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

#include "park_bottom.h"
#include "../common/apptimer.h"
#include "../test_common/Geometry.h"
#include "../native-lib.h"
#include "../jni_log.h"
#include "../driver_test.h"
#include "../utils/xconvert.h"
#include "../master/comm_if.h"
#include "area_exam.h"
#include "../test_common/car_sensor.h"
#include "../test_common/odo_graph.h"
#include <vector>
#include <cstdlib>

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

using namespace std;

enum {
    NONE,
    FIRST_TOUCH_CTRL_LINE,
    FIRST_PARK,
    SECOND_TOUCH_CTRL_LINE,
    SECOND_PARK,
    THIRD_TOUCH_CTRL_LINE
};

enum {
    TESTING,
    TEST_FAIL,          // 因触发某些规则，在车身未完全立场情况下，提前终止部分测试
    TEST_FINISH
};

static int testStatus;
static bool reverseCar = false;
static int mapIndex = 0;

const uint32_t CHECK_PARK_DELAY = 400;

static uint32_t stopTimepoint;
static int prevMoveDirect, storeMoveDirectBeforeStop;
static bool occurCrashRedLine;
static bool checkPartStatus;
static uint32_t firstReverseTimepoint;
static bool reportExamTimeout, reportParkFail;
static bool crossCtrlLineSw;
static int parkCount;
static char carray[3];
static int darray[3];
static int parkStatus[3];

static int gearAtStop;
static int currGear;
static char prevCrossedCtrlLine;
static double odo;
static int exitAreaCfm;
static char CrossCtrlLine(const Polygon *map, const car_model *car, const car_model *prev_car);
static bool EnterParking(const Polygon *map, const car_model *car);
static bool CrashRedLine(const Polygon *map, const car_model *car, int &who);
static bool ExitParkArea(const Polygon *map, const car_model *car);
static bool AllTireExitParkArea(const Polygon *map, const car_model *car);

void StartParkBottom(int index, int moveDirect, const struct RtkTime *rtkTime)
{
    DEBUG("StartParkBottom");
    testStatus = TESTING;

    reverseCar = false;
    mapIndex = index;
    memset(carray, 0, sizeof(carray));
    memset(darray, 0, sizeof(darray));
    memset(parkStatus, 0, sizeof(parkStatus));
    prevMoveDirect = moveDirect;

    checkPartStatus = false;
    firstReverseTimepoint = 0;
    reportExamTimeout = false;
    parkCount = 0;
    crossCtrlLineSw = false;
    reportParkFail = false;
    occurCrashRedLine = false;

    currGear = ReadCarStatus(GEAR);
    prevCrossedCtrlLine = 0;
    stopTimepoint = 0;
    exitAreaCfm = 0;
    odo = ReadOdo();

    PlayTTS("您已进入倒车入库区域", NULL);
}

int TestParkBottom(const Polygon *map, const car_model *car, const car_model *carPrev, double speed, int moveDirect, const struct RtkTime *rtkTime)
{
    char crossCtrlLine = 0;
    uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
    int who = 0;
    vector<double> dtox;
    vector<Line> line_set;
    Line distance_line;

    bool gear_change = false;
    int gear = ReadCarStatus(GEAR);

    if (gear == GEAR_R) {
        if (currGear != GEAR_R) {
            gear_change = true;
            currGear = GEAR_R;
        }
    } else if (currGear == GEAR_R) {
        gear_change = true;
        currGear = gear;
    }

    if (gear_change) {
        // 检查上一次挡位的行驶距离，过小就放弃，避开学员原地挂挡重试
        double run_distance = ReadOdo() - odo;

        DEBUG("2次挡位运行距离 %f", run_distance);

        if (run_distance < 1) {
            gear_change = false;
            DEBUG("2次挡位运行距离过小，忽略");
        }
        odo = ReadOdo();
    }

    if (testStatus == TESTING && gear_change) {
        if (currGear == GEAR_R) {
            // 挂倒挡,检测是否过控制线
            DEBUG("开始挂倒挡");
            if (!reverseCar) {
                DEBUG("开始首轮入库");
                reverseCar = true;
                MA_EnterMap(mapIndex, MAP_TYPE_PARK_BUTTOM, 1);
                firstReverseTimepoint = tp;             // 开始210秒计时
            }
            crossCtrlLine = CrossCtrlLine(map, car, carPrev);

            if (parkCount >= 2) {
                DEBUG("开始次轮入库");
                parkCount = 0;
                MA_EnterMap(mapIndex, MAP_TYPE_PARK_BUTTOM, 1);
                firstReverseTimepoint = tp;             // 开始210秒计时
            }

            if (crossCtrlLine == 0) {
                // 倒车前，前轮未驶过控制线
                AddExamFault(20104, rtkTime);
                DEBUG("倒车前，前轮未驶过控制线");
            } else if (crossCtrlLine == prevCrossedCtrlLine) {
                // 重复跨越同一控制线，不按规定线路，顺序形式，不合格
                AddExamFault(20101, rtkTime);
                DEBUG("不按规定线路，顺序形式， 同 %c 侧", prevCrossedCtrlLine);
            } else {
                prevCrossedCtrlLine = crossCtrlLine;
                DEBUG("开始 %c 侧 倒库", prevCrossedCtrlLine);
            }
        } else {
            // 从倒挡移出，检测是否入库
            DEBUG("从倒挡移出");

            parkCount++;

            DEBUG("库位检查次数 = %d", parkCount);

            if (EnterParking(map, car)) {
                DEBUG("倒库成功");
            } else {
                AddExamFault(20103, rtkTime);
                DEBUG("倒库不入");
            }
        }
    }
    
    if (testStatus == TESTING && parkCount < 2 && AllTireExitParkArea(map, car)) {
        if (++exitAreaCfm >= 4) {       // 避免信号漂移造成的误判
            testStatus = TEST_FAIL;
            AddExamFault(10103, rtkTime);
            DEBUG("直接驶离测试区,不按考试员指令驾驶");
        }
    } else {
        exitAreaCfm = 0;
    }
    
    if (ExitParkArea(map, car)) {
        DEBUG("离开场地");
        // 离开场地
        testStatus = TEST_FINISH;
        /*if ((parkStatus[0] != 1 || parkStatus[1] != 1) && !reportParkFail && reverseCar) {
            // 倒库不入，不合格
            reportParkFail = true;
            AddExamFault(20103, rtkTime);
            DEBUG("倒库不入");
        }*/
        goto TEST_END;
    }

    // 距离检测
    MakeLine(&distance_line, &map->point[0], &map->point[7]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[1], &map->point[2]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[2], &map->point[3]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[3], &map->point[4]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[4], &map->point[5]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[5], &map->point[6]);
    line_set.push_back(distance_line);
    DistanceOfTire2X(dtox, car, line_set);
    MA_SendDistance(dtox[0], dtox[1]);

    if (CrashRedLine(map, car, who)) {
        if (!occurCrashRedLine /*&& reverseCar*/) {
            occurCrashRedLine = true;
            // 车身出线，不合格
            AddExamFault(10116, rtkTime);
            DEBUG("车轮压线");
            /*if (who == 1) {
                PlayTTS("压左库位线", NULL);
            } else if (who == 2) {
                PlayTTS("压右库位线", NULL);
            }*/
        }
    } else {
        occurCrashRedLine = false;
    }

    if (moveDirect != prevMoveDirect) {
        if (moveDirect == 0) {
            stopTimepoint = tp;
            gearAtStop = (currGear == GEAR_R ? 1 : 0);
            DEBUG("停车了 %d %d %d %d %d %d %d", rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss);
            DEBUG("停车时挡位 = %d", gearAtStop);
        } else if (prevMoveDirect == 0 && stopTimepoint > 0) {
            DEBUG("继续行驶 %d %d %d %d %d %d %d", rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss);

            DEBUG("停车时间 %ld", tp - stopTimepoint);
            DEBUG("再次移动时挡位 = %d", currGear == GEAR_R ? 1 : 0);

            if (tp - stopTimepoint >= CorrectPauseCriteria(examParam.park_bottom_pause_criteria)
                && gearAtStop == (currGear == GEAR_R ? 1 : 0)) {
                // 停车超2秒，每次扣5分
                AddExamFault(20106, rtkTime);
                DEBUG("中途停车");
            }
        }

        prevMoveDirect = moveDirect;
    }

/*    crossCtrlLine = CrossCtrlLine(map, car, carPrev);
    if (crossCtrlLine > 0 && !crossCtrlLineSw) {
        crossCtrlLineSw = true;
        if (parkCount == 0) {
            carray[0] = crossCtrlLine;
        } else if (parkCount == 1) {
            if (carray[0] == crossCtrlLine) {
                // 不按规定线路，顺序形式，不合格
                AddExamFault(20101, rtkTime);
                DEBUG("不按规定线路，顺序形式");
            }
            carray[1] = crossCtrlLine;
        } else if (parkCount == 2) {
            if (carray[0] != crossCtrlLine) {
                // 不按规定线路，顺序形式，不合格
                AddExamFault(20101, rtkTime);
                DEBUG("不按规定线路，顺序形式");
            } else {
                // 离开测试区，停止计时
                DEBUG("离开测试区，停止计时");
                testStatus = false;
                goto TEST_END;
            }
            carray[2] = crossCtrlLine;
        }
    }

    if (testStatus && darray[0] > 0 && tp - firstReverseTimepoint >= examParam.park_bottom_limit_time) {
        // 完成超时，不合格
        if (!reportExamTimeout) {
            reportExamTimeout = true;
            AddExamFault(20105, rtkTime);
            DEBUG("项目超时");
        }
    }

    if (moveDirect != prevMoveDirect) {
        if (moveDirect == 0) {
            stopTimepoint = tp;
            storeMoveDirectBeforeStop = prevMoveDirect;
            if (prevMoveDirect == -1) {
                checkPartStatus = true;         // 每次倒车停止，触发入库检查
            }

            DEBUG("停车了 %d %d %d %d %d %d %d", rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss);
        } else {
            DEBUG("继续行驶 %d %d %d %d %d %d %d", rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss);

            DEBUG("停车时间 %ld", tp - stopTimepoint);

            if (moveDirect == storeMoveDirectBeforeStop) {
                // 同方向再启动，继续判断是否停车超时
                if (tp - stopTimepoint >= CorrectPauseCriteria(examParam.park_bottom_pause_criteria) && reverseCar) {
                    // 停车超2秒，每次扣5分
                    AddExamFault(20106, rtkTime);
                    DEBUG("中途停车");
                }
            } else if (moveDirect == -1) {
                // 切换为倒车
                if (!reverseCar) {
                    reverseCar = true;
                    MA_EnterMap(mapIndex, MAP_TYPE_PARK_BUTTOM, 1);
                }
                if (darray[parkCount] == 0) {
                    if (!crossCtrlLineSw) {
                        // 倒车前，前轮未驶过控制线
                        AddExamFault(20104, rtkTime);
                        DEBUG("倒车前，前轮未驶过控制线");
                    }
                    darray[parkCount] = 1;
                    firstReverseTimepoint = tp;         // 首次倒车，才意味着此项目开始
                }
            } else {
                // 切换为前进
                DEBUG("切换为前进");

                if (tp - stopTimepoint >= CHECK_PARK_DELAY) {
                    if (crossCtrlLineSw) {
                        if (parkStatus[parkCount] != 1) {
                            // 倒库不入，不合格
                            reportParkFail = true;
                            AddExamFault(20103, rtkTime);
                            DEBUG("倒库不入");
                        }
                    }

                    crossCtrlLineSw = false;

                    if (parkCount < 2)
                        parkCount++;
                }
            }
        }
        prevMoveDirect = moveDirect;
    } else if (moveDirect == -1) {
        if (darray[parkCount] == 0) {
            // 切换为倒车
            if (!crossCtrlLineSw) {
                // 倒车前，前轮未驶过控制线
                AddExamFault(20104, rtkTime);
                DEBUG("倒车前，前轮未驶过控制线");
            }
            darray[parkCount] = 1;
            firstReverseTimepoint = tp;
        }
    } else if (moveDirect == 0 && crossCtrlLineSw) {
        if (tp - stopTimepoint >= CHECK_PARK_DELAY && checkPartStatus) {
            if (EnterParking(map, car)) {
                parkStatus[parkCount] = 1;
            }
            checkPartStatus = false;
        }
    }*/

TEST_END:
    if (testStatus == TEST_FINISH) {
        DEBUG("倒库结束");
        MA_EnterMap(mapIndex, MAP_TYPE_PARK_BUTTOM, 0);
        return 0;
    }
    return 1;
}

// 检测2前轮是否正向越过左右控制线
static char CrossCtrlLine(const Polygon *map, const car_model *car, const car_model *prev_car)
{
    // 过右控制线
    if ((IntersectionOfLine(map->point[6], map->point[7], car->carXY[car->left_front_tire[TIRE_OUTSIDE]]) == -1) &&
        (IntersectionOfLine(map->point[6], map->point[7], car->carXY[car->right_front_tire[TIRE_OUTSIDE]]) == -1) &&
        (IntersectionOfLine(map->point[6], map->point[7], car->carXY[car->axial[AXIAL_REAR]]) == 1)) {
        return 'R';
    }

    // 过左控制线
    if ((IntersectionOfLine(map->point[1], map->point[0], car->carXY[car->left_front_tire[TIRE_OUTSIDE]]) == 1) &&
        (IntersectionOfLine(map->point[1], map->point[0], car->carXY[car->right_front_tire[TIRE_OUTSIDE]]) == 1) &&
        (IntersectionOfLine(map->point[1], map->point[0], car->carXY[car->axial[AXIAL_REAR]]) == -1)) {
        return 'L';
    }

    return 0;
}

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

    Polygon parking;
    Polygon car_body;

    car_body.num = car->bodyNum;
    car_body.point = (PointF *) malloc(sizeof(PointF) * car_body.num);
    for (int i = 0; i < car_body.num; ++i) {
        car_body.point[i] = car->carXY[car->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);

    DEBUG("检查倒库状态 %s", succ ? "成功" : "失败");

    return succ;
}

static bool CrashRedLine(const Polygon *map, const car_model *car, int &who)
{
    bool ret = false;

    Line red_line;
    const int red_lines[][2] = {{0, 7}, {1, 2}, {2, 3}, {3, 4}, {4, 5}, {5, 6}};

    Polygon car_body;

    car_body.num = car->bodyNum;
    car_body.point = (PointF *) malloc(sizeof(PointF) * car_body.num);
    for (int i = 0; i < car_body.num; ++i) {
        car_body.point[i] = car->carXY[car->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) {
            if (i == 2 || i == 1) {
                who = 1;
            } else if (i == 4 || i == 5) {
                who = 2;
            }

            ret = true;
            break;
        }
    }

    free(car_body.point);
    return ret;
}

static bool ExitParkArea(const Polygon *map, const car_model *car)
{
// 全车都需不在地图中
    bool ret = false;

    Polygon carBody;

    carBody.num = car->bodyNum;
    carBody.point = (PointF *)malloc(carBody.num * sizeof(PointF));
    for (int i = 0; i < carBody.num; ++i) {
        carBody.point[i] = car->carXY[car->body[i]];
    }

    if (IntersectionOf(&carBody, map) == GM_None) {
        ret = true;
    }

    free(carBody.point);

    return ret;
}

// 双前轮和双后轮不在区域
static bool AllTireExitParkArea(const Polygon *map, const car_model *car)
{
    int tireExitNum = 0;

    if (IntersectionOf(car->carXY[ car->left_front_tire[TIRE_OUTSIDE] ], map) == GM_None) {
        tireExitNum++;
    }

    if (IntersectionOf(car->carXY[ car->right_front_tire[TIRE_OUTSIDE] ], map) == GM_None) {
        tireExitNum++;
    }

    if (IntersectionOf(car->carXY[ car->left_rear_tire[TIRE_OUTSIDE] ], map) == GM_None) {
        tireExitNum++;
    }

    if (IntersectionOf(car->carXY[ car->right_rear_tire[TIRE_OUTSIDE] ], map) == GM_None) {
        tireExitNum++;
    }

    if (tireExitNum >= 4) {
        return true;
    }
    return false;
}