {
    const usedSlotKeys = usedSlotsByRole.get(role.roleKey) || new Set()
    role.deviceSlots = (role.deviceSlots || []).filter((slot) => {
      const shouldRemove = slot.managedBy === FLOW_NODE_RESOURCE_OWNER && !usedSlotKeys.has(slot.slotKey)
      if (shouldRemove) removedSlots += 1
      return !shouldRemove
    })
  })

  const beforeRoleCount = start.properties.resourceRoles.length
  start.properties.resourceRoles = start.properties.resourceRoles.filter((role, index) => (
    index === 0
    || role.managedBy !== FLOW_NODE_RESOURCE_OWNER
    || usedRoleKeys.has(role.roleKey)
  ))

  return {
    graph,
    start,
    removedRoles: beforeRoleCount - start.properties.resourceRoles.length,
    removedSlots,
  }
}

export const validateFlowResources = (sourceGraph) => {
  const graph = normalizeFlowResourceSchema(sourceGraph)
  const roles = getResourceRoles(graph)
  const errors = []
  const roleKeys = new Set()

  roles.forEach((role) => {
    if (!normalizedText(role.displayName)) errors.push({ nodeId: getStartNode(graph)?.id, message: '机器人角色名称不能为空' })
    if (roleKeys.has(role.roleKey)) errors.push({ nodeId: getStartNode(graph)?.id, message: `机器人角色标识重复：${role.roleKey}` })
    roleKeys.add(role.roleKey)
    const slotKeys = new Set()
    ;(role.deviceSlots || []).forEach((slot) => {
      if (!normalizedText(slot.displayName)) errors.push({ nodeId: getStartNode(graph)?.id, message: `${role.displayName}存在未命名的设备用途` })
      if (slotKeys.has(slot.slotKey)) errors.push({ nodeId: getStartNode(graph)?.id, message: `${role.displayName}的设备用途标识重复` })
      slotKeys.add(slot.slotKey)
    })
  })

  graph.nodes.filter(isRobotNode).forEach((node) => {
    const target = node.properties?.executionTarget
    const role = roles.find((item) => item.roleKey === target?.roleKey)
    if (!role) {
      errors.push({ nodeId: node.id, message: `${node.properties?.name || node.id}未选择有效的机器人角色` })
      return
    }
    if (target.deviceSlotKey && !(role.deviceSlots || []).some((slot) => slot.slotKey === target.deviceSlotKey)) {
      errors.push({ nodeId: node.id, message: `${node.properties?.name || node.id}引用的设备用途不存在` })
    }
    if (nodeRequiresDevice(node)
      && !target.deviceSlotKey) {
      errors.push({ nodeId: node.id, message: `${node.properties?.name || node.id}未选择设备用途` })
    }
  })
  return { graph, errors }
}

export const sanitizeFlowResourceDefinition = (sourceGraph) => {
  const graph = normalizeFlowResourceSchema(sourceGraph)
  const start = getStartNode(graph)
  ;(start?.properties?.resourceRoles || []).forEach((role) => {
    delete role.legacyRobotId
    ;(role.deviceSlots || []).forEach((slot) => delete slot.legacyDeviceId)
  })
  graph.nodes.filter(isRobotNode).forEach((node) => {
    node.properties.nodeParams = (node.properties?.nodeParams || []).filter((param) => param.name !== 'deviceId')
  })
  return graph
}

export const mergeCopiedResourceRoles = (targetGraph, sourceRoles = [], copiedNodes = []) => {
  const graph = normalizeFlowResourceSchema(targetGraph)
  const start = getStartNode(graph)
  const targetRoles = start.properties.resourceRoles
  let addedRoles = 0
  let addedSlots = 0

  copiedNodes.filter(isRobotNode).forEach((node) => {
    const target = node.properties?.executionTarget
    if (!target?.roleKey) return
    const sourceRole = sourceRoles.find((role) => role.roleKey === target.roleKey)
    let targetRole = targetRoles.find((role) => role.roleKey === target.roleKey)
      || targetRoles.find((role) => sourceRole && role.displayName === sourceRole.displayName)

    if (!targetRole && sourceRole) {
      targetRole = clone(sourceRole)
      targetRole.managedBy = FLOW_NODE_RESOURCE_OWNER
      delete targetRole.legacyRobotId
      ;(targetRole.deviceSlots || []).forEach((slot) => {
        slot.managedBy = FLOW_NODE_RESOURCE_OWNER
        delete slot.legacyDeviceId
      })
      targetRoles.push(targetRole)
      addedRoles += 1
      addedSlots += targetRole.deviceSlots?.length || 0
    }
    targetRole ||= targetRoles[0]
    target.roleKey = targetRole.roleKey

    if (target.deviceSlotKey && !targetRole.deviceSlots?.some((slot) => slot.slotKey === target.deviceSlotKey)) {
      const sourceSlot = sourceRole?.deviceSlots?.find((slot) => slot.slotKey === target.deviceSlotKey)
      const sameSlot = targetRole.deviceSlots?.find((slot) => (
        sourceSlot && slot.displayName === sourceSlot.displayName && Number(slot.deviceKind) === Number(sourceSlot.deviceKind)
      ))
      if (sameSlot) {
        target.deviceSlotKey = sameSlot.slotKey
        return
      }
      const newSlot = sourceSlot ? clone(sourceSlot) : createDeviceSlot(getDeviceKindForAction(node.properties?.action), targetRole.deviceSlots)
      newSlot.managedBy = FLOW_NODE_RESOURCE_OWNER
      delete newSlot.legacyDeviceId
      targetRole.deviceSlots.push(newSlot)
      target.deviceSlotKey = newSlot.slotKey
      addedSlots += 1
    }
  })

  return { graph, start, addedRoles, addedSlots }
}

export const getDeviceKindName = (deviceKind) => DEVICE_KIND_META[Number(deviceKind)]?.name || '任意设备'

export const mergeResourceRoleDefinitions = (roleGroups = []) => {
  const merged = []
  roleGroups.flat().forEach((sourceRole) => {
    let role = merged.find((item) => item.roleKey === sourceRole.roleKey)
    if (!role) {
      merged.push(clone(sourceRole))
      return
    }
    ;(sourceRole.deviceSlots || []).forEach((sourceSlot) => {
      if (!role.deviceSlots.some((slot) => slot.slotKey === sourceSlot.slotKey)) {
        role.deviceSlots.push(clone(sourceSlot))
      }
    })
  })
  return merged
}