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

#include <map>
#include <algorithm>

#include "through_something.h"
#include "../driver_test.h"
#include "../test_common/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)

using namespace std;

static const double LASTEST_BREAK_POINT = 30.0;
static const double NEXT_ROAD_TIP = 100.0;                  // 到达路口前提示下一个怎么走
static const double DISTANCE_STOP_CAR_TO_STOP_LINE = 5.0;
static const double PASS_SCHOOL_MAX_SPEED = 30.0;           // kmh

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

static map<int, bool> breakRecord;              // 记录车辆驶过各个停止线前刹车动作

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 %s", RoadMapList[index].tts.c_str());
        PlayTTS(RoadMapList[index].tts.c_str());
    } else {
        DEBUG("没有TTS");
    }
    breakActive = 0;
    stopActive = 0;
    crashRedLine = false;
}

void InitThroughSomething(road_exam_map &RoadMap)
{
    breakRecord.clear();
    // 为每一个刹车检测点
    for (int i = 0; i < RoadMap.specialAreas.size(); ++i) {
        if (RoadMap.specialAreas[i].type == ZEBRA_CROSSING || RoadMap.specialAreas[i].type == BUS_STATION_AREA) {
            breakRecord.insert(pair<int, bool>(RoadMap.specialAreas[i].id, false));
        }
    }
    for (int i = 0; i < RoadMap.roads.size(); ++i) {
        breakRecord.insert(pair<int, bool>(RoadMap.roads[i].id, 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;
}



void CheckBreakActive(road_exam_map &map, const car_model *car, LIST_CAR_MODEL &CarModelList)
{
    int BreakDone = ReadCarStatus(BREAK);

    // 计算车前进轨迹延长线
    double yaw = YawOf(car->carXY[ car->axial[AXIAL_FRONT] ], car->carXY[ car->axial[AXIAL_REAR] ]);
    PointF extPoint = PointExtend(car->carXY[ car->axial[AXIAL_FRONT] ], LASTEST_BREAK_POINT, yaw);
    PointF extPoint2 = PointExtend(car->carXY[ car->axial[AXIAL_FRONT] ], NEXT_ROAD_TIP, yaw);
    Line extLine, extLine2;
    MakeLine(&extLine, &car->carXY[ car->axial[AXIAL_FRONT] ], &extPoint);
    MakeLine(&extLine2, &car->carXY[ car->axial[AXIAL_FRONT] ], &extPoint2);

    // 路口刹车点
    for (int i = 0; i < map.roads.size(); ++i) {
        // 车头和路口距离不足30米
        if (IntersectionOf(extLine, map.roads[i].stopLine) == GM_Intersection &&
            IntersectionOfLine(car->carXY[ car->axial[AXIAL_FRONT] ], map.roads[i].stopLine) == 1 ) {
            DEBUG("进入减速区");
            if (BreakDone == BREAK_ACTIVE) {
                auto itx = breakRecord.find(map.roads[i].id);
                if (itx != breakRecord.end()) {
                    itx->second = true;
                }
            }
        }
        // 跨线后，检查刹车动作
        if (CrashTheLine(map.roads[i].stopLine, car, CarModelList)) {
            auto itx = breakRecord.find(map.roads[i].id);
            if (itx != breakRecord.end()) {
                if (itx->second == false) {
                    // 不按规定减速，不合格
                    DEBUG("不按规定减速");

                }
                itx->second = false;
            }
        }
    }
    // 人行道、公交站刹车点；学校限速区
    for (int i = 0; i < map.specialAreas.size(); i++) {
        if (map.specialAreas[i].type == GRID_AREA)
            continue;

        if (map.specialAreas[i].area.size() == 2 && map.specialAreas[i].leftPoints.size() != 2) {
            // 计算点到左侧路边线的垂点
            int road = 0;
            for (road = 0; road < map.roads.size(); ++road) {
                if (map.roads[road].id == map.specialAreas[i].road)
                    break;
            }

            PointF vPoint = GetSELine(map.roads[road].leftEdge, map.specialAreas[i].area[0]);
            DEBUG("计算垂点1 (%f, %f)", vPoint.X, vPoint.Y);

            map.specialAreas[i].leftPoints.push_back(vPoint);

            vPoint = GetSELine(map.roads[road].leftEdge, map.specialAreas[i].area[0]);
            DEBUG("计算垂点2 (%f, %f)", vPoint.X, vPoint.Y);
            map.specialAreas[i].leftPoints.push_back(vPoint);
        }

        if (map.specialAreas[i].type == ZEBRA_CROSSING || map.specialAreas[i].type == BUS_STATION_AREA) {
            Line startLine;

            MakeLine(&startLine, &map.specialAreas[i].area[0], &map.specialAreas[i].leftPoints[0]);

            // 车头和斑马线距离不足30米
            if (IntersectionOf(extLine, startLine) == GM_Intersection &&
                    IntersectionOfLine(car->carXY[ car->axial[AXIAL_FRONT] ], startLine) == 1 ) {
                DEBUG("进入减速区");
                if (BreakDone == BREAK_ACTIVE) {
                    auto itx = breakRecord.find(map.specialAreas[i].id);
                    if (itx != breakRecord.end()) {
                        itx->second = true;
                    }
                }
            }

            // 跨线后，检查刹车动作
            if (CrashTheLine(startLine, car, CarModelList)) {
                auto itx = breakRecord.find(map.specialAreas[i].id);
                if (itx != breakRecord.end()) {
                    if (itx->second == false) {
                        // 不按规定减速，不合格
                        DEBUG("不按规定减速");
                    }
                    itx->second = false;
                }
            }
        } else if (map.specialAreas[i].type == SCHOOL_AREA) {

        }
    }
}