//
// Created by YY on 2019/10/23.
//
//
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//  6               5                         2
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//  7______________________________________________________0
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#include "park_edge.h"
#include "../jni_log.h"
#include "../test_common/Geometry.h"
#include "../driver_test.h"
#include "../common/apptimer.h"
#include "../native-lib.h"
#include "../utils/xconvert.h"
#include "../test_common/car_sensor.h"
#include "../master/comm_if.h"
#include "area_exam.h"
#include "../test_common/odo_graph.h"

#include <vector>
#include <cstdlib>
#include <tuple>

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

using namespace std;

static bool overpass_parkingspace;
static bool check_parking_space;

const uint32_t CHECK_PARK_DELAY = 400;

static bool occurCrashRedLine;
static bool firstMoveBack, checkLight;

static void ParkTimeout(apptimer_var_t val);
static bool CrashRedLine(prime_t &prime);
static bool CheckParkspace(prime_t &prime);
static bool OverpassParkspace(prime_t &prime);
static void MotionChange(move_status_t mv);

enum {
    PE_PREPARE_PARK,
    PE_PARKING,
    PE_EXIT
};

void StartParkEdge(prime_t &prime)
{
    DEBUG("进入侧方停车场地");

    occurCrashRedLine = false;        // 这个科目规定特殊点，发生一次扣10分，而不直接淘汰
    firstMoveBack = false;
    checkLight = false;
    check_parking_space = false;
    prime.examing_area.stage = PE_PREPARE_PARK;
    PlayTTS("您已进入侧方停车区域", NULL);
}

void StopParkEdge(prime_t &prime)
{
    if (prime.examing_area.type != MAP_TYPE_PARK_EDGE)
        return;
    DEBUG("离开侧方停车场地");

    if (!check_parking_space) {
        DEBUG("直接驶离测试区,不按考试员指令驾驶");
        AddExamFault(10103);
    }
    prime.examing_area.type = MAP_TYPE_NONE;

    AppTimer_delete(ParkTimeout);
}

static void ParkTimeout(apptimer_var_t val)
{
    // 超时90秒，不合格
    DEBUG("移库90秒超时");
    AddExamFault(20402);
}

void TestParkEdge(prime_t &prime)
{
    if (prime.examing_area.type != MAP_TYPE_PARK_EDGE)
        return;
    // 检测后轮是否驶过库位前段
    if (!overpass_parkingspace) {
        overpass_parkingspace = OverpassParkspace(prime);
    }

    if (prime.pMotion->move == BACKWARD && prime.sensor.gear == GEAR_R) {
        if (!firstMoveBack) {
            // 开始挂倒挡倒车
            firstMoveBack = true;
            if (!overpass_parkingspace) {
                DEBUG("后轮没有开过库位线就开始倒车");
                AddExamFault(10103);
            }
            prime.examing_area.stage = PE_PARKING;
            AppTimer_delete(ParkTimeout);
            AppTimer_add(ParkTimeout, prime.examParam.park_edge_limit_time);
        }
    }

    //从倒车状态，看是否从倒挡退出(如果只是看停车状态，无法和中途停车有效区分)
    if (firstMoveBack && prime.sensor.gear != GEAR_R) {
        if (!check_parking_space) {
            check_parking_space = true;
            if (!CheckParkspace(prime)) {
                // 停止后，车身出线，不合格
                DEBUG("车身出线");
                AddExamFault(20401);
            }
            prime.examing_area.stage = PE_EXIT;
        }
    }

    // 检测左转向灯
    if (check_parking_space && prime.pMotion->move == FORWARD && !checkLight) {
        checkLight = true;
        if (prime.sensor.turn_signal_lamp != LEFT_TURN_LIGHT) {
            // 不开转向灯，扣10分
            DEBUG("未开启转向灯");
            AddExamFault(20405);
        }
    }

    if (CrashRedLine(prime)) {
        if (!occurCrashRedLine) {
            // 车身压库位线，每次扣10分
            DEBUG("车身压库位线");
            AddExamFault(20404);
            occurCrashRedLine = true;
        }
    } else {
        occurCrashRedLine = false;
    }
}

// 车轮或车身是否压道路边线
static bool CrashRedLine(prime_t &prime)
{
    const int red_lines[][2] = {{0, 7}, {1, 2}, {2, 3}, {3, 4}, {4, 5}, {5, 6}};

    Line frontAxle, rearAxle;

    MAKE_LINE(frontAxle, prime.pModeling[prime.curr_modeling_index].points[prime.pModel->left_front_tire[TIRE_OUTSIDE]], prime.pModeling[prime.curr_modeling_index].points[prime.pModel->right_front_tire[TIRE_OUTSIDE]]);
    MAKE_LINE(rearAxle, prime.pModeling[prime.curr_modeling_index].points[prime.pModel->left_rear_tire[TIRE_OUTSIDE]], prime.pModeling[prime.curr_modeling_index].points[prime.pModel->right_rear_tire[TIRE_OUTSIDE]]);

    MakePolygon body(prime.pModel->body.size());
    for (int i = 0; i < prime.pModel->body.size(); ++i) {
        body.AddPoint(prime.pModeling->points[prime.pModel->body[i]]);
    }

    for (int i = 0; i < sizeof(red_lines) / sizeof(red_lines[0]); ++i) {
        Line red_line;
        MAKE_LINE(red_line, std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[red_lines[i][0]], std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[red_lines[i][1]]);
        if (IntersectionOf(red_line, frontAxle) == GM_Intersection
            || IntersectionOf(red_line, rearAxle) == GM_Intersection
            || IntersectionOf(red_line, body.GetPolygon()) != GM_None) {
            return true;
        }
    }

    return false;
}

static bool CheckParkspace(prime_t &prime) {
    DEBUG("检查停车到位...");

    MakePolygon area({std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[8],
                      std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[3],
                      std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[4],
                      std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[9]});
    MakePolygon car_body(prime.pModel->body.size());
    for (int i = 0; i < prime.pModel->body.size(); ++i) {
        car_body.AddPoint(prime.pModeling->points[prime.pModel->body[i]]);
    }

    return (IntersectionOf(car_body.GetPolygon(), area.GetPolygon()) == GM_Containment)? true : false;
}

static bool OverpassParkspace(prime_t &prime)
{
    Line parkspace_top;

    MAKE_LINE(parkspace_top, std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[4], std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[5]);

    if (IntersectionOfLine(prime.pModeling->points[prime.pModel->left_rear_tire[TIRE_OUTSIDE]], parkspace_top) == REL_POS_RIGHT
        && IntersectionOfLine(prime.pModeling->points[prime.pModel->left_rear_tire[TIRE_OUTSIDE]], parkspace_top) == REL_POS_RIGHT) {
        return true;
    }
    return false;
}