package com.ard.route.service.impl;

import java.io.IOException;
import java.util.List;

import com.ard.common.exception.ControlException;
import com.ard.common.utils.DateUtils;
import com.ard.common.utils.SecurityUtils;
import com.ard.common.utils.file.FileUtils;
import com.ard.common.utils.uuid.IdUtils;
import com.ard.data.noflyzone.domain.ArdNoFlyZone;
import com.ard.data.noflyzone.domain.Vertex;
import com.ard.data.noflyzone.service.IArdNoFlyZoneService;
import com.ard.data.noflyzone.utils.NoFlyZoneUtils;
import com.ard.framework.web.service.TokenService;
import com.ard.oss.model.MinioUploadResult;
import com.ard.oss.service.impl.OssServiceContext;
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.dto.ArdNoflyDto;
import com.ard.route.domain.route.ArdRouteInfo;
import com.ard.route.domain.route.ArdRouteMission;
import com.ard.route.domain.vo.KmzResultVo;
import com.ard.route.mapper.ArdRouteInfoMapper;
import com.ard.route.mapper.ArdRouteMissionMapper;
import com.ard.route.service.IArdRouteInfoService;
import com.ard.route.service.UavRouteService;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.cache.UavWaylineCache;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.domain.dto.wayline.*;
import com.ard.work.service.ITyService;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.web.multipart.MultipartFile;
import javax.annotation.Resource;

import static com.ard.common.utils.SecurityUtils.getUserId;
import static com.ard.route.enums.kml.DroneEnumValueEnums.M350_RTK;
import static com.ard.route.util.InitializationUtils.divided_23;
import static com.ard.route.util.ToolUtils.*;
import static com.ard.route.util.UavRouteReqUtils.buildWayLineUploadDTO;
import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity;

/**
 * 航线(kmz)Service业务层处理
 * 
 * @author xia
 * @date 2025-10-23
 */
@Service
public class ArdRouteInfoServiceImpl implements IArdRouteInfoService {

    private static final Logger log = LoggerFactory.getLogger(TokenService.class);

    @Autowired
    private ArdRouteInfoMapper ardRouteInfoMapper;

    @Autowired
    private OssServiceContext ossService;

    @Autowired
    private UavRouteService routeService;

    @Autowired
    private ArdRouteMissionMapper ardRouteMissionMapper;

    @Resource
    private IArdNoFlyZoneService ardNoFlyZoneService;

    @Resource
    private ITyService tyService;

    /**
     * 查询航线(kmz)
     * 
     * @param id 航线(kmz)主键
     * @return 航线(kmz)
     */
    @Override
    public ArdRouteInfo selectArdRouteInfoById(String id) {
        ArdRouteInfo ardRouteInfo = ardRouteInfoMapper.selectArdRouteInfoById(id);
        try {
            if (ardRouteInfo != null) {
                if (ardRouteInfo.getRouteData() != null){
                    ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
                }
            }
        } catch (IOException | ClassNotFoundException e) {
            throw new RuntimeException(e);
        }

        // 如果参考起飞点不为空，将每个航点高度进行加工。
        if (ardRouteInfo.getUavRouteReq().getTakeOffRefPoint() != null){
            double altitudeOffset = getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(), "alt");
            for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
                adjustRoutePointHeight(routePointReq, altitudeOffset);
            }
        }else {
            // 如果没有设置参考起飞点，将第一个航点设置为参考起飞点。
            ardRouteInfo.getUavRouteReq().setTakeOffRefPoint(
                    ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLatitude().toString() +"," +
                    ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLongitude().toString()+","+
                    ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getHeight().toString());
        }

        return ardRouteInfo;
    }

    // 调整每个航点高度
    private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
        routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
    }

    /**
     * 查询航线(kmz)列表
     * 
     * @param ardRouteInfo 航线(kmz)
     * @return 航线(kmz)
     */
    @Override
    public List<ArdRouteInfo> selectArdRouteInfoList(ArdRouteInfo ardRouteInfo) {
        if ("1".equals(ardRouteInfo.getOrderByTime())) {
            ardRouteInfo.setOrderByTime("DESC");
        }else if ("0".equals(ardRouteInfo.getOrderByTime())) {
            ardRouteInfo.setOrderByTime("ASC");
        }
        return ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo);
    }

    /**
     * 新增航线(kmz)
     * 
     * @param ardRouteInfo 航线(kmz)
     * @return 结果
     */
    @Override
    public String insertArdRouteInfo(ArdRouteInfo ardRouteInfo) {
        validateForCreate(ardRouteInfo);
        checkRouteMissionStatus(ardRouteInfo,"1");
        checkRouteMissionStatus(ardRouteInfo,"2");
        ardRouteInfo.setId(IdUtils.simpleUUID());
        ardRouteInfo.setCreateTime(DateUtils.getNowDate());
        ardRouteInfo.setUpdateTime(DateUtils.getNowDate()); // 修改时间，用于排序
        if (ardRouteInfo.getGroupId() == null){
            ardRouteInfo.setGroupId("0");
        }
        ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
        KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(),ardRouteInfo.getName());
        zoomProcessing(ardRouteInfo);
        ardRouteInfo.setPath(kmzResult.getPath());
        ardRouteInfo.setReadOnly("0");
        ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
        return kmzResult.getPath();
    }

    /**
     * 航线任务数据加工校验
     * 1.新建航线时，判断航线任务是否已完成
     * 2.新建航线时，对航线任务数据进行加工
     * 3.执行航线的时,修改航线任务表执行状态
     */
    private void checkRouteMissionStatus(ArdRouteInfo ardRouteInfo,String type){
        ArdRouteMission mission = ardRouteMissionMapper.selectArdRouteMissionById(ardRouteInfo.getMissionId());
        if (mission != null){
            switch(type){
                case "1":
                    validateForCreate(mission);
                    break;
                case "2":
                    bindRoute(mission,ardRouteInfo);
                    break;
                case "3":
                    executeMission(mission,ardRouteInfo);
                    break;
                default:
                    throw new RuntimeException("不支持的操作类型!!!");
            }
        }
    }

    // 验证,只有当前用户是下发人才能创建航线
    private void validateForCreate(ArdRouteInfo ardRouteInfo) {
        ArdRouteMission mission = ardRouteMissionMapper.selectArdRouteMissionById(ardRouteInfo.getMissionId());
        if (mission != null){
            if (!mission.getIssuerId().equals(getUserId())){
                throw new RuntimeException("创建航线，只能创建下发自己的航线任务信息【" + mission.getMissionName() + "】，无法执行操作！");
                //return "创建航线，只能创建下发自己的航线任务信息【" + mission.getMissionName() + "】，无法执行操作！";
            }
        }
    }

    private void validateForCreate(ArdRouteMission mission) {
        if ("1".equals(mission.getExecuteStatus())){
            throw new RuntimeException("航线任务已完成，无法创建航线！！！");
        }
    }

    private void bindRoute(ArdRouteMission mission, ArdRouteInfo routeInfo) {
        if (mission.getRouteId() != null) {
            throw new RuntimeException("航线任务下已绑定航线，不可创建新航线信息！！！");
        }
        mission.setRouteId(routeInfo.getId());
        ardRouteMissionMapper.updateArdRouteMission(mission);
    }

    private void executeMission(ArdRouteMission mission,ArdRouteInfo ardRouteInfo) {
        if ("0".equals(mission.getExecuteStatus())) {
            mission.setRouteId(ardRouteInfo.getId());
            mission.setExecuteStatus("1");
            mission.setExecuteName(SecurityUtils.getUsername());
            mission.setExecuteTime(DateUtils.getNowDate());
            mission.setUpdateTime(DateUtils.getNowDate());
            ardRouteMissionMapper.updateArdRouteMission(mission);
        }
    }

    /**
     * 修改航线(kmz)
     * 
     * @param ardRouteInfo 航线(kmz)
     * @return 结果
     */
    @Override
    public int updateArdRouteInfo(ArdRouteInfo ardRouteInfo) {
        ardRouteInfo.setUpdateTime(DateUtils.getNowDate());
        // 判断生成kmz文件实体类是否为空，为空就修改航信信息，不修改行点信息。
        if (ardRouteInfo.getUavRouteReq() != null) {
            KmzResultVo kmzResult;
            // 获取源文件名字
            ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(ardRouteInfo.getId());
            // 先删除航线
            delOssService(route);
            // 再生成航线
            ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
            zoomProcessing(ardRouteInfo);
            kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
            if ("更新航线kmz文件失败".equals(kmzResult.getData())) {
                return 0;
            }
            ardRouteInfo.setPath(kmzResult.getPath());
        }
        return ardRouteInfoMapper.updateArdRouteInfo(dataProcessing(ardRouteInfo));
    }

    // 变倍加工方法
    private void zoomProcessing(ArdRouteInfo ardRouteInfo) {
        if (M350_RTK.getValue().equals(ardRouteInfo.getUavRouteReq().getDroneType())) {
            // 变焦数值加工
            for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
                for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
                    for (PointActionReq action : actionGroupReq.getActions()) {
                        if (action.getZoom() != null){
                            action.setZoom(divided_23(action.getZoom()));
                        }
                    }
                }
            }
        }
    }

    // 新增信息加工
    private ArdRouteInfo dataProcessing(ArdRouteInfo ardRouteInfo) {
        // 航线数据
        byte[] routeData = null;
        try {
            if (ardRouteInfo.getUavRouteReq() != null){
                routeData = serialize(ardRouteInfo.getUavRouteReq());
            }
        } catch (IOException e) {
            throw new RuntimeException(e);
        }
        ardRouteInfo.setRouteData(routeData);
        ardRouteInfo.setPointCount(getPointCount(ardRouteInfo));
        return ardRouteInfo;
    }

    // 获取行点总数
    private Integer getPointCount(ArdRouteInfo ardRouteInfo) {
        if (ardRouteInfo.getUavRouteReq() != null){
            if (ardRouteInfo.getUavRouteReq().getRoutePointList() != null) {
                return ardRouteInfo.getUavRouteReq().getRoutePointList().size();
            }
        }
        return 0;
    }

    /**
     * 批量删除航线(kmz)
     * 
     * @param ids 需要删除的航线(kmz)主键
     * @return 结果
     */
    @Override
    public int deleteArdRouteInfoByIds(String[] ids) {
        // 删除航线(kmz)文件
        for (String id : ids) {
            ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
            delOssService(information);
        }
        return ardRouteInfoMapper.deleteArdRouteInfoByIds(ids);
    }

    // 删除minio文件
    private void delOssService(ArdRouteInfo information){
        if (information.getPath() != null){
            ossService.deleteObject("kmz", subStringMinioUrlName(information.getPath()));
        }
    }

    /**
     * 删除航线(kmz)信息
     * 
     * @param id 航线(kmz)主键
     * @return 结果
     */
    @Override
    public int deleteArdRouteInfoById(String id) {
        // 删除航线(kmz)文件
        ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
        delOssService(information);
        return ardRouteInfoMapper.deleteArdRouteInfoById(id);
    }

    /**
     * 导入航线(kmz)文件
     *
     * @param file 文件
     * @return 结果
     */
    @Override
    public MinioUploadResult uploadArdRouteInfo(MultipartFile file) {
        try {
            // 增加航线实体类信息
            UavRouteReq uavRouteReq = fileConversionEntity(file);
            ArdRouteInfo ardRouteInfo = new ArdRouteInfo();
            if (uavRouteReq != null){
                ardRouteInfo.setUavRouteReq(uavRouteReq);
                ardRouteInfo.setType(templateTypeData(uavRouteReq));
                ardRouteInfo.setAircraft(droneTypeData(uavRouteReq));
            }
            String url = ossService.upload("kmz",file);
            ardRouteInfo.setName(file.getOriginalFilename());
            ardRouteInfo.setPath(url);
            ardRouteInfo.setGroupId("0");     // 默认分组
            ardRouteInfo.setReadOnly("1");   // 默认只读
            insertRouteInfomation(ardRouteInfo);
            return MinioUploadResult.builder()
                    .url(url)
                    .newFileName(FileUtils.getName(url))
                    .originalFilename(file.getOriginalFilename())
                    .build();
        }catch (Exception e){
            log.error("上传航线文件失败", e);
            return null;
        }
    }

    /**
     * 判断一组数组，是否包含禁飞区
     */
    private void arrayWithinNoFlyZone(List<RoutePointReq> routePointList) {
        if (routePointList == null || routePointList.isEmpty()) {
            return;
        }
        // 检查第一个航点
        ArdNoflyDto firstDto = new ArdNoflyDto();
        firstDto.setTarget(new Vertex(
                routePointList.get(0).getLongitude(),
                routePointList.get(0).getLatitude()));
        verifyNoFlyZone(firstDto);

        // 检查后续航点及与前一个航点的线段
        for (int i = 1; i < routePointList.size(); i++) {
            ArdNoflyDto dto = new ArdNoflyDto();
            dto.setCurrent(new Vertex(
                    routePointList.get(i - 1).getLongitude(),
                    routePointList.get(i - 1).getLatitude()));
            dto.setTarget(new Vertex(
                    routePointList.get(i).getLongitude(),
                    routePointList.get(i).getLatitude()));
            verifyNoFlyZone(dto);
        }
    }

    /**
     * 根据名称查询航线信息
     *
     * @param name 文件名称
     * @return 结果
     */
    @Override
    public ArdRouteInfo selectArdRouteInfoByName(String name) {
        return ardRouteInfoMapper.selectArdRouteInfoByName(name);
    }

    /**
     * 修改航线分组ID
     *
     * @param id ID
     * @param groupId 分组ID
     * @return 结果
     */
    @Override
    public int updateRouteInfomationGroupId(String id, String groupId) {
        return ardRouteInfoMapper.updateRouteInforGroupId(id, groupId);
    }

    /**
     * 判断行点是否在禁飞区
     * @return 结果
     */
    @Override
    public Boolean selectRouteInfomationNoFly(ArdNoflyDto ardNoflyDto) {
        return verifyNoFlyZone(ardNoflyDto);
    }

    /**
     * 上传航线到边缘服务器
     * ardNoflyDto
     * @return 结果
     */
    @Override
    public Boolean uploadRouteToSixHe(String id,String boxSn) {
        // 1.获取航线信息
        // 1.1通过航线数据，转换。
        ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
        try {
            route.setUavRouteReq((UavRouteReq) deserialize(route.getRouteData()));
        } catch (IOException | ClassNotFoundException e) {
            throw new RuntimeException(e);
        }

        // 获取第一个点
        double firstPointLng = route.getUavRouteReq().getRoutePointList().get(0).getLongitude();
        double firstPointLat = route.getUavRouteReq().getRoutePointList().get(0).getLatitude();

        // 获取最后一个点
        double lastPointLng = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLongitude();
        double lastPointLat = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLatitude();

        // 无人机遥测数据,用于校验真实起飞点和第一个点是否在禁飞区
        TelemetryData telemetryData = UavTelemetryDataCache.get(boxSn);
        double telemetryDataLng = 0;
        double telemetryDataLat = 0;
        if (telemetryData != null){
            telemetryDataLng = telemetryData.getLng();
            telemetryDataLat = telemetryData.getLat();
        }

        ArdNoflyDto dto1 = new ArdNoflyDto();
        dto1.setCurrent(new Vertex(telemetryDataLng,telemetryDataLat));
        dto1.setTarget(new Vertex(firstPointLng,firstPointLat));
        verifyNoFlyZone(dto1);

        ArdNoflyDto dto2 = new ArdNoflyDto();
        dto2.setCurrent(new Vertex(lastPointLng,lastPointLat));
        dto2.setTarget(new Vertex(telemetryDataLng,telemetryDataLat));
        verifyNoFlyZone(dto2);

        // 判断禁飞区
        arrayWithinNoFlyZone(route.getUavRouteReq().getRoutePointList());
        // 1.2通过minio获取航线信息
        // 2.将航线信息转换成对应实体类
        WayLineUploadDTO wayLineUploadDTO = buildWayLineUploadDTO(route);
        wayLineUploadDTO.setBoxSn(boxSn);
        // 3.缓存航线信息
        WaylineInfo WaylineInfo = new WaylineInfo();
        WaylineInfo.setBoxSn(boxSn);
        WaylineInfo.setWaylineId(route.getId());
        UavWaylineCache.put(WaylineInfo);
        // 4.调用接口
        tyService.wayLineUpload(wayLineUploadDTO);
        return true;
    }

    /**
     * 开始航线
     *
     * @param boxSn 云盒SN编号
     * @return 结果
     */
    @Override
    public Boolean routeBegins(String id,String boxSn) {
        ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
        if (null != route){
            // 判断是否循环航线
            if ("0".equals(route.getIsLoop())){
                deleteArdRouteInfoById(id);
            }
            checkRouteMissionStatus(route,"3");
        }
        WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
        tyService.wayLineBegin(wayLineBeginDTO);
        return true;
    }

    /**
     * 暂停航线
     *
     * @param boxSn 云盒SN编号
     * @return 结果
     */
    @Override
    public Boolean routeSuspension(String boxSn) {
        WayLinePauseDTO wayLinePauseDTO = new WayLinePauseDTO(boxSn);
        tyService.wayLinePause(wayLinePauseDTO);
        return true;
    }

    /**
     * 恢复航线
     *
     * @param boxSn 云盒SN编号
     * @return 结果
     */
    @Override
    public Boolean routeResumption(String boxSn) {
        WayLineResumeDTO wayLineResumeDTO = new WayLineResumeDTO(boxSn);
        tyService.wayLineResume(wayLineResumeDTO);
        return true;
    }

    /**
     * 结束航线
     *
     * @param boxSn 云盒SN编号
     * @return 结果
     */
    @Override
    public Boolean routeEnd(String boxSn) {
        WayLineEndDTO wayLineEndDTO = new WayLineEndDTO(boxSn);
        tyService.wayLineEnd(wayLineEndDTO);
        return true;
    }

    /**
     * 数据新增航线信息
     */
    private void insertRouteInfomation(ArdRouteInfo ardRouteInfo){
        ardRouteInfo.setId(IdUtils.simpleUUID());
        ardRouteInfo.setCreateTime(DateUtils.getNowDate());
        ardRouteInfo.setUpdateTime(DateUtils.getNowDate());
        ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
    }

    /**
     * 判断行点是否在禁飞区
     * 原点 current 第一个节点
     * 目标点 target 第二个节点
     */
    private Boolean verifyNoFlyZone(ArdNoflyDto ardNoflyDto){
        // ③ 查询禁飞区
        List<ArdNoFlyZone> zones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
        if (zones.isEmpty()) {
            return  true;
        }
        for (ArdNoFlyZone zone : zones) {
            List<Vertex> polygon = zone.getVertices();
            if (polygon == null || polygon.size() < 3) continue;

            // 检查目标点是否在禁飞区
            if (NoFlyZoneUtils.isPointInPolygon(ardNoflyDto.getTarget(), polygon)) {
                throw new ControlException("目标点在禁飞区【" + zone.getName() + "】内，无法执行操作！");
            }

            // 检查路径是否穿越禁飞区
            if (ardNoflyDto.getCurrent() != null && NoFlyZoneUtils.isLineIntersectPolygon(ardNoflyDto.getCurrent(), ardNoflyDto.getTarget(), polygon)) {
                throw new ControlException("路径穿越禁飞区【" + zone.getName() + "】，无法执行操作！");
            }
        }
        return true;
    }

}