//
// Created by YY on 2019/11/4.
//

#include "driving_curve.h"
#include "../jni_log.h"
#include "../driver_test.h"
#include "../common/apptimer.h"
#include "../utils/xconvert.h"

#include <vector>
#include <cstdlib>

using namespace std;

#define DEBUG(fmt, args...)     LOGD("<driving_curve> <%s>: " fmt, __func__, ##args)

enum {
    DRIVING_ON_CURVE
};

const uint32_t STOP_CAR_TIME = D_SEC(2);

static bool testing = false;
static uint32_t stopTimepoint = 0;

static bool reportStopCarTimeout;
static int prevMoveDirect;
static bool crashRedLine;
static struct calc_zone_t {
    int leftStart;
    int leftEnd;
    int rightStart;
    int rightEnd;
} calcZone;

static bool CrashRedLine(const Polygon *map, const Polygon *map2, const car_model *car, struct calc_zone_t *zone);

void StartDrivingCurve(int moveDirect, const struct RtkTime *rtkTime)
{
    DEBUG("进入曲线行驶场地");

    testing = true;

    prevMoveDirect = moveDirect;
    if (moveDirect == 0) {
        stopTimepoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
    }
    reportStopCarTimeout = false;
    crashRedLine = false;

    calcZone.leftStart = calcZone.leftEnd = calcZone.rightStart = calcZone.rightEnd = 0;
}

int TestDrivingCurve(const Polygon *map, const Polygon *map2, const car_model *car, const car_model *carPrev, double speed, int moveDirect, const struct RtkTime *rtkTime)
{
    Line start, end;
    Line axial;

    MakeLine(&axial, &car->carXY[car->axial[AXIAL_FRONT]], &car->carXY[car->axial[AXIAL_REAR]]);

    MakeLine(&start, &map->point[calcZone.leftStart], &map->point[calcZone.rightStart]);
    MakeLine(&end, &map->point[calcZone.leftEnd], &map->point[calcZone.rightEnd]);

    if (IntersectionOf(start, axial) == GM_None) {
        // 向起点查找
        do {
            if (calcZone.leftStart == 0 && calcZone.rightStart == 0) {
                break;
            }
            if (calcZone.leftStart > 0)
                calcZone.leftStart--;
            if (calcZone.rightStart > 0)
                calcZone.rightStart--;
            MakeLine(&start, &map->point[calcZone.leftStart], &map->point[calcZone.rightStart]);
        } while (IntersectionOf(start, axial) == GM_None);
    } else {
        // 向终点查找
        do {
            if (calcZone.leftStart >= map->num && calcZone.rightStart >= map2->num) {
                break;
            }
            if (calcZone.leftStart < map->num)
                calcZone.leftStart++;
            if (calcZone.rightStart < map2->num)
                calcZone.rightStart++;
            MakeLine(&start, &map->point[calcZone.leftStart], &map->point[calcZone.rightStart]);
        } while (IntersectionOf(start, axial) != GM_None);
    }

    if (IntersectionOf(end, axial) == GM_None) {
        // 向终点查找
        do {
            if (calcZone.leftEnd >= map->num && calcZone.rightEnd >= map2->num) {
                break;
            }
            if (calcZone.leftEnd < map->num)
                calcZone.leftEnd++;
            if (calcZone.rightEnd < map2->num)
                calcZone.rightEnd++;
            MakeLine(&end, &map->point[calcZone.leftEnd], &map->point[calcZone.rightEnd]);
        } while (IntersectionOf(end, axial) == GM_None);
    } else {
        // 向起点查找
        do {
            if (calcZone.leftEnd == 0 && calcZone.rightEnd == 0) {
                break;
            }
            if (calcZone.leftEnd > 0)
                calcZone.leftEnd--;
            if (calcZone.rightEnd > 0)
                calcZone.rightEnd--;
            MakeLine(&end, &map->point[calcZone.leftEnd], &map->point[calcZone.rightEnd]);
        } while (IntersectionOf(end, axial) == GM_None);
    }

    if (calcZone.leftStart <= calcZone.leftEnd || calcZone.rightStart <= calcZone.rightEnd) {
        // 离开场地
        testing = false;
    }

    if (CrashRedLine(map, map2, car, &calcZone)) {
        if (!crashRedLine) {
            crashRedLine = true;
            // 车轮压边线，不合格
            AddExamFault(27, rtkTime);
            DEBUG("车轮压边线");
        }
    } else {
        crashRedLine = false;
    }

    if (moveDirect != prevMoveDirect) {
        if (moveDirect == 0) {
            stopTimepoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
            reportStopCarTimeout = false;

            DEBUG("停车了 %d %d %d %d %d %d %d", rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss);
        } else {

        }
        prevMoveDirect = moveDirect;
    } else if (moveDirect == 0) {
        uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);

        if (tp - stopTimepoint >= STOP_CAR_TIME && !reportStopCarTimeout) {
            // 停车超2秒，不合格
            AddExamFault(28, rtkTime);
            DEBUG("中途停车");
            reportStopCarTimeout = true;
        }
    }

    return testing ? 1 : 0;
}

// 车轮是否压边线
static bool CrashRedLine(const Polygon *map, const Polygon *map2, const car_model *car, struct calc_zone_t *zone)
{
    bool ret = false;

    Line frontTireAxial, rearTireAxial;
    Line redLine;

    MakeLine(&frontTireAxial, &car->carXY[car->left_front_tire[TIRE_OUTSIDE]], &car->carXY[car->right_front_tire[TIRE_OUTSIDE]]);
    MakeLine(&rearTireAxial, &car->carXY[car->left_rear_tire[TIRE_OUTSIDE]], &car->carXY[car->right_rear_tire[TIRE_OUTSIDE]]);

    int s = zone->leftStart;
    for (int e = zone->leftStart + 1; e < zone->leftEnd; ++e) {
        MakeLine(&redLine, &map->point[s], &map->point[e]);
        if (IntersectionOf(redLine, frontTireAxial) != GM_None) {
            return true;
        }
        if (IntersectionOf(redLine, rearTireAxial) != GM_None) {
            return true;
        }
        s = e;
    }

    s = zone->rightStart;
    for (int e = zone->rightStart + 1; e < zone->rightEnd; ++e) {
        MakeLine(&redLine, &map2->point[s], &map2->point[e]);
        if (IntersectionOf(redLine, frontTireAxial) != GM_None) {
            return true;
        }
        if (IntersectionOf(redLine, rearTireAxial) != GM_None) {
            return true;
        }
        s = e;
    }

    return ret;
}