//
// Created by YY on 2020/1/7.
//

#include "comm_if.h"
#include "../native-lib.h"

#include "../rapidjson/document.h"
#include "../rapidjson/writer.h"
#include "../rapidjson/stringbuffer.h"
#include "../rtk_platform/platform.h"
#include "../utils/xconvert.h"
#include "../driver_test.h"
#include "../defs.h"
#include "../common/apptimer.h"
#include "../jni_log.h"
#include "../mcu/mcu_if.h"

#include <string>
#include <iostream>
#include <vector>

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

using namespace rapidjson;
using namespace std;

#define ID_SM_NDK_START         0x0001
#define ID_MS_NDK_ACK           0x8001
#define ID_SM_REQ_RTK_PLAT_CFG         0x0002
#define ID_MS_RTK_PLAT_CFG         0x8002
#define ID_SM_RTK_PLAT_CONN     0x0003
#define ID_SM_RTK_PLAT_REG     0x0004
#define ID_SM_RTK_PLAT_LOGIN     0x0005
#define ID_SM_READ_MAP          0x0006
#define ID_MS_MAP               0x8006
#define ID_SM_READ_CAR          0x0007
#define ID_MS_CAR               0x8007
#define ID_SM_MCU_BRIEF   0x0008
#define ID_MS_SENSOR_CFG        0x8008
#define ID_MS_START_EXAM        0x8009
#define ID_SM_EXAM_STATUS       0x0009
#define ID_MS_IND_ONOFF         0x800A
#define ID_SM_GPS_BRIEF         0x000A
#define ID_SM_RTK_BRIEF         0x000B
#define ID_SM_EXAM_BRIEF         0x000C
#define ID_SM_ENTER_MAP         0x000D
#define ID_MS_EXAM_MAP          0x800D
#define ID_SM_CAR               0x000E
#define ID_SM_RTCM_IND           0x000F
#define ID_SM_DEBUG_INFO        0x0010
#define ID_MS_FILE              0x8100
#define ID_MS_READ_CARD         0x8011
#define ID_SM_PUT_CARD          0x0011
#define ID_MS_SYS_SHUTDOWN      0x8010
#define ID_SM_LIGHT_EXAM_REQ    0x0012
#define ID_MS_LIGHT_EXAM_RES    0x8012

#define MA_OUT_GPS_BRIEF        0x0001
#define MA_OUT_RTK_BRIEF        0x0002
#define MA_OUT_CAR_BRIEF        0x0004
#define MA_OUT_RTCM_IND        0x0008
#define MA_OUT_DBG_INFO        0x0010

static int OnOff = 0;//0xFFFF;

void MA_NdkStart(void)
{
    SendMsgToMainProc(ID_SM_NDK_START, NULL);
}

void MA_ReqRtkPlatformConfig(void)
{
    SendMsgToMainProc(ID_SM_REQ_RTK_PLAT_CFG, NULL);
}

void MA_RtkPlatformConnect(int conn, const char *ip, int port)
{
    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

    writer.StartObject();
    writer.Key("connected");
    writer.Int(conn);
    writer.Key("ip");
    writer.String(ip);
    writer.Key("port");
    writer.Int(port);

    writer.EndObject();

    SendMsgToMainProc(ID_SM_RTK_PLAT_CONN, sb.GetString());
}

void MA_RtkPlatformRegister(int reg, const uint8_t *pwd, int length)
{
    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

    writer.StartObject();
    writer.Key("register_code");
    writer.Int(reg);

    if (reg == 0 && length > 0) {
        writer.Key("password");
        char *str = new char[length*2 + 1];
        ConvertHex2String(str, pwd, length);
        writer.String(str);
        delete[]str;
    }

    writer.EndObject();

    SendMsgToMainProc(ID_SM_RTK_PLAT_REG, sb.GetString());
}

void MA_RtkPlatformLogin(int login)
{
    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

    writer.StartObject();

    writer.Key("login_code");
    writer.Int(login);

    writer.EndObject();

    SendMsgToMainProc(ID_SM_RTK_PLAT_LOGIN, sb.GetString());
}

void MA_ReadMap(void)
{
    SendMsgToMainProc(ID_SM_READ_MAP, NULL);
}

void MA_ReadCar(void)
{
    SendMsgToMainProc(ID_SM_READ_CAR, NULL);
}

void MA_ReadSensor(void)
{
    ReadCard();
}

void MA_SendExamStatus(int start, int errorCode)
{
    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

    writer.StartObject();

    writer.Key("exam");
    writer.Int(start);
    writer.Key("error");
    writer.Int(errorCode);

    writer.EndObject();

    SendMsgToMainProc(ID_SM_EXAM_STATUS, sb.GetString());
}

void MA_SendCardBrief(const struct cardBrief *brief)
{
    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

    writer.StartObject();
    writer.Key("result");
    writer.Int(brief->result);
    writer.Key("serialno");
    writer.String(brief->card);
    writer.EndObject();

    SendMsgToMainProc(ID_SM_PUT_CARD, sb.GetString());
}

void MA_SendMcuBrief(const struct mcuBrief *brief)
{
    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

    writer.StartObject();

    writer.Key("version");
    writer.String(brief->version);
    writer.Key("selftest");
    writer.Int(brief->selftest);
    writer.Key("gpio");
    writer.Int(brief->gpio);
    writer.Key("speed");
    writer.Int(brief->speed);
    writer.Key("engine");
    writer.Int(brief->engine);
    writer.Key("sn");
    writer.String(brief->sn);

    writer.EndObject();

    SendMsgToMainProc(ID_SM_MCU_BRIEF, sb.GetString());
}

void MA_SendGpsBrief(const struct gpsBrief *brief)
{
    if (!(OnOff & MA_OUT_GPS_BRIEF))
        return;

    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

    writer.StartObject();

    writer.Key("utc");
    writer.String(brief->utc);
    writer.Key("sat_num");
    writer.Int(brief->sat_num);
    writer.Key("qf");
    writer.Int(brief->qf);
    writer.Key("latitude");
    writer.Double(brief->latitude);
    writer.Key("longitude");
    writer.Double(brief->longitude);
    writer.Key("altitude");
    writer.Double(brief->altitude);
    writer.Key("speed");
    writer.Double(brief->speed);

    writer.EndObject();

    SendMsgToMainProc(ID_SM_GPS_BRIEF, sb.GetString());
}

void MA_SendRtkBrief(const struct rtkBrief *brief)
{
    if (!(OnOff & MA_OUT_RTK_BRIEF))
        return;

    char a[2] = {brief->coord_x_dir, 0};
    char b[2] = {brief->coord_y_dir, 0};

    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

    writer.StartObject();

    writer.Key("utc");
    writer.String(brief->utc);
    writer.Key("qf");
    writer.Int(brief->qf);
    writer.Key("coord_x");
    writer.Double(brief->coord_x);
    writer.Key("coord_x_dir");
    writer.String(a);
    writer.Key("coord_y");
    writer.Double(brief->coord_y);
    writer.Key("coord_y_dir");
    writer.String(b);
    writer.Key("heading");
    writer.Double(brief->heading);
    writer.Key("pitch");
    writer.Double(brief->pitch);
    writer.Key("roll");
    writer.Double(brief->roll);

    writer.Key("sat_num");
    writer.Int(brief->sat_num);
    writer.Key("latitude");
    writer.Double(brief->latitude);
    writer.Key("longitude");
    writer.Double(brief->longitude);
    writer.Key("altitude");
    writer.Double(brief->altitude);
    writer.Key("speed");
    writer.Double(brief->speed);
    writer.Key("track_ture");
    writer.Double(brief->trackTure);

    writer.EndObject();

    SendMsgToMainProc(ID_SM_RTK_BRIEF, sb.GetString());
}

void MA_SendExamWrong(vector<ExamFault> &ExamFaultList)
{
    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

    writer.StartArray();

    for (vector<ExamFault>::iterator iter = ExamFaultList.begin(); iter != ExamFaultList.end(); ++iter) {
        writer.StartObject();

        writer.Key("sn");
        writer.Int(iter->sn);
        writer.Key("utc");
        writer.String(iter->utc);
        writer.Key("wrong_id");
        writer.Int(iter->wrong_id);

        writer.EndObject();
    }

    writer.EndArray();

    SendMsgToMainProc(ID_SM_EXAM_BRIEF, sb.GetString());
}

void MA_SendCarPosition(const struct carBrief *brief)
{
    if (!(OnOff & MA_OUT_CAR_BRIEF)) return;

    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

    writer.StartObject();

    writer.Key("utc");
    writer.String(brief->utc);
    writer.Key("qf");
    writer.Int(brief->qf);
    writer.Key("map_id");
    writer.Int(brief->map_id);
    writer.Key("move");
    writer.Int(brief->move);
    writer.Key("speed");
    writer.Double(brief->speed);
    writer.Key("heading");
    writer.Double(brief->heading);

    writer.Key("main_ant");
    writer.StartArray();
    writer.Double(brief->main_ant[0]);
    writer.Double(brief->main_ant[1]);
    writer.EndArray();

    writer.Key("axial");
    writer.StartArray();
    writer.Int(brief->axial[0]);
    writer.Int(brief->axial[1]);
    writer.EndArray();

    writer.Key("left_front_tire");
    writer.StartArray();
    writer.Int(brief->left_front_tire[0]);
    writer.Int(brief->left_front_tire[1]);
    writer.EndArray();

    writer.Key("right_front_tire");
    writer.StartArray();
    writer.Int(brief->right_front_tire[0]);
    writer.Int(brief->right_front_tire[1]);
    writer.EndArray();

    writer.Key("left_rear_tire");
    writer.StartArray();
    writer.Int(brief->left_rear_tire[0]);
    writer.Int(brief->left_rear_tire[1]);
    writer.EndArray();

    writer.Key("right_rear_tire");
    writer.StartArray();
    writer.Int(brief->right_rear_tire[0]);
    writer.Int(brief->right_rear_tire[1]);
    writer.EndArray();

    writer.Key("body");
    writer.StartArray();
    for (int i = 0; i < brief->bodyNum; ++i) {
        writer.Int(brief->body[i]);
    }
    writer.EndArray();

    writer.Key("point");
    writer.StartArray();
    for (int i = 0; i < brief->pointNum; ++i) {
        writer.Double(brief->point[i*2]);
        writer.Double(brief->point[i*2+1]);
    }
    writer.EndArray();
    writer.EndObject();

    SendMsgToMainProc(ID_SM_CAR, sb.GetString());
}

void MA_SendRtcmInd(int length)
{
    if (!(OnOff & MA_OUT_RTCM_IND)) return;

    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

    writer.StartObject();
    writer.Key("length");
    writer.Int(length);
    writer.EndObject();

    SendMsgToMainProc(ID_SM_RTCM_IND, sb.GetString());
}

void MA_SendDebugInfo(const char *str, ...)
{
    if (!(OnOff & MA_OUT_DBG_INFO))
        return;

    va_list argp;
    char buffer[1024];

    va_start(argp, str);
    vsprintf(buffer, str, argp);
    va_end(argp);

    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

    writer.StartObject();

    writer.Key("info");
    writer.String(buffer);
    writer.EndObject();

    SendMsgToMainProc(ID_SM_DEBUG_INFO, sb.GetString());
}

void MA_MainProcMsgEntry(int cmd, const char *value)
{
    switch (cmd) {
        case ID_MS_RTK_PLAT_CFG: {
            if (OnOff == 0) OnOff = MA_OUT_GPS_BRIEF + MA_OUT_RTK_BRIEF + MA_OUT_CAR_BRIEF;

            rtk_platform_cfg_t cfg;
            memset(&cfg, 0, sizeof(cfg));

            Document d;
            d.Parse(value);

            if (d.HasMember("ip")) {
                Value& s = d["ip"];
                strcpy(cfg.domain_name, s.GetString());
            }
            if (d.HasMember("port")) {
                Value& s = d["port"];
                cfg.port = s.GetInt();
            }
            if (d.HasMember("province")) {
                Value& s = d["province"];
                cfg.province = s.GetInt();
            }
            if (d.HasMember("city")) {
                Value& s = d["city"];
                cfg.city = s.GetInt();
            }
            if (d.HasMember("model")) {
                Value& s = d["model"];
                strcpy(cfg.device_model, s.GetString());
            }
            if (d.HasMember("sn")) {
                Value& s = d["sn"];
                strcpy(cfg.device_sn, s.GetString());
            }
            if (d.HasMember("imei")) {
                Value& s = d["imei"];
                strcpy(cfg.imei, s.GetString());
            }
            if (d.HasMember("phone")) {
                Value& s = d["phone"];
                strcpy(cfg.phone, s.GetString());
            }
            if (d.HasMember("password")) {
                Value& s = d["password"];
                strcpy(cfg.password, s.GetString());
            }
            if (d.HasMember("registered")) {
                Value& s = d["registered"];
                cfg.registered = s.GetInt();
            }
            if (d.HasMember("interval")) {
                Value& s = d["interval"];
                cfg.rtk_interval = s.GetInt();
            }

            ConfigPlatform(&cfg);
            break;
        }
        case ID_MS_MAP: {
            Document doc;
            doc.Parse(value);
            if (!doc.HasParseError()) {
                ClearMap();

                const Value &a = doc.GetArray();

                if (a.IsArray()) {
                    for (Value::ConstValueIterator itr = a.Begin(); itr != a.End(); ++itr) {
                        // a Map
                        int id, type, pointNum = 0, point2Num = 0;
                        double (*map)[2] = NULL, (*map2)[2] = NULL;

                        if (itr->IsObject()) {
                            if (itr->HasMember("id")) {
                                const Value &s = (*itr)["id"];
                                id = s.GetInt();
                            }
                            if (itr->HasMember("item")) {
                                const Value &s = (*itr)["item"];
                                type = s.GetInt();
                            }
                            if (itr->HasMember("point")) {
                                const Value &s = (*itr)["point"];
                                int map_index = 0;

                                for (Value::ConstValueIterator itr2 = s.Begin();
                                     itr2 != s.End(); ++itr2, ++map_index) {
                                    // 曲线驾驶有2组
                                    const Value &s2 = (*itr2)["x-y"];

                                    if (map_index == 0) {
                                        int i = 0, j = 0;
                                        pointNum = s2.Size()/2;
                                        map = (double (*)[2]) new double[pointNum][2];
//                                        map = (double (*)[2]) malloc(pointNum * 2 * sizeof(double));

                                        for (Value::ConstValueIterator itr3 = s2.Begin();
                                             itr3 != s2.End(); ++itr3) {
                                            map[i][j] = (*itr3).GetDouble();
                                            if (++j == 2) {
                                                j = 0;
                                                i++;
                                            }
                                        }
                                    } else if (map_index == 1) {
                                        int i = 0, j = 0;
                                        point2Num = s2.Size()/2;
                                        map2 = (double (*)[2]) new double[s2.Size()][2];
//                                        map2 = (double (*)[2]) malloc(point2Num * 2 * sizeof(double));

                                        for (Value::ConstValueIterator itr3 = s2.Begin();
                                             itr3 != s2.End(); ++itr3) {
                                            map2[i][j] = (*itr3).GetDouble();
                                            if (++j == 2) {
                                                j = 0;
                                                i++;
                                            }
                                        }
                                    }
                                }
                            }

                            AddMap(id, type, map, pointNum, map2, point2Num);
                            if (map) delete []map;
                            if (map2) delete []map2;
                        }
                    }
                }
            }
            break;
        }
        case ID_MS_CAR: {
            Document doc;

            doc.Parse(value);

            if (!doc.HasParseError()) {
                double basePoint[2];
                int axial[2], left_front_tire[2], right_front_tire[2], left_rear_tire[2], right_rear_tire[2];
                int bodyNum = 0;
                int *body = NULL;
                int pointNum = 0;
                double antPitch = 0;

                double (*point)[2] = NULL;

                if (doc.HasMember("main_ant")) {
                    const Value& s = doc["main_ant"];
                    if (s.IsArray()) {
                        int i = 0;
                        for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
                            if (i < 2) basePoint[i++] = itr->GetDouble();
                        }
                    }
                }

                if (doc.HasMember("axial")) {
                    const Value& s = doc["axial"];
                    if (s.IsArray()) {
                        int i = 0;
                        for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
                            if (i < 2) axial[i++] = itr->GetInt();
                        }
                    }
                }

                if (doc.HasMember("left_front_tire")) {
                    const Value& s = doc["left_front_tire"];
                    if (s.IsArray()) {
                        int i = 0;
                        for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
                            if (i < 2) left_front_tire[i++] = itr->GetInt();
                        }
                    }
                }

                if (doc.HasMember("right_front_tire")) {
                    const Value& s = doc["right_front_tire"];
                    if (s.IsArray()) {
                        int i = 0;
                        for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
                            if (i < 2) right_front_tire[i++] = itr->GetInt();
                        }
                    }
                }

                if (doc.HasMember("left_rear_tire")) {
                    const Value& s = doc["left_rear_tire"];
                    if (s.IsArray()) {
                        int i = 0;
                        for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
                            if (i < 2) left_rear_tire[i++] = itr->GetInt();
                        }
                    }
                }

                if (doc.HasMember("right_rear_tire")) {
                    const Value& s = doc["right_rear_tire"];
                    if (s.IsArray()) {
                        int i = 0;
                        for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
                            if (i < 2) right_rear_tire[i++] = itr->GetInt();
                        }
                    }
                }

                if (doc.HasMember("body")) {
                    const Value& s = doc["body"];
                    if (s.IsArray()) {
                        int i = 0;
                        bodyNum = s.Size();
                        body = new int[bodyNum];
                        for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
                            body[i++] = itr->GetInt();
                        }
                    }
                }

                if (doc.HasMember("point")) {
                    const Value& s = doc["point"];
                    if (s.IsArray()) {
                        int i = 0, j = 0;
                        pointNum = s.Size()/2;
                        point = (double (*)[2]) new double[pointNum][2];
//                        point = (double (*)[2])malloc(pointNum * 2 * sizeof(double));

                        for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
                            point[i][j] = itr->GetDouble();
                            if (++j == 2) {
                                j = 0;
                                i++;
                            }
                        }
                    }
                }

                if (doc.HasMember("ant_pitch")) {
                    const Value& s = doc["ant_pitch"];
                    antPitch = s.GetDouble();
                }

                SetCarMeasurePoint(basePoint, axial, left_front_tire, right_front_tire,
                        left_rear_tire, right_rear_tire, body, bodyNum, point, pointNum, antPitch);

                if (body != NULL) delete []body;
                if (point != NULL) delete []point;
            }
            break;
        }
        case ID_MS_SENSOR_CFG: {
            Document doc;
            doc.Parse(value);
            if (!doc.HasParseError()) {
                const Value &a = doc.GetArray();

                if (a.IsArray() && a.Size() > 0) {
                    int n = a.Size();
                    int i = 0;
                    int (*sensor)[3] = (int (*)[3]) new int[n][3];

                    for (Value::ConstValueIterator itr = a.Begin(); itr != a.End(); ++itr) {
                        // a gpio mapping
                        if (itr->HasMember("gpio_num")) {
                            const Value &s = (*itr)["gpio_num"];
                            sensor[i][0] = s.GetInt();
                        }
                        if (itr->HasMember("func_id")) {
                            const Value &s = (*itr)["func_id"];
                            sensor[i][1] = s.GetInt();
                        }
                        if (itr->HasMember("level")) {
                            const Value &s = (*itr)["level"];
                            sensor[i][2] = s.GetInt();
                        }
                        ++i;
                    }
                    SetSensorCfg(sensor, n);
                    delete []sensor;
                }
            }
            break;
        }
        case ID_MS_START_EXAM: {
            Document doc;
            doc.Parse(value);
            if (!doc.HasParseError()) {
                int start = 0, type = 0;
                if (doc.HasMember("exam")) {
                    Value& s = doc["exam"];
                    start = s.GetInt();
                }
                if (doc.HasMember("type")) {
                    Value& s = doc["type"];
                    type = s.GetInt();
                }
                StartDriverExam(start, type);
            }
            break;
        }
        case ID_MS_EXAM_MAP: {
            Document doc;
            doc.Parse(value);
            if (!doc.HasParseError()) {
                if (doc.HasMember("map_id") && doc.HasMember("exam")) {
                    Value& s = doc["map_id"];
                    Value& s2 = doc["exam"];

                    StartMapExam(s.GetInt(), s2.GetInt());
                }
            }
            break;
        }
        case ID_MS_IND_ONOFF: {
            Document doc;
            doc.Parse(value);
            if (!doc.HasParseError()) {
                if (doc.HasMember("on_off")) {
                    Value& s = doc["on_off"];
                    do {
                        OnOff = s.GetInt();
                    } while (OnOff != s.GetInt());
                }
            }
            break;
        }
        case ID_MS_READ_CARD : {
            ReadCard();
            break;
        }
        case ID_MS_SYS_SHUTDOWN: {
            Document doc;
            doc.Parse(value);
            if (!doc.HasParseError()) {
                int event = 0, timeout = 15;

                if (doc.HasMember("event")) {
                    Value& s = doc["event"];
                    event = s.GetInt();
                }
                if (doc.HasMember("timeout")) {
                    Value& s = doc["timeout"];
                    timeout = s.GetInt();
                }
                SystemShutdown(event, timeout);
            }
            break;
        }
        case ID_MS_LIGHT_EXAM_RES: {
            Document doc;
            doc.Parse(value);
            if (!doc.HasParseError()) {
                if (doc.HasMember("exam")) {
                    const Value& s = doc["exam"];
                    s.GetInt();
                }
                if (doc.HasMember("question")) {
                    const Value& s = doc["question"];
                    if (s.IsArray() && s.Size() > 0) {
                        int n = 0;
                        struct dummy_light_exam *content = new struct dummy_light_exam[s.Size()];

                        for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
                            if (itr->HasMember("item") && itr->HasMember("tts")) {
                                const Value &s1 = (*itr)["item"];
                                const Value &s2 = (*itr)["tts"];

                                content[n].item = s1.GetInt();
                                strcpy(content[n].tts, s1.GetString());
                                n++;
                            }
                        }

                        SetDummyLightExam(n, content);

                        delete []content;
                    }
                }
            }
            break;
        }
        default:break;
    }
}

void MA_MainProcBinMsgEntry(int cmd, const uint8_t *value, int length)
{
    switch (cmd) {
        case ID_MS_FILE: {
            UploadDfuFile(value, length);
            break;
        }
        default:
            break;
    }
}

void MA_EnterMap(int map_id, int type, int enter)
{
    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

    writer.StartObject();
    writer.Key("map_id");
    writer.Int(map_id);
    writer.Key("type");
    writer.Int(type);
    writer.Key("enter");
    writer.Int(enter);
    writer.EndObject();

    SendMsgToMainProc(ID_SM_ENTER_MAP, sb.GetString());
}

void MA_ExamLight(void)
{
    SendMsgToMainProc(ID_SM_LIGHT_EXAM_REQ, NULL);
}