//
// Created by YY on 2019/10/23.
//

#include "park_edge.h"
#include "../Geometry.h"
#include "../driver_test.h"
#include "../common/apptimer.h"
#include "../native-lib.h"

#include <vector>
#include <cstdlib>

using namespace std;

enum {
    ARRIVED_START,
    PARK_CAR,
    START_CAR
};

const int PARK_TIMEOUT = 90;
const uint32_t STOP_CAR_TIME = D_SEC(2);

static int prev_run_status;
static int runStatusBeforeStop;
static uint32_t stopTimepoint = 0;
static bool parkTimeout;
static bool occurCrashRedLine1, occurCrashRedLine2;
static bool PETesting = false;
static int currTarget;
static bool carStopEvent;               // 中途停车标记
static bool carParkSuccess;             // 是否停在库位
static int leaveParkCnt;                // 车辆离开库位刚发生的时，检查是否开启转向灯

static void ParkEdgeTimeout(union sigval sig);
static bool CrashRedLine1(const Polygon *map, const car_model_cache_t *car);
static bool CrashRedLine2(const Polygon *map, const car_model_cache_t *car);
static bool EnterParking(const Polygon *map, const car_model_cache_t *car);
static bool ExitParkArea(const Polygon *map, const car_model_cache_t *car);
static bool ExitTestArea(const Polygon *map, const car_model_cache_t *car);

bool EnterParkEdgeArea(const Polygon *car, const Polygon *tire, const Polygon *map)
{
    if (IntersectionOf(tire->point[0], map) == GM_Containment &&
        IntersectionOf(tire->point[1], map) == GM_Containment &&
        IntersectionOf(tire->point[4], map) == GM_Containment &&
        IntersectionOf(tire->point[5], map) == GM_Containment) {
        return true;
    }
    return false;
}

void StartParkEdge(void)
{
    prev_run_status = 0;
    parkTimeout = false;
    occurCrashRedLine1 = occurCrashRedLine2 = false;        // 这个科目规定特殊点，发生一次扣10分，而不直接淘汰
    PETesting = true;
    currTarget = ARRIVED_START;
}

void StopParkEdge(void)
{
    AppTimer_delete(ParkEdgeTimeout);
    PETesting = false;
}

int TestParkEdge(vector<int>&err, const Polygon *map, const car_model_cache_t *car, double speed, int run_status)
{
    int status = 0;

    if (!PETesting)
        return 0;

    if (currTarget >= PARK_CAR) {
        if (CrashRedLine1(map, car)) {
            if (!occurCrashRedLine1) {
                occurCrashRedLine1 = true;
                // 车轮压边线，每次扣10分
                err.push_back(23);
            }
        } else {
            occurCrashRedLine1 = false;
        }

        if (CrashRedLine2(map, car)) {
            if (!occurCrashRedLine2) {
                occurCrashRedLine2 = true;
                // 车身压库位线，每次扣10分
                err.push_back(24);
            }
        } else {
            occurCrashRedLine2 = false;
        }

        if (parkTimeout) {
            // 超时90秒，不合格
            err.push_back(22);
            status = -1;
        }

        if (prev_run_status != run_status) {
            if (run_status == 0) {
                // 车停了
                runStatusBeforeStop = prev_run_status;
                stopTimepoint = AppTimer_GetTickCount();
            } else {
                // 车动了，且和停车前的运行状态一致
                if (runStatusBeforeStop == run_status && AppTimer_GetTickCount() - stopTimepoint > STOP_CAR_TIME) {
                    // 中途停车，扣5分
                    err.push_back(26);
                }
            }
        }
    }

    if (currTarget == ARRIVED_START) {
        if (ExitTestArea(map, car)) {
            // 直接驶离测试区域
            status = -2;
        } else
        if (run_status < 0) {
            AppTimer_add(ParkEdgeTimeout, D_SEC(PARK_TIMEOUT));
            currTarget = PARK_CAR;
            TextOsd(0, "开始倒库");
        }
    } else if (currTarget == PARK_CAR) {
        if (run_status < 0) {
            carStopEvent = false;
        } else if (run_status == 0) {
            // 立即检查是否停车到位，也许是中途停车，先不管，待发生前进事件后，再断定是否停车到位
            if (!carStopEvent) {
                carStopEvent = true;
                carParkSuccess = EnterParking(map, car);
            }
        } else {
            if (carStopEvent) {
                if (!carParkSuccess) {
                    // 不合格：车身出线
                    err.push_back(21);
                    status = -1;
                }
            }
            carStopEvent = false;
            leaveParkCnt = 0;
            currTarget = START_CAR;
            TextOsd(0, "开始出库");
        }
    } else if (currTarget == START_CAR) {
        if (run_status > 0) {
            leaveParkCnt++;

            if (leaveParkCnt == 1) {
                // 未开启转向灯，扣10分
                err.push_back(25);
            }

            if (ExitParkArea(map, car)) {
                // 项目完成
                status = 1;
                TextOsd(0, "项目完成");
            }
        }
    }

    if (status != 0) {
        StopParkEdge();
    }

    prev_run_status = run_status;
    return status;
}

static void ParkEdgeTimeout(union sigval sig) {
    AppTimer_delete(ParkEdgeTimeout);
    parkTimeout = true;
}

// 车轮是否压道路边线
static bool CrashRedLine1(const Polygon *map, const car_model_cache_t *car)
{
    bool ret = false;

    Line red_line;
    const int red_lines[][2] = {{0, 7}, {1, 2}, {5, 6}};

    Line frontAxle, rearAxle;

    MakeLine(&frontAxle, &car->points[car->desc->front_left_tire[TIRE_OUTSIDE]], &car->points[car->desc->front_right_tire[TIRE_OUTSIDE]]);
    MakeLine(&rearAxle, &car->points[car->desc->rear_left_tire[TIRE_OUTSIDE]], &car->points[car->desc->rear_right_tire[TIRE_OUTSIDE]]);

    for (int i = 0; i < sizeof(red_lines) / sizeof(red_lines[0]); ++i) {
        MakeLine(&red_line, &map->point[red_lines[i][0]], &map->point[red_lines[i][1]]);
        if (IntersectionOf(red_line, frontAxle) == GM_Intersection ||
            IntersectionOf(red_line, rearAxle) == GM_Intersection) {
            ret = true;
            break;
        }
    }

    return ret;
}

// 车身是否压库位线
static bool CrashRedLine2(const Polygon *map, const car_model_cache_t *car)
{
    bool ret = false;

    Line red_line;
    const int red_lines[][2] = {{2, 3}, {3, 4}, {4, 5}};

    Polygon car_body;

    car_body.num = car->desc->body_num;
    car_body.point = (PointF *) malloc(sizeof(PointF) * car_body.num);
    for (int i = 0; i < car_body.num; ++i) {
        car_body.point[i] = car->points[car->desc->body[i]];
    }

    for (int i = 0; i < sizeof(red_lines) / sizeof(red_lines[0]); ++i) {
        MakeLine(&red_line, &map->point[red_lines[i][0]], &map->point[red_lines[i][1]]);
        if (IntersectionOf(red_line, &car_body) != GM_None) {
            ret = true;
            break;
        }
    }

    free(car_body.point);
    return ret;
}

static bool EnterParking(const Polygon *map, const car_model_cache_t *car) {
    bool succ = false;

    Polygon parking;
    Polygon car_body;

    car_body.num = car->desc->body_num;
    car_body.point = (PointF *) malloc(sizeof(PointF) * car_body.num);
    for (int i = 0; i < car_body.num; ++i) {
        car_body.point[i] = car->points[car->desc->body[i]];
    }

    MakePolygon(&parking, {map->point[2], map->point[3], map->point[4], map->point[5]});

    if (IntersectionOf(&car_body, &parking) == GM_Containment) {
        succ = true;
    }

    CleanPolygon(&parking);
    free(car_body.point);

    return succ;
}

// 整个车辆都要驶过前库位线
static bool ExitParkArea(const Polygon *map, const car_model_cache_t *car)
{
    for (int i = 0; i < car->point_num; ++i) {
        if (IntersectionOfLine(map->point[4], map->point[5], car->points[i]) != -1)
            return false;
    }
    return true;
}

// 整个车辆都要驶过最前端控制线
static bool ExitTestArea(const Polygon *map, const car_model_cache_t *car)
{
    for (int i = 0; i < car->point_num; ++i) {
        if (IntersectionOfLine(map->point[6], map->point[7], car->points[i]) != -1)
            return false;
    }
    return true;
}