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

#ifndef RTKDRIVERTEST_DRIVER_TEST_H
#define RTKDRIVERTEST_DRIVER_TEST_H

#include "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;
    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;
};

struct trigger_line_t {
    int triggerMapId;
    Polygon line;
};

struct road_exam_map {
    int id;
    int type;

    string tts;

    int redLineNum;
    Polygon *redLine;

    int greenLineNum;
    Polygon *greenLine;

    int redAreaNum;
    Polygon *redArea;

    int triggerLineNum;
    trigger_line_t *triggerLine;

    int roadEdgeLineNum;    // 道路边线，只有直线驾驶、靠边停车才有
    Polygon *roadEdgeLine;

    Polygon area;           // 子项目的区域
    Line stopLine;         // 诸如人行道、路口等考点的停止线
    int flagStop;           // 到达开始线前，是否需要停车
};

typedef vector<struct road_exam_map> LIST_ROAD_MAP;

typedef list<car_model *> LIST_CAR_MODEL;

//vector<ExamFault> ExamFaultList;

void DriverTestInit(void);
void ReadDriverExamPrimer(void);
void ClearMap(void);
void AddMap(int id, int type, const double (*map)[2], int pointNum, const double (*map2)[2], int pointNum2);
void CleanRoadMap(void);
void SetRoadMapPoints(vector<double> &mapPoints);
void AddRoadMapParent(int id, int type, string tts, int stopFlag, vector<vector<int>> &redLines,
                      vector<vector<int>> &redAreas, vector<vector<int>> &greenLines,
                      vector<vector<int>> &triggerLines, vector<vector<int>> &roadEdgeLines,
                      vector<int> area, vector<int> stopLine);

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 StartMapExam(int map_id, int exam);

void UpdateRTKInfo(const rtk_info *s);
void AddExamFault(int wrong, const struct RtkTime *rtkTime);
car_model_cache_t *GetCarModelCache(int node);
void SystemShutdown(int event, int timeout);

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

#endif //RTKDRIVERTEST_DRIVER_TEST_H