//
// Created by YY on 2020/3/23.
//

#include "drive_straight.h"
#include "../driver_test.h"
#include "../native-lib.h"
#include "../jni_log.h"
#include "road_exam.h"
#include "../master/comm_if.h"
#include "../common/apptimer.h"
#include "../test_common/odo_graph.h"
#include <cmath>

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

static const double CHECK_STAGE_DISTANCE = 100.0;
static const double MAX_OFFSET_DISTANCE = 0.3;

static int setup;
static double beginOdo;
static int yaw_stat;
static double offsetBase;

static void TtsBack(int seq)
{
    setup = 1;
}

void StartDriveStraightExam(void) {
    DEBUG("开始直线行驶");
    setup = 0;
    yaw_stat = 0;
    PlayTTS("请保持直线行驶", TtsBack);
}

bool TestDriveStraight(road_exam_map &RoadMap, int roadIndex, const car_model *car, const struct RtkTime *rtkTime) {
    static double yaw;
    static Line baseLine;
    static double offset1, offset2;

    if (roadIndex < 0 || roadIndex >= RoadMap.roads.size())
        return false;

    if (setup == 1) {
        // 偏航角平均值
        static vector<double> yaws;

        if (yaw_stat == 0) {
            yaws.clear();
        }
        yaws.push_back(car->yaw);
        yaw_stat++;

        if (yaw_stat == 15) {
            yaw = AvgYaw(yaws);
            vector<double>().swap(yaws);

            DEBUG("创建基线 yaw %f", yaw);
            PointF extPoint = PointExtend(car->basePoint, 100, yaw);
            MakeLine(&baseLine, &car->basePoint, &extPoint);
            beginOdo = ReadOdo();

            PointF px = CalcProjectionWithRoadEdge(RoadMap.roads[roadIndex].rightEdge, car->carXY[car->axial[AXIAL_FRONT]]);
            offsetBase = DistanceOf(px, car->carXY[car->axial[AXIAL_FRONT]]);
            DEBUG("起点偏离 %f", offsetBase);

            setup = 2;
        }
    } else if (setup == 2) {
        offset1 = DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], baseLine);

        if (offset1 > MAX_OFFSET_DISTANCE) {
            DEBUG("虚拟直线偏移大于30厘米 offset1 = %f", offset1);
//            // 偏移大于30厘米，不合格
//            AddExamFault(30, rtkTime);
//            return false;
        }

        PointF px = CalcProjectionWithRoadEdge(RoadMap.roads[roadIndex].rightEdge, car->carXY[car->axial[AXIAL_FRONT]]);
        offset2 = DistanceOf(px, car->carXY[car->axial[AXIAL_FRONT]]);

        if (fabs(offset2 - offsetBase) > MAX_OFFSET_DISTANCE) {
            DEBUG("直线偏移大于30厘米 offset2 = %f", fabs(offset2 - offsetBase));
            // 偏移大于30厘米，不合格
            AddExamFault(30, rtkTime);
            return false;
        }
    }

    if (setup == 2 && ReadOdo() - beginOdo > CHECK_STAGE_DISTANCE) {
        DEBUG("直线行驶结束 offset1 = %f offset2 = %f", offset1, fabs(offset2 - offsetBase));

        PlayTTS("直线行驶结束", NULL);
        return false;
    }

    return true;
}