//
// Created by YY on 2019/10/21.
//

#ifndef RTKDRIVERTEST_DRIVER_TEST_H
#define RTKDRIVERTEST_DRIVER_TEST_H

#include "test_common/Geometry.h"
#include "rtk_module/rtk.h"
#include "test_items2/dummy_light.h"

#include <vector>
#include <string>
#include <list>

#define EXAM_AREA_NONE          0
#define EXAM_AREA_START         1
#define EXAM_AREA_RUN           2
#define EXAM_AREA_END           3

#define TIRE_OUTSIDE    0
#define TIRE_INSIDE     1
#define AXIAL_FRONT     0
#define AXIAL_REAR      1

#define MAP_TYPE_PARK_BUTTOM        1
#define MAP_TYPE_STOP_START         2
#define MAP_TYPE_PART_EDGE          3
#define MAP_TYPE_CURVE              4
#define MAP_TYPE_TURN_90            5

using namespace std;

struct car_desc_ {
    double distance;            // 距离主天线的距离
    double angle;               // 从中轴线逆时针形成的角度
};

struct RtkTime {
    int YY;             // 2位数
    int MM;
    int DD;
    int hh;
    int mm;
    int ss;
    int mss;
};

typedef struct {
    struct RtkTime tm;
    PointF basePoint;               // 现场测量的主天线坐标
    int axial[2];
    int left_front_tire[2];
    int right_front_tire[2];
    int left_rear_tire[2];
    int right_rear_tire[2];
    int bodyNum;
    int *body;
    int pointNum;
    double antPitch;                // 前后天线因安装位置之固有pitch角
    double antHeight;               // 车顶天线高程
    double groundHeight;            // 大地高程
    double yaw;
    double pitch;
    struct car_desc_ *carDesc;      // 经现场测量点计算后的值
    PointF *carXY;                  // 计算后的车身各点坐标
} car_model;

// 总数
// 中轴线前点,id 0，中轴线后点id
// 左包围， 右包围
// 左前轮，外内
typedef struct {
    int body_num;
    int body[64];
    int front_left_tire[2];
    int front_right_tire[2];
    int rear_left_tire[2];
    int rear_right_tire[2];
} carModelDesc_t;

typedef struct {
    uint32_t uptime;
    int point_num;
    PointF *points;
    carModelDesc_t *desc;
} car_model_cache_t;

struct ExamFault {
    int sn;
    char utc[32];
    int wrong_id;
};

#define LINE_DOTTED            0
#define LINE_SOLID             1
#define LINE_HALF_SOLID_LEFT        2
#define LINE_HALF_SOLID_RIGHT       3
#define LINE_BOUNDARY               4

//车道方向（按位组合）,如果为0，则表无车道方向说明；
#define LANE_FORWARD	0x01
#define LANE_LEFT		0x02
#define LANE_RIGHT		0x04
#define LANE_BACKWARD	0x08

#define ZEBRA_CROSSING              0
#define SCHOOL_AREA                 1
#define BUS_STATION_AREA            2
#define GRID_AREA                   3

#define ROAD_ACTIVE_FORWARD     LANE_FORWARD
#define ROAD_ACTIVE_TURN_LEFT   LANE_LEFT
#define ROAD_ACTIVE_TURN_RIGHT  LANE_RIGHT
#define ROAD_ACTIVE_TURN_BACKWARD   LANE_BACKWARD

typedef struct {
    int character;                  // 属性（实线、虚线，有些可以掉头的路段）
    std::vector<PointF> points;     //
} edge_t;

typedef struct {
    int character;          // 属性《实线、虚线、半实半虚线》
    std::vector<PointF> points;
} segment_t;

typedef struct {
    PointF start;
    PointF end;
    std::vector<int> direct;
} lane_direct_t;

// 一组平行的分道线
typedef struct {
    std::vector<lane_direct_t> lane_direct;         // 一组导向线的配置
    std::vector<std::vector<segment_t>> lines;      // 每段域下的平行的一组线
} separate_t;

typedef struct {
    bool stopFlag;
    Line line;
    bool centrePointValid;
    PointF centrePoint;
} stop_line_t;

typedef struct {
    int id;
//    Line stopLine;
//    int active;         // 到达路口尾部的行进方向
    bool activeBreak;   // 路口刹车减速
    bool activeStop;    // 路口停车瞭望
    bool errorLane;     // 错误车道
    int targetRoad;
//    int stopFlag;
//    string tts;
//    bool arrivedTail;
    Polygon area;       // 整个道路区域

    std::vector<stop_line_t> stopLine;
    std::vector<edge_t> leftEdge;
    std::vector<edge_t> rightEdge;
    std::vector<separate_t> separate;
} road_t;

typedef struct {
    int id;
    int road;
    int type;
    bool activeBreak;
    bool overSpeed;
    std::vector<PointF> area;       // 人行道等右侧2点，网格线4点
    std::vector<PointF> leftPoints; // 对应到道路左侧的点
} special_area_t;

typedef struct {
    int road;
    int active;
    std::vector<PointF> points;
} trigger_line_t;

typedef struct {
    int id;
    int type;
    std::vector<PointF> points;
} forbid_line_t;

typedef struct {
    int road_id;
    int index;
    int active;
} crossing_active_t;

typedef struct {
    std::string name;
    std::vector<crossing_active_t> crossingActive;
    std::vector<trigger_line_t> triggerLines;
} scheme_t;

struct road_exam_map {
    int calibrate;
    std::vector<road_t> roads;
    std::vector<special_area_t> specialAreas;
//    std::vector<trigger_line_t> triggerLines;
    std::vector<forbid_line_t> forbidLines;
    std::vector<scheme_t> examScheme;
};

struct area_exam_map {
    int id;
    int type;
    Polygon map;
    Polygon map2;
};

typedef vector<struct area_exam_map> LIST_AREA_MAP;

typedef list<car_model *> LIST_CAR_MODEL;

void DriverTestInit(void);
void ReadDriverExamPrimer(void);

void ClearAreaMap(void);
void AddAreaMap(int id, int type, const double (*map)[2], int pointNum, const double (*map2)[2], int pointNum2);


void CleanRoadMap(void);
void SetRoadMap(road_exam_map &map, vector<scheme_t> &scheme);
void SetRoadExamScheme(vector<scheme_t> &scheme);

void SetCarMeasurePoint(double *basePoint, int *axial, int *left_front_tire,
                        int *right_front_tire, int *left_rear_tire, int *right_rear_tire,
                        int *body, int bodyNum, double (*point)[2], int pointNum, double antPitch, double antHeight, double groundHeight);

void StartDriverExam(int start, int type);

void UpdateRTKInfo(const rtk_info *s);
void AddExamFault(int wrong, const struct RtkTime *rtkTime);
void RoadChange(int road, int status);
void CrossingChange(int road, int crossing, int status);

void SystemShutdown(int event, int timeout);

void SetDummyLightExam(int n, struct dummy_light_exam *cfg);

uint32_t TimeGetDiff(const struct RtkTime *rtkTime1, const struct RtkTime *rtkTime2);

#endif //RTKDRIVERTEST_DRIVER_TEST_H