package com.ard.work.component.netty.handler;// MessageProtocolDecoder.java

import com.ard.common.utils.ByteUtils;
import com.ard.work.component.netty.command.camera.*;
import com.ard.work.component.netty.command.manual.*;
import com.ard.work.component.netty.command.wayline.*;
import com.ard.work.domain.dto.converter.realdata.UavSignalInfoConverter;
import com.ard.work.domain.dto.converter.realdata.UavStateConverter;
import com.ard.work.domain.dto.converter.realdata.UavTelemetryDataConverter;
import com.ard.work.domain.dto.signal.SignalInfo;
import com.ard.work.domain.dto.state.UavState;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.component.netty.command.BaseCmd;
import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd;
import com.ard.work.component.netty.command.notice.WayLineFinishedReplyCmd;
import com.ard.work.component.netty.command.notice.UavReadyReplyCmd;
import com.ard.work.component.netty.command.real.SignalInfoCmd;
import com.ard.work.component.netty.command.real.UavStateCmd;
import com.ard.work.component.netty.command.real.UavTelemetryDataCmd;
import com.ard.work.component.netty.command.register.HeartbeatReplyCmd;
import com.ard.work.component.netty.command.register.RegisterReplyCmd;
import com.ard.work.component.netty.command.settings.ReturnHeightSettingReplyCmd;
import com.ard.work.component.netty.command.settings.ReturnPointSettingReplyCmd;
import com.ard.work.component.netty.command.settings.VideoStreamSettingReplyCmd;
import com.ard.work.component.netty.protobuf.TelemetryDataPB;
import io.netty.buffer.ByteBuf;
import io.netty.channel.ChannelHandlerContext;
import io.netty.handler.codec.ByteToMessageDecoder;
import lombok.extern.slf4j.Slf4j;

import java.nio.charset.StandardCharsets;
import java.util.List;

@Slf4j
public class MessageProtocolDecoder extends ByteToMessageDecoder {
    @Override
    protected void decode(ChannelHandlerContext ctx, ByteBuf in, List<Object> out) throws Exception {
        // 检查可读字节数是否足够
        if (in.readableBytes() < 4) {
            return; // 不足以读取头部
        }

        in.markReaderIndex(); // 标记当前读取位置
        short dataHead = in.readShort();
        if (dataHead != 0x6A77) {
            return;
        }
        short dataLength = in.readShort();

        if (in.readableBytes() < dataLength) {
            in.resetReaderIndex(); // 如果不足，重置读取位置
            return;
        }
        byte cmdCode = in.readByte();
        BaseCmd baseCmd = null;
        byte actionCode;
        switch (cmdCode) {
            case 0x01:
                byte success = in.readByte(); // 读取是否成功
                log.warn("注册回复: {}", success == 0x01 ? "成功" : "失败");
                baseCmd = new RegisterReplyCmd(success);
                break;
            case 0x02:
                long timestamp = in.readLong(); // 读取时间戳
                baseCmd = new HeartbeatReplyCmd(timestamp);
                log.debug("心跳回复: 时间戳 {}", timestamp);
                break;
            case 0x09:
                in.readByte();//加密标志
                double longitude = in.readDouble();
                double latitude = in.readDouble();
                timestamp = in.readLong(); // 读取时间戳
                long picLength = in.readLong(); // 读取原图大小
                byte[] boxSn = new byte[15];
                in.readBytes(boxSn);// 读取boxSn
                byte[] pic = new byte[dataLength - 49];
                in.readBytes(pic);// 读取原图地址
                String picPath = new String(pic, StandardCharsets.UTF_8);
                baseCmd = new PicUploadCompletedReplyCmd(longitude, latitude, timestamp, picLength, boxSn, pic);
                log.warn("图片上传完成通知回复: 图片 {}", picPath);
                break;
            case 0x0A:
                byte status = in.readByte();
                baseCmd = new BoxPowerStatusReplyCmd(status);
                log.debug("云盒开机/关机通知回复: 状态 {}", ByteUtils.byteToHex(status));
                break;

            case (byte) 0xA8:
                byte[] uavStatus = new byte[dataLength - 1];
                in.readBytes(uavStatus);  // 读取 ProtoBuf 数据
                TelemetryDataPB.UavState uavStatePB = TelemetryDataPB.UavState.parseFrom(uavStatus);
                UavState uavState = UavStateConverter.convertProtoToEntity(uavStatePB);
                baseCmd = new UavStateCmd(uavState);
                log.debug("无人机状态数据： {}", uavState.getBoxSn());
                break;
            case (byte) 0xA9:
                byte[] telemetryDataBytes = new byte[dataLength - 1];
                in.readBytes(telemetryDataBytes);
                TelemetryDataPB.TelemetryData telemetryDataPB =
                        TelemetryDataPB.TelemetryData.parseFrom(telemetryDataBytes);
                TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(telemetryDataPB);
                baseCmd = new UavTelemetryDataCmd(telemetryData);
                log.debug("遥测数据： {}", telemetryData.getBoxSn());
                break;
            case (byte) 0x0C:
                int delayTime = in.readInt();
                byte[] signalInfoBytes = new byte[15];
                in.readBytes(signalInfoBytes);
                signalInfoBytes = new byte[dataLength - 20];
                in.readBytes(signalInfoBytes);
                TelemetryDataPB.SignalInfo signalInfoPB = TelemetryDataPB.SignalInfo.parseFrom(signalInfoBytes);
                SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoPB);
                baseCmd = new SignalInfoCmd(signalInfo);
                log.debug("信道质量数据： {}", delayTime);
                break;
            case (byte) 0xD1:
                in.readByte();//加密标志
                actionCode = in.readByte();//动作编号
                baseCmd = processD1ReplyCmd(in, actionCode);
                break;
            case (byte) 0xD2:
                in.readByte();//加密标志
                actionCode = in.readByte();//动作编号
                baseCmd = processD2ReplyCmd(in, actionCode);
                break;
            default:
                in.readByte();//加密标志
                actionCode = in.readByte();
                log.warn("无法识别的命令码: {},动作编号：{}",
                        ByteUtils.byteToHex(cmdCode),
                        ByteUtils.byteToHex(actionCode)
                );
        }
        if (baseCmd != null) {
            out.add(baseCmd);
        }
    }

    //处理D1指令回复
    private BaseCmd processD1ReplyCmd(ByteBuf in, byte actionCode) {
        byte result = in.readByte();
        int errorCode = in.readInt();
        byte[] uavData = new byte[15];
        in.readBytes(uavData);
        String boxSn = new String(uavData);
        switch (actionCode) {
            case 0x10:
                return new WayLineUploadReplyCmd(boxSn, result, errorCode);
            case 0x11:
                return new TakeOffReplyCmd(boxSn, result, errorCode);
            case 0x12:
                return new ReturnHomeReplyCmd(boxSn, result, errorCode);
            case 0x13:
                return new ReturnHomeCancelReplyCmd(boxSn, result, errorCode);
            case 0x14:
                return new LandReplyCmd(boxSn, result, errorCode);
            case 0x15:
                return new LandCancelReplyCmd(boxSn, result, errorCode);
            case 0x17:
                return new WayLineBeginReplyCmd(boxSn, result, errorCode);
            case 0x18:
                return new WayLinePauseReplyCmd(boxSn, result, errorCode);
            case 0x19:
                return new WayLineResumeReplyCmd(boxSn, result, errorCode);
            case 0x20:
                return new WayLineEndReplyCmd(boxSn, result, errorCode);
            case 0x21:
                return new ReturnHeightSettingReplyCmd(boxSn, result, errorCode);
            case 0x29:
                return new LandForcedReplyCmd(boxSn, result, errorCode);
            case 0x31:
                return new ReturnPointSettingReplyCmd(boxSn, result, errorCode);
            case 0x32:
                return new EmergencyBrakeReplyCmd(boxSn, result, errorCode);
            case 0x39:
                return new PointControlReachedReplyCmd(boxSn, result, errorCode);
            case 0x3B:
                return new FlyRoundReplyCmd(boxSn, result, errorCode);
            case 0x22:
                return new CameraModeReplyCmd(boxSn, result, errorCode);
            case 0x23:
                return new CapturePicReplyCmd(boxSn, result, errorCode);
            case 0x24:
                return new RecordStartReplyCmd(boxSn, result, errorCode);
            case 0x25:
                return new RecordStopReplyCmd(boxSn, result, errorCode);
            case 0x2E:
                return new WayLineFinishedReplyCmd(boxSn, result, errorCode);
            // Special cases
            case 0x3D:
            case 0x40:
                return new FormatSdCardReplyCmd(boxSn, result, errorCode);
            case 0x42:
                return processSpecialD1ReplyCmd(in, actionCode, boxSn);
            // Add other cases...
            default:
                log.warn("无法识别D1的动作编号：{}", ByteUtils.byteToHex(actionCode));
        }
        return null;
    }

    //处理D2指令回复
    private BaseCmd processD2ReplyCmd(ByteBuf in, byte actionCode) {
        byte result = in.readByte();
        int errorCode = in.readInt();
        byte[] uavData = new byte[15];
        in.readBytes(uavData);
        String boxSn = new String(uavData);
        switch (actionCode) {
            case 0x05:
                return new VideoStreamSettingReplyCmd(boxSn, result, errorCode);
            // Add other cases...
            default:
                log.warn("无法识别D2的动作编号：{}", ByteUtils.byteToHex(actionCode));
        }
        return null;
    }

    //处理特殊D1指令回复
    private BaseCmd processSpecialD1ReplyCmd(ByteBuf in, byte actionCode, String boxSn) {
        switch (actionCode) {
            //无人机准备完成通知回复
            case 0x3D:
                byte batteryPower = in.readByte();
                double longitude = in.readDouble();
                double latitude = in.readDouble();
                int altitude = in.readInt();
                return new UavReadyReplyCmd(boxSn, batteryPower, longitude, latitude, altitude);
            //无人机初始化信息回复
            case 0x42:
//                byte[] uavData1 = new byte[in.readableBytes() - 15];
//                in.readBytes(uavData1);
//                TelemetryDataPB.UavInitInfo uavInitInfo;
//                try {
//                    uavInitInfo = TelemetryDataPB.UavInitInfo.parseFrom(uavData1);
//                } catch (InvalidProtocolBufferException e) {
//                    throw new RuntimeException(e);
//                }
//                return new UavInitReplyCmd(boxSn, uavInitInfo);
            default:
                return null;
        }
    }

}