//
// Created by YY on 2020/3/20.
//

#include "through_something.h"
#include "../driver_test.h"
#include "../Geometry.h"
#include "../native-lib.h"
#include "../jni_log.h"
#include "../test_common/car_sensor.h"
#include "road_exam.h"

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

static const double LASTEST_BREAK_POINT = 30.0;
static const double DISTANCE_STOP_CAR_TO_STOP_LINE = 5.0;

static int breakActive;
static int stopActive;
static bool crashRedLine;

void StartThroughExam(int index, LIST_ROAD_MAP &RoadMapList)
{
    if (index == -1)
        return;
    DEBUG("进入路考通过something地图 index = %d id = %d item = %d", index, RoadMapList[index].id, RoadMapList[index].type);
    if (!RoadMapList[index].tts.empty()) {
        DEBUG("播放TTS");
        PlayTTS(RoadMapList[index].tts.c_str());
    } else {
        DEBUG("没有TTS");
    }
    breakActive = 0;
    stopActive = 0;
    crashRedLine = false;
}

int ExecuteThroughExam(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car,
        LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime)
{
    PointF p1, p2;

    double distance2StopLine = DistanceOf(car->carXY[car->axial[AXIAL_FRONT]],
                                          RoadMapList[index].stopLine);
    p1.X = RoadMapList[index].stopLine.X1;
    p1.Y = RoadMapList[index].stopLine.Y1;
    p2.X = RoadMapList[index].stopLine.X2;
    p2.Y = RoadMapList[index].stopLine.Y2;

    if (IntersectionOfLine(p1, p2, car->carXY[car->axial[AXIAL_FRONT]]) == -1) {
        distance2StopLine = -distance2StopLine;
    }

    // 距离停止线30米内是否有刹车动作
    if (breakActive == 0) {
        if (distance2StopLine > 0 && distance2StopLine <= LASTEST_BREAK_POINT) {
            if (ReadCarStatus(BREAK) == BREAK_ACTIVE) {
                breakActive = 1;
            }
        }

        if (distance2StopLine < 0 && breakActive != 1){
            breakActive = -1;
            // 不按规定减速，不合格
            DEBUG("不踩下刹车，不合格");
            switch (RoadMapList[index].type) {
                case THROUGH_INTERSECTION_MAP:
                    AddExamFault(41, rtkTime);
                    break;
                case TURN_LEFT_MAP:
                    AddExamFault(43, rtkTime);
                    break;
                case TURN_RIGHT_MAP:
                    AddExamFault(46, rtkTime);
                    break;
                case THROUGH_ZEBRA_CROSSING_MAP:
                    AddExamFault(48, rtkTime);
                    break;
                case THROUGH_SCHOOL_MAP:
                    AddExamFault(49, rtkTime);
                    break;
                case THROUGH_BUS_STATION_MAP:
                    AddExamFault(50, rtkTime);
                    break;
                default:
                    break;
            }
        }
    }

    // 有停止标记的，是否停车（停止线5米内有停车动作）
    if (RoadMapList[index].flagStop != 0 && stopActive == 0) {
        if (distance2StopLine < 0.0) {
            // 不停车瞭望，不合格
            DEBUG("不停车瞭望");
            switch (RoadMapList[index].type) {
                case THROUGH_INTERSECTION_MAP:
                    AddExamFault(42, rtkTime);
                    break;
                case TURN_LEFT_MAP:
                    AddExamFault(44, rtkTime);
                    break;
                case TURN_RIGHT_MAP:
                    AddExamFault(47, rtkTime);
                    break;
                default:
                    break;
            }
            stopActive = -1;
        } else if (distance2StopLine < DISTANCE_STOP_CAR_TO_STOP_LINE) {
            if (moveDirect == 0) {
                stopActive = 1;
            }
        }
    }

     if (CrashSonRedLine(index, RoadMapList, car, CarModelList)) {
         if (!crashRedLine) {
             DEBUG("不按考试员指令行驶");
             crashRedLine = true;
             // 不按考试员指令行驶
             AddExamFault(3, rtkTime);
         }
     } else {
         crashRedLine = false;
     }

    if (ExitSonArea(index, RoadMapList, car)) {
        DEBUG("离开通过something区域");
        return -1;
    }

    return index;
}