package com.ard.work.component.websocket.handler;

import com.ard.data.noflyzone.domain.ArdNoFlyBox;
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.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.dto.NoFlyDistanceDTO;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import org.springframework.stereotype.Component;
import javax.annotation.Resource;
import java.util.List;

/**
 * 禁飞区距离管理器
 * @author liuyaping
 * @date 2021/3/22
 */
@Component
public class NoFlyDistanceManager extends BaseSubscriptionManager<NoFlyDistanceDTO> {

    @Resource
    private IArdNoFlyZoneService ardNoFlyZoneService;

    @Override
    protected NoFlyDistanceDTO getData(String boxSn) {
        TelemetryData telemetryData = UavTelemetryDataCache.get(boxSn);
        if (telemetryData == null) return null;

        Vertex current = new Vertex(telemetryData.getLng(), telemetryData.getLat());

        List<ArdNoFlyZone> zones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
        if (zones.isEmpty()) return null;

        double minDistance = Double.MAX_VALUE;
        ArdNoFlyZone nearestZone = null;

        for (ArdNoFlyZone zone : zones) {

            ArdNoFlyBox box = zone.getArdNoFlyBox();
            if (box == null) continue;

            // 包围盒快速排除
            if (current.x < box.getMinx() || current.x > box.getMaxx() ||
                    current.y < box.getMiny() || current.y > box.getMaxy()) {
                continue;
            }

            List<Vertex> polygon = zone.getVertices();
            if (polygon == null || polygon.size() < 3) continue;

            double distance = NoFlyZoneUtils.pointToPolygonDistance(current, polygon);

            if (distance < minDistance) {
                minDistance = distance;
                nearestZone = zone;
            }
        }

        if (nearestZone == null) return null;

        return NoFlyDistanceDTO.builder()
                .boxSn(boxSn)
                .zoneName(nearestZone.getName())
                .distance(minDistance)
                .inNoFlyZone(minDistance == 0)
                .build();
    }


    @Override
    protected String getMessageType() {
        return "noFlyZoneDistance";
    }
}