package com.ard.route.util;

import com.ard.route.domain.djuav.*;
import com.ard.route.domain.sixhe.ArdRouteActions;
import com.ard.route.domain.sixhe.ArdRouteChange;
import com.ard.route.domain.sixhe.ArdRoutePoints;

import java.util.ArrayList;
import java.util.List;

/**
 * 初始化数据
 * 测试数据
 */
public class InitializationUtils {

    private static final Double CHANSI_H20 = 23.76237623;
    private static final String WAYPOINT_TURN_MODE_DEFAULT = "toPointAndStopWithDiscontinuityCurvature";

    /**
     * 初始化KMZ 默认数据
     */
    public UavRouteReq initialization(UavRouteReq uavRouteReq){
        uavRouteReq.setTemplateType("waypoint");
        // 起始点默认航线第一个点
        if (uavRouteReq.getTakeOffRefPoint().isEmpty()){
            uavRouteReq.setTakeOffRefPoint(
                    uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
                            uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0");
        }
        //uavRouteReq.setDroneType(89);
        uavRouteReq.setSubDroneType(0);
        uavRouteReq.setPayloadType(43);
        uavRouteReq.setPayloadPosition(0);
        uavRouteReq.setImageFormat("wide");
        uavRouteReq.setFinishAction("goHome");
        uavRouteReq.setExitOnRcLostAction("goBack");
        //uavRouteReq.setGlobalHeight(100.0);
        //uavRouteReq.setAutoFlightSpeed(5.0);
        WaypointHeadingReq waypointHeadingReq = new WaypointHeadingReq();
        waypointHeadingReq.setWaypointHeadingMode("followWayline");
        uavRouteReq.setWaypointHeadingReq(waypointHeadingReq);
        WaypointTurnReq waypointTurnReq = new WaypointTurnReq();
        if (uavRouteReq.getGlobalWaypointTurnMode() != null){
            waypointTurnReq.setWaypointTurnMode(uavRouteReq.getGlobalWaypointTurnMode());
        }else {
            waypointTurnReq.setWaypointTurnMode("toPointAndStopWithDiscontinuityCurvature");
        }
        uavRouteReq.setWaypointTurnReq(waypointTurnReq);
        uavRouteReq.setGimbalPitchMode("usePointSetting");
        //buildZoom(uavRouteReq);
        return uavRouteReq;
    }

    /**
     * 变焦动作加工
     */
    private UavRouteReq buildZoom(UavRouteReq uavRouteReq){
        for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
            for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
                for (PointActionReq action : actionGroupReq.getActions()) {
                    if (action.getZoom() != null){
                        action.setZoom(action.getZoom() * CHANSI_H20);
                    }
                }
            }
        }
        return uavRouteReq;
    }

    /**
     * 初始化数据
     */
    private void initializationSixHe(){
        ArdRouteChange ardRouteChange = new ArdRouteChange();
        ardRouteChange.setAutoSpeed(8);
        ardRouteChange.setFinishedAction(1);
        ardRouteChange.setHomeHeight(50);
        //ardRouteChange.setInterests(0);
        ardRouteChange.setIsSaveEnergyMode(0);
        ardRouteChange.setLoseAction(0);
        ardRouteChange.setMaxSpeed(15);

        List<ArdRoutePoints> points = new ArrayList<>();
        ArdRoutePoints ardRoutePoints0 = new ArdRoutePoints();
        ardRoutePoints0.setDampingDistance(0);
        ardRoutePoints0.setFlightPathMode(1);
        ardRoutePoints0.setGroupIndex(0);
        ardRoutePoints0.setHeading(0);
        ardRoutePoints0.setHeadingMode(0);
        ardRoutePoints0.setHeight(50);
        ardRoutePoints0.setInterestIndex(0);
        ardRoutePoints0.setLat(31.11339916);
        ardRoutePoints0.setLon(103.75851462);
        ardRoutePoints0.setSafeGohomeFlag(0);
        ardRoutePoints0.setSpeed(8);
        List<ArdRouteActions> actions = new ArrayList<>();
        ArdRouteActions ardRouteActions0 = new ArdRouteActions();
        ardRouteActions0.setParam(10);
        ardRouteActions0.setSpeakInfo("");
        ardRouteActions0.setType(1);
        ardRouteActions0.setWaitTime(2);
        ArdRouteActions ardRouteActions1 = new ArdRouteActions();
        ardRouteActions1.setParam(10);
        ardRouteActions1.setSpeakInfo("");
        ardRouteActions1.setType(1);
        ardRouteActions1.setWaitTime(2);
        ArdRouteActions ardRouteActions2 = new ArdRouteActions();
        ardRouteActions2.setParam(10);
        ardRouteActions2.setSpeakInfo("");
        ardRouteActions2.setType(1);
        ardRouteActions2.setWaitTime(2);
        actions.add(ardRouteActions0);
        actions.add(ardRouteActions1);
        actions.add(ardRouteActions2);
        points.add(ardRoutePoints0);

        ardRouteChange.setPoints(points);
    }

//    private ArdRoutePoints buildArdRoutePoints(){
//        ArdRoutePoints ardRoutePoints1 = new ArdRoutePoints();
//        ardRoutePoints1.setDampingDistance(0);
//        ardRoutePoints1.setFlightPathMode(1);
//        ardRoutePoints1.setGroupIndex(0);
//        ardRoutePoints1.setHeading(0);
//        ardRoutePoints1.setHeadingMode(0);
//        ardRoutePoints1.setHeight(50);
//        ardRoutePoints1.setInterestIndex(0);
//        ardRoutePoints1.setLat(31.11339916);
//        ardRoutePoints1.setLon(103.75851462);
//        ardRoutePoints1.setSafeGohomeFlag(0);
//        ardRoutePoints1.setSpeed(8);
//
//
//    }

//    private ArdRouteActions buildArdRouteActions(){
//        ArdRouteActions ardRouteActions0 = new ArdRouteActions();
//        ardRouteActions0.setParam(10);
//        ardRouteActions0.setSpeakInfo("");
//        ardRouteActions0.setType(1);
//        ardRouteActions0.setWaitTime(2);
//        ArdRouteActions ardRouteActions1 = new ArdRouteActions();
//        ardRouteActions1.setParam(10);
//        ardRouteActions1.setSpeakInfo("");
//        ardRouteActions1.setType(1);
//        ardRouteActions1.setWaitTime(2);
//        ArdRouteActions ardRouteActions2 = new ArdRouteActions();
//        ardRouteActions2.setParam(10);
//        ardRouteActions2.setSpeakInfo("");
//        ardRouteActions2.setType(1);
//        ardRouteActions2.setWaitTime(2);
//    }
}