package com.ard.route.util;

import com.ard.route.domain.djuav.ActionGroupReq;
import com.ard.route.domain.djuav.PointActionReq;
import com.ard.route.domain.djuav.RoutePointReq;
import com.ard.route.domain.djuav.UavRouteReq;
import com.ard.route.domain.djuav.kml.*;
import com.ard.route.domain.route.ArdRouteInfo;
import com.ard.route.domain.vo.KmzInfoVo;
import com.ard.work.domain.dto.state.PointData;
import com.ard.work.domain.dto.wayline.PlanLineData;
import com.ard.work.domain.dto.wayline.PointAction;
import com.ard.work.domain.dto.wayline.WayLineUploadDTO;
import org.apache.commons.compress.archivers.ArchiveEntry;
import org.apache.commons.compress.archivers.ArchiveInputStream;
import org.apache.commons.compress.archivers.zip.ZipArchiveInputStream;
import org.springframework.web.multipart.MultipartFile;

import java.io.InputStream;
import java.util.ArrayList;
import java.util.List;
import java.util.Objects;

import static com.ard.route.util.ToolUtils.getDoublePoint;

public class UavRouteReqUtils {

    // 将文件转换成 UavRouteReq 实体
    public static UavRouteReq fileConversionEntity(MultipartFile file){
        KmzInfoVo kmzInfoVO = new KmzInfoVo();
        try (InputStream inputStream = file.getInputStream();
             ArchiveInputStream archiveInputStream = new ZipArchiveInputStream(inputStream)){
            ArchiveEntry entry;
            while (!Objects.isNull(entry = archiveInputStream.getNextEntry())) {
                String name = entry.getName();
                if (name.toLowerCase().endsWith(".kml")) {
                    kmzInfoVO.setKmlInfo(RouteFileUtils.parseKml(archiveInputStream));
                } else if (name.toLowerCase().endsWith(".wpml")) {
                    kmzInfoVO.setWpmlInfo(RouteFileUtils.parseKml(archiveInputStream));
                }
            }
            return kmzInfoVoToUavRouteReq(kmzInfoVO);
        }catch (Exception e) {
            e.printStackTrace();
        }
        return null;
    }

    public static UavRouteReq kmzInfoVoToUavRouteReq(KmzInfoVo vo) {
        UavRouteReq uavRouteReq = new UavRouteReq();
        if (vo.getKmlInfo().getDocument().getFolder().getTemplateType() != null){
            uavRouteReq.setTemplateType(vo.getKmlInfo().getDocument().getFolder().getTemplateType());
        }
        uavRouteReq.setDroneType(Integer.valueOf(vo.getKmlInfo().getDocument().getKmlMissionConfig().getDroneInfo().getDroneEnumValue()));
        uavRouteReq.setImageFormat(vo.getKmlInfo().getDocument().getFolder().getPayloadParam().getImageFormat());
        uavRouteReq.setGlobalHeight(Double.valueOf(vo.getKmlInfo().getDocument().getFolder().getGlobalHeight()));
        uavRouteReq.setAutoFlightSpeed(Double.valueOf(vo.getKmlInfo().getDocument().getFolder().getAutoFlightSpeed()));
        uavRouteReq.setTakeOffRefPoint(vo.getKmlInfo().getDocument().getKmlMissionConfig().getTakeOffRefPoint());
        uavRouteReq.setRoutePointList(routePointList(vo.getKmlInfo().getDocument().getFolder().getPlacemarkList()));
        return uavRouteReq;
    }

    public static List<RoutePointReq> routePointList(List<KmlPlacemark> placemarkList) {
        List<RoutePointReq> routePointList = new ArrayList<>();
        for (KmlPlacemark kmlPlacemark : placemarkList) {
            RoutePointReq routePointReq = new RoutePointReq();
            routePointReq.setRoutePointIndex(Integer.valueOf(kmlPlacemark.getIndex()));
            routePointReq.setLongitude(getDoublePoint(kmlPlacemark.getKmlPoint().getCoordinates(),"lon"));
            routePointReq.setLatitude(getDoublePoint(kmlPlacemark.getKmlPoint().getCoordinates(),"lat"));
            routePointReq.setHeight(Double.valueOf(kmlPlacemark.getHeight()));
            if (kmlPlacemark.getWaypointSpeed() != null) {
                routePointReq.setSpeed(Double.valueOf(kmlPlacemark.getWaypointSpeed()));
            }
            if (kmlPlacemark.getActionGroup() != null) {
                routePointReq.setActionGroupList(actionGroupList(kmlPlacemark.getActionGroup()));
            }
            routePointList.add(routePointReq);
        }
        return routePointList;
    }

    public static List<ActionGroupReq> actionGroupList(List<KmlActionGroup> actionGroup) {
        List<ActionGroupReq> actionGroupList = new ArrayList<>();
        for (KmlActionGroup kmlActionGroup : actionGroup) {
            ActionGroupReq actionGroupReq = new ActionGroupReq();
            List<PointActionReq> actions = new ArrayList<>();
            //for (KmlAction kmlAction : kmlActionGroup.getAction()) {
            for (int i=0 ; i < kmlActionGroup.getAction().size() ; i++) {
                PointActionReq pointActionReq = actions(kmlActionGroup.getAction().get(i),i);
                actions.add(pointActionReq);
            }
            actionGroupReq.setActions(actions);
            actionGroupList.add(actionGroupReq);
        }
        return actionGroupList;
    }

    public static PointActionReq actions(KmlAction kmlAction,Integer actionIndex){
        PointActionReq pointActionReq = new PointActionReq();
        pointActionReq.setActionIndex(actionIndex);
        if ("takePhoto".equals(kmlAction.getActionActuatorFunc())) {    // 照相
            pointActionReq.setTakePhotoType(0);
            pointActionReq.setFileSuffix(kmlAction.getActionActuatorFuncParam().getFileSuffix());
            pointActionReq.setImageFormat("");
            pointActionReq.setUseGlobalImageFormat(Integer.valueOf(kmlAction.getActionActuatorFuncParam().getUseGlobalPayloadLensIndex()));
        }
        if ("startRecord".equals(kmlAction.getActionActuatorFunc())) {      // 开始录像
            pointActionReq.setPanoShotSubMode(kmlAction.getActionActuatorFuncParam().getFileSuffix());
            pointActionReq.setStartRecord(true);
        }
        if ("stopRecord".equals(kmlAction.getActionActuatorFunc())) {       // 停止录像
            pointActionReq.setStopRecord(true);
        }
        if ("gimbalRotate".equals(kmlAction.getActionActuatorFunc())) {     // 云台偏航俯仰
            if ("1".equals(kmlAction.getActionActuatorFuncParam().getGimbalPitchRotateEnable())) {      // 云台俯仰角
                pointActionReq.setGimbalPitchRotateAngle(Double.valueOf(kmlAction.getActionActuatorFuncParam().getGimbalPitchRotateAngle()));
            }
            if ("1".equals(kmlAction.getActionActuatorFuncParam().getGimbalYawRotateEnable())){      // 云台偏航角
                pointActionReq.setGimbalYawRotateAngle(Double.valueOf(kmlAction.getActionActuatorFuncParam().getGimbalYawRotateAngle()));
            }
        }
        if ("zoom".equals(kmlAction.getActionActuatorFunc())) {     // 变焦
            pointActionReq.setZoom(Double.valueOf(kmlAction.getActionActuatorFuncParam().getFocalLength()));
        }
        if ("hover".equals(kmlAction.getActionActuatorFunc())) {    // 悬停
            pointActionReq.setHoverTime(Integer.valueOf(kmlAction.getActionActuatorFuncParam().getHoverTime()));
        }
        if ("rotateYaw".equals(kmlAction.getActionActuatorFunc())) {       // 飞行器偏航
            pointActionReq.setAircraftHeading(Double.valueOf(kmlAction.getActionActuatorFuncParam().getAircraftHeading()));
        }
        return pointActionReq;
    }

    /**
     * ArdRouteInfo实体转换，WayLineUploadDTO
     */
    public static WayLineUploadDTO buildWayLineUploadDTO(ArdRouteInfo ardRouteInfo){
        WayLineUploadDTO wayLineUploadDTO = new WayLineUploadDTO();
        String finishAction = ardRouteInfo.getUavRouteReq().getFinishAction(); //1
        Double autoFlightSpeed = ardRouteInfo.getUavRouteReq().getAutoFlightSpeed(); //15
        Double globalTransitionalSpeed = ardRouteInfo.getUavRouteReq().getGlobalTransitionalSpeed(); //8
        String exitOnRcLostAction = ardRouteInfo.getUavRouteReq().getExitOnRcLostAction();  //0

        PlanLineData planLineData = new PlanLineData();
        if (finishAction != null){
            planLineData.setLoseAction(0);
        }
        if (autoFlightSpeed != null){
            planLineData.setAutoSpeed(8);
        }
        planLineData.setMaxSpeed(15);
//        if (globalTransitionalSpeed != null){
//            planLineData.setMaxSpeed(15);
//        }
        if (exitOnRcLostAction != null){
            planLineData.setFinishedAction(1);
        }
        planLineData.setHomeHeight(50);
        planLineData.setInterests(new ArrayList<>());
        planLineData.setIsSaveEnergyMode(0);
        planLineData.setPoints(buildPointDataList(ardRouteInfo.getUavRouteReq()));

        wayLineUploadDTO.setWayLineData(planLineData);
        return wayLineUploadDTO;
    }

    public static List<PointData> buildPointDataList(UavRouteReq uavRouteReq){
        List<PointData> pointDataList = new ArrayList<>();
        for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
            PointData pointData = new PointData();

            Integer routePointIndex = routePointReq.getRoutePointIndex();
            if (routePointIndex != null){
                pointData.setGroupIndex(routePointIndex);
            }
            Double height = routePointReq.getHeight();
            if (height != null){
                pointData.setHeight(height.floatValue());
            }
            Double longitude = routePointReq.getLongitude();
            if (longitude != null){
                pointData.setLng(longitude.floatValue());
            }
            Double latitude = routePointReq.getLatitude();
            if (latitude != null){
                pointData.setLat(latitude.floatValue());
            }
            Double speed = routePointReq.getSpeed();
            if (speed != null){
                pointData.setSpeed(speed.floatValue());
            }
            pointData.setDampingDistance(0);
            pointData.setFlightPathMode(1);
            pointData.setHeading(0);
            pointData.setHeadingMode(0);
            pointData.setInterestIndex(-1);
            pointData.setSafeGohomeFlag(0);
            pointData.setActions(buildPointActionList(routePointReq.getActionGroupList()));
            pointDataList.add(pointData);

        }
        return pointDataList;
    }

    public static List<PointAction> buildPointActionList(List<ActionGroupReq> actionGroupList){
        List<PointAction> pointActionList = new ArrayList<>();
        for (ActionGroupReq actionGroupReq : actionGroupList) {
            for (PointActionReq action : actionGroupReq.getActions()) {
                PointAction pointAction = typeProcessing(action);
                pointActionList.add(pointAction);
            }
        }
        return pointActionList;
    }

    public static PointAction typeProcessing(PointActionReq pointActionReq){
        PointAction pointAction = new PointAction();

        if (pointActionReq.getZoom() != null){
            pointAction.setType(1);
            pointAction.setParam(pointActionReq.getZoom().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getTakePhotoType() != null){
            pointAction.setType(2);
            pointAction.setParam(1);
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getStartRecord() != null){
            pointAction.setType(3);
            pointAction.setParam(1);
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getStopRecord() != null){
            pointAction.setType(4);
            pointAction.setParam(1);
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getAircraftHeading() != null){
            pointAction.setType(5);
            pointAction.setParam(pointActionReq.getAircraftHeading().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getGimbalPitchRotateAngle() != null){
            pointAction.setType(6);
            pointAction.setParam(pointActionReq.getGimbalPitchRotateAngle().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getGimbalYawRotateAngle() != null){
            pointAction.setType(7);
            pointAction.setParam(pointActionReq.getGimbalYawRotateAngle().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getHoverTime() != null){
            pointAction.setType(9);
            pointAction.setParam(pointActionReq.getHoverTime().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        return pointAction;

    }

}