#ifndef ADVANCED_DISPATCHER_H
#define ADVANCED_DISPATCHER_H

#include "graph_map.h"
#include "agv_manager_base.h"
#include "resource_manager.h"
#include <thread>
#include <atomic>
#include <chrono>
#include <functional>

/**
 * @brief 高级调度器统计信息
 */
struct DispatcherStatistics {
    uint64_t total_tasks;
    uint64_t completed_tasks;
    uint64_t failed_tasks;
    uint64_t active_agvs;

    DispatcherStatistics()
        : total_tasks(0), completed_tasks(0), failed_tasks(0), active_agvs(0) {}
};

/**
 * @brief 高级调度器 - 基于图的多AGV任务调度系统
 */
class AdvancedDispatcher {
public:
    enum class DispatcherState {
        STOPPED,    // 停止
        RUNNING,    // 运行中
        PAUSED      // 暂停
    };

private:
    // 核心组件
    GraphMap* graph_map_;
    ResourceManager* resource_manager_;
    AGVManagerBase* agv_manager_;

    // 调度器状态
    std::atomic<DispatcherState> state_;
    std::atomic<bool> should_stop_;

    // 调度线程
    std::thread dispatch_thread_;

    // 调度参数
    int dispatch_interval_ms_;        // 调度间隔（毫秒）

    // 统计信息
    DispatcherStatistics statistics_;

    // 任务队列（简化实现）
    std::vector<std::unique_ptr<Task>> task_queue_;
    mutable std::mutex task_mutex_;

    // 互斥锁
    mutable std::mutex dispatcher_mutex_;

public:
    AdvancedDispatcher(GraphMap* map, ResourceManager* resource_manager);
    AdvancedDispatcher(GraphMap* map, ResourceManager* resource_manager, AGVManagerBase* agv_manager);
    ~AdvancedDispatcher();

    // ==================== 系统控制 ====================
    bool start();
    void stop();
    void pause();
    void resume();
    DispatcherState getState() const { return state_.load(); }

    // ==================== 任务管理 ====================
    bool addTask(int task_id, int start_point_id, int end_point_id,
                const std::string& description, int priority = 1);
    bool cancelTask(int task_id);

    // ==================== 任务执行反馈 ====================
    void onTaskStarted(int task_id, int agv_id);
    void onTaskCompleted(int task_id, int agv_id, bool success);

    // ==================== 配置和监控 ====================
    void setDispatchInterval(int interval_ms) { dispatch_interval_ms_ = interval_ms; }
    DispatcherStatistics getStatistics();

    void printSystemStatus() const;

private:
    // ==================== 内部方法 ====================
    void dispatchLoop();
    void performDispatch();
    bool assignTaskToAGV(Task* task, AGV* agv);
    void updateStatistics();
};

#endif // ADVANCED_DISPATCHER_H