package com.ard.utils.netty.tcp;

import com.alibaba.fastjson2.JSON;
import com.ard.alarm.radar.domain.ArdAlarmRadar;
import com.ard.alarm.radar.domain.ArdEquipRadar;
import com.ard.alarm.radar.domain.RadarAlarmData;
import com.ard.utils.util.ByteUtils;
import com.ard.utils.util.GisUtils;
import com.ard.utils.mqtt.MqttProducer;
import io.netty.buffer.ByteBuf;
import io.netty.channel.ChannelHandlerContext;
import io.netty.channel.ChannelId;
import io.netty.channel.SimpleChannelInboundHandler;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.StringUtils;

import javax.xml.bind.DatatypeConverter;
import java.net.InetSocketAddress;
import java.text.SimpleDateFormat;
import java.util.*;
import java.util.concurrent.ScheduledFuture;
import java.util.concurrent.TimeUnit;

import static com.ard.utils.util.ByteUtils.toLittleEndian;

/**
 * @Description: 客户端处理器
 * @ClassName: ClientHandler
 * @Author: 刘苏义
 * @Date: 2023年07月05日13:13
 * @Version: 1.0
 **/

@Slf4j(topic = "netty")
public class ClientHandler extends SimpleChannelInboundHandler<ByteBuf> {
    private ChannelHandlerContext context;
    private ScheduledFuture<?> heartbeatTask;

    /**
     * 连接建立
     *
     * @param ctx
     * @throws Exception
     */
    @Override
    public void channelActive(ChannelHandlerContext ctx) {
        context = ctx;
        startHeartbeatTask();//开始发送心跳
    }

    /**
     * 连接断开
     *
     * @param ctx
     * @throws Exception
     */
    @Override
    public void channelInactive(ChannelHandlerContext ctx) throws Exception {
        InetSocketAddress ipSocket = (InetSocketAddress) ctx.channel().remoteAddress();
        String ipPort = ipSocket.getHostString() + ":" + ipSocket.getPort();
        log.error("与设备" + ipPort + "连接断开!");
        // 连接断开后的最后处理
        ctx.pipeline().remove(this);
        ctx.deregister();
        ctx.close();
        // 将失败信息插入Set集合
        ArdEquipRadar radar = ClientInitialize.trueConnectMap.get(ipPort);
        if (radar != null) {
            ClientInitialize.falseConnectSet.add(radar);
            ClientInitialize.trueConnectMap.remove(ipPort);
        }
        super.channelInactive(ctx);
    }

    /**
     * 通道数据读取
     * 业务操作
     *
     * @param ctx
     * @param msg
     * @throws Exception
     */
    @Override
    public void channelRead0(ChannelHandlerContext ctx, ByteBuf msg) {
        InetSocketAddress ipSocket = (InetSocketAddress) ctx.channel().remoteAddress();
        String ipPort = ipSocket.getHostString() + ":" + ipSocket.getPort();
        ArdEquipRadar radar = ClientInitialize.trueConnectMap.get(ipPort);
        if (radar == null) {
            return;
        }
        MessageHandler messageHandler = ClientInitialize.SucMessageHandlerMap.get(ipPort);
        if (messageHandler == null) {
            return;
        }
        // 处理接收到的消息
        byte[] byteArray = new byte[msg.readableBytes()];
        msg.getBytes(msg.readerIndex(), byteArray);
        byte[] bytes = messageHandler.receiveCompletePacket(byteArray);
        if (bytes != null) {
            processData(radar, bytes);
        }
    }


    /**
     * 通道数据处理完成
     *
     * @param ctx
     * @throws Exception
     */
    @Override
    public void channelReadComplete(ChannelHandlerContext ctx) throws Exception {
        super.channelReadComplete(ctx);
    }

    /**
     * 事件触发
     *
     * @param ctx
     * @param evt
     * @throws Exception
     */
    @Override
    public void userEventTriggered(ChannelHandlerContext ctx, Object evt) throws Exception {
        super.userEventTriggered(ctx, evt);
    }

    /**
     * 异常触发
     *
     * @param ctx
     * @param cause
     * @throws Exception
     */
    @Override
    public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause) throws Exception {
        // 发生异常时的处理
        cause.printStackTrace();
        ctx.close();
        stopHeartbeatTask();//停止心跳发送
    }

    /**
     * 开始心跳任务
     */
    private void startHeartbeatTask() {
        heartbeatTask = context.executor().scheduleAtFixedRate(() -> {
            // 发送心跳消息
            ByteBuf message = context.alloc().buffer();
            byte[] header = {0x01, 0x02, 0x01};
            byte[] payload = {0x10, 0x00, 0x00, 0x00};
            byte[] payloadCrc32 = ByteUtils.parseCrc32(payload);
            byte[] footer = {0x01, 0x02, 0x00};
            byte[] heart = ByteUtils.appendArrays(header, payload, payloadCrc32, footer);
            //byte[] heart = {0x01, 0x02, 0x01, 0x10, 0x00, 0x00, 0x00, (byte) 0x83, (byte) 0x88, 0x5d, 0x71, 0x01, 0x02, 0x00};
            String hexString = DatatypeConverter.printHexBinary(heart);
            // log.debug("发送心跳:" + hexString);
            message.writeBytes(heart);
            context.writeAndFlush(message);

        }, 0, 5, TimeUnit.SECONDS);
    }

    /**
     * 停止心跳任务
     */
    private void stopHeartbeatTask() {
        if (heartbeatTask != null) {
            heartbeatTask.cancel(false);
            heartbeatTask = null;
        }
    }

    /**
     * 解析报警数据
     */
    public void processData(ArdEquipRadar radar, byte[] data) {
        try {
            String radarId = radar.getId();
            String radarName = radar.getName();
            Double radarLongitude = radar.getLongitude();
            Double radarLagitude = radar.getLatitude();
            Double radarAltitude = radar.getAltitude();
            //region crc校验-目前仅用于显示校验结果
            Boolean crc32Check = MessageHandler.CRC32Check(data);
            if (!crc32Check) {
                log.debug("CRC32校验不通过");
            } else {
                //log.debug("CRC32校验通过");
            }
            //endregion
            //log.info("原始数据:" + DatatypeConverter.printHexBinary(data));
            //log.info("雷达信息：" + host + "【port】" + port + "【X】" + longitude + "【Y】" + lagitude + "【Z】" + altitude);
            data = MessageHandler.transferData(data);//去掉包头和包尾、校验及转义
            //region 负载头解析
            byte[] type = Arrays.copyOfRange(data, 0, 1);//命令类型
            //  log.info("命令类型:" + DatatypeConverter.printHexBinary(type));
            byte[] cmdId = Arrays.copyOfRange(data, 1, 2);//命令ID
            String cmdIdStr = DatatypeConverter.printHexBinary(cmdId);
            //log.info("命令ID:" + DatatypeConverter.printHexBinary(cmdId));
            byte[] payloadSize = Arrays.copyOfRange(data, 2, 4);//有效负载大小
            payloadSize = toLittleEndian(payloadSize);
            //log.info("payloadSize:" + DatatypeConverter.printHexBinary(payloadSize));
            int payloadSizeToDecimal = ByteUtils.bytesToDecimal(payloadSize);
            // log.info("有效负载大小(转整型):" + payloadSizeToDecimal);
            //endregion
            List<ArdAlarmRadar> radarAlarmInfos = new ArrayList<>();
            List<ArdAlarmRadar> radarFollowInfos = new ArrayList<>();
            //抽油机状态雷达推送集合
            List<ArdAlarmRadar> well = new ArrayList<>();
            String alarmTime = "";
            Integer targetNum = 0;
            log.debug("处理雷达" + radarName + "数据-->命令ID:" + cmdIdStr);
            //雷达移动防火报警
            if (Arrays.equals(cmdId, new byte[]{0x01})) {
                //region 告警信息反馈
                byte[] dwTim = Arrays.copyOfRange(data, 4, 8);
                dwTim = toLittleEndian(dwTim);
                SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
                long l = ByteUtils.bytesToDecimal(dwTim);
                alarmTime = sdf.format(l * 1000);
                // log.info("周视图像的出现时间(转date):" + alarmTime);

                byte[] wTargetNum = Arrays.copyOfRange(data, 8, 10);
                wTargetNum = toLittleEndian(wTargetNum);
                targetNum = ByteUtils.bytesToDecimal(wTargetNum);
                if (targetNum == 0) {
                    return;
                }
                //log.debug("目标总点数(转整型):" + targetNum);

                //解析NET_TARGET_UNIT(64是NET_TARGET_HEAD的字节数)
                int uintSize = (payloadSizeToDecimal - 64) / targetNum;
                // log.info("单条报警大小:" + uintSize);

                for (int i = 0; i < targetNum; i++) {

                    Integer index = 68 + uintSize * i;
                    byte[] dwID = Arrays.copyOfRange(data, index, index + 4);
                    // log.info("目标ID:" + DatatypeConverter.printHexBinary(cmdId));
                    dwID = toLittleEndian(dwID);
                    int targetId = ByteUtils.bytesToDecimal(dwID);
                    // log.info("目标ID号：" + targetId);

                    byte[] iDistance = Arrays.copyOfRange(data, index + 8, index + 12);
                    iDistance = toLittleEndian(iDistance);
                    double Distance = ByteUtils.bytesToDecimal(iDistance);
                    //log.debug("目标当前直线距离(m):" + Distance);

                    //region 不需要的字段
//                    byte[] dwGSum = Arrays.copyOfRange(data, index + 4, index + 8);
//                    dwGSum = toLittleEndian(dwGSum);
//                    int GSum = byteArrayToDecimal(dwGSum);
//                    log.info("目标当前像素灰度和：" + GSum);
//                    byte[] iTw = Arrays.copyOfRange(data, index + 12, index + 16);
//                    iTw = toLittleEndian(iTw);
//                    int Tw = byteArrayToDecimal(iTw);
//                    log.info("目标当前的像素宽度:" + Tw);
//
//                    byte[] iTh = Arrays.copyOfRange(data, index + 16, index + 20);
//                    iTh = toLittleEndian(iTh);
//                    int Th = byteArrayToDecimal(iTh);
//                    log.info("目标当前的像素高度:" + Th);
//
//                    byte[] wPxlArea = Arrays.copyOfRange(data, index + 20, index + 22);
//                    wPxlArea = toLittleEndian(wPxlArea);
//                    int PxlArea = byteArrayToDecimal(wPxlArea);
//                    log.info("目标当前像素面积:" + PxlArea);
//
//                    byte[] cTrkNum = Arrays.copyOfRange(data, index + 22, index + 23);
//                    cTrkNum = toLittleEndian(cTrkNum);
//                    int TrkNum = byteArrayToDecimal(cTrkNum);
//                    log.info("轨迹点数:" + TrkNum);

//                    byte[] sVx = Arrays.copyOfRange(data, index + 24, index + 26);
//                    sVx = toLittleEndian(sVx);
//                    int Vx = byteArrayToDecimal(sVx);
//                    log.info("目标当前速度矢量(像素距离)X:" + Vx);
//
//                    byte[] sVy = Arrays.copyOfRange(data, index + 26, index + 28);
//                    sVy = toLittleEndian(sVy);
//                    int Vy = byteArrayToDecimal(sVy);
//                    log.info("目标当前速度矢量(像素距离)Y:" + Vy);
//
//                    byte[] sAreaNo = Arrays.copyOfRange(data, index + 28, index + 30);
//                    sAreaNo = toLittleEndian(sAreaNo);
//                    int AreaNo = byteArrayToDecimal(sAreaNo);
//                    log.info("目标归属的告警区域号:" + AreaNo);
//
//                    byte[] cGrp = Arrays.copyOfRange(data, index + 30, index + 31);
//                    cGrp = toLittleEndian(cGrp);
//                    int Grp = byteArrayToDecimal(cGrp);
//                    log.info("所属组:" + Grp);
                    //endregion
                    String alarmType = "";
                    byte[] cStat = Arrays.copyOfRange(data, index + 23, index + 24);
                    cStat = toLittleEndian(cStat);
                    // 提取第4位至第6位的值
                    int extractedValue = (cStat[0] >> 4) & 0b00001111;
                    // 判断提取的值
                    if (extractedValue == 0b0000) {
                        alarmType = "运动目标检测";
                    } else if (extractedValue == 0b0001) {
                        alarmType = "热源检测";
                    }
                    // log.info("报警类型:" + alarmType);
                    byte[] szName = Arrays.copyOfRange(data, index + 64, index + 96);
                    String alarmPointName = ByteUtils.bytesToStringZh(szName);
                    // log.info("所属告警区域名称:" + alarmPointName);
                    byte[] afTx = Arrays.copyOfRange(data, index + 96, index + 100);
                    afTx = toLittleEndian(afTx);
                    float fTx = ByteUtils.bytesToFloat(afTx);
                    //  log.info("水平角度:" + fTx);
                    byte[] afTy = Arrays.copyOfRange(data, index + 112, index + 116);
                    afTy = toLittleEndian(afTy);
                    float fTy = ByteUtils.bytesToFloat(afTy);
                    //log.debug("垂直角度:" + fTy);
                    // 将角度转换为弧度
                    double thetaRadians = Math.toRadians(fTy + 90);
                    // 使用正弦函数计算对边长度
                    Distance = Math.sin(thetaRadians) * Distance;
                    if (Distance < 0) {
                        continue;//过滤距离小于0的脏数据
                    }
                    //log.debug("目标投影距离(m):" + Distance);

                    Double[] radarXY = {radarLongitude, radarLagitude};
                    Double[] alarmXY = GisUtils.CalculateCoordinates(radarXY, Distance, (double) fTx);
                    log.debug("报警信息：" + "【radarName】" + radarName + "【targetId】" + targetId + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime + "【name】" + alarmPointName + "【Distance】" + Distance);
                    ArdAlarmRadar ardAlarmRadar = new ArdAlarmRadar();
                    ardAlarmRadar.setTargetId(targetId);
                    ardAlarmRadar.setName(alarmPointName);
                    ardAlarmRadar.setLongitude(alarmXY[0]);
                    ardAlarmRadar.setLatitude(alarmXY[1]);
                    ardAlarmRadar.setAlarmType(alarmType);
                    radarAlarmInfos.add(ardAlarmRadar);
                    int bit1 = (cStat[0] >> 1) & 0x1;
                    //目标的B1=1 锁定
                    if (bit1 == 1) {
                        radarFollowInfos.add(ardAlarmRadar);
                    }
                }
                //endregion
                if (StringUtils.isEmpty(alarmTime)) {
                    return;
                }
                if (targetNum == 0) {
                    return;
                }
                RadarAlarmData radarAlarmData = new RadarAlarmData();
                radarAlarmData.setRadarId(radarId);
                radarAlarmData.setRadarName(radarName);
                radarAlarmData.setAlarmTime(alarmTime);
                radarAlarmData.setArdAlarmRadars(radarAlarmInfos);
                MqttProducer.publish(2, false, "radar", JSON.toJSONString(radarAlarmData));
                if (radarFollowInfos.size() > 0) {
                    radarAlarmData.setArdFollowRadars(radarFollowInfos);
                    //当前雷达扫描存在引导跟踪数据，只保留最后一次锁定的数据
                    MqttProducer.publish(2, false, "radarFollowGuide", JSON.toJSONString(radarAlarmData));
                }
                //抽油机状态MQTT队列
                radarAlarmData.setArdAlarmRadars(well);
                MqttProducer.publish(2, false, "radarWellData", JSON.toJSONString(radarAlarmData));

            }
            //抽油机AI状态反馈
            if (Arrays.equals(cmdId, new byte[]{0x04})) {
                //region抽油机AI状态反馈
                String hexString = DatatypeConverter.printHexBinary(data);
                //log.info(hexString);

                byte[] dwTim = Arrays.copyOfRange(data, 4, 8);
                dwTim = toLittleEndian(dwTim);
                SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
                long l = ByteUtils.bytesToDecimal(dwTim);
                alarmTime = sdf.format(l * 1000);
                //log.info("周视图像的出现时间(转date):" + alarmTime);

                byte[] wTargetNum = Arrays.copyOfRange(data, 8, 10);
                wTargetNum = toLittleEndian(wTargetNum);
                targetNum = ByteUtils.bytesToDecimal(wTargetNum);
                //log.debug("目标总点数(转整型):" + targetNum);
                if (targetNum == 0) {
                    return;
                }
                //解析NET_TARGET_UNIT(64是NET_TARGET_HEAD的字节数)
                int uintSize = (payloadSizeToDecimal - 64) / targetNum;
                //log.info("单条报警大小:" + uintSize);
                for (int i = 0; i < targetNum; i++) {
                    Integer index = 68 + uintSize * i;
                    byte[] dwID = Arrays.copyOfRange(data, index, index + 4);
                    //log.info("目标ID:" + DatatypeConverter.printHexBinary(dwID));
                    dwID = toLittleEndian(dwID);
                    int targetId = ByteUtils.bytesToDecimal(dwID);
                    //log.info("目标ID号：" + targetId);
                    //region 不需要的字段
                    byte[] iTw = Arrays.copyOfRange(data, index + 4, index + 8);
                    iTw = toLittleEndian(iTw);
                    int Tw = ByteUtils.bytesToDecimal(iTw);
                    // log.info("目标当前的像素宽度:" + Tw);

                    byte[] iTh = Arrays.copyOfRange(data, index + 8, index + 12);
                    iTh = toLittleEndian(iTh);
                    int Th = ByteUtils.bytesToDecimal(iTh);
                    //log.info("目标当前的像素高度:" + Th);

                    byte[] fTx = Arrays.copyOfRange(data, index + 12, index + 16);
                    fTx = toLittleEndian(fTx);
                    float fTxAngle = ByteUtils.bytesToFloat(fTx);
                    //log.debug("p角度:" + fTxAngle);
                    byte[] fTy = Arrays.copyOfRange(data, index + 16, index + 20);
                    fTy = toLittleEndian(fTy);
                    float fTyAngle = ByteUtils.bytesToFloat(fTy);
                    //log.debug("t角度:" + fTyAngle);

                    byte[] sAreaNo = Arrays.copyOfRange(data, index + 20, index + 22);
                    sAreaNo = toLittleEndian(sAreaNo);
                    int AreaNo = ByteUtils.bytesToDecimal(sAreaNo);
                    //log.debug("目标归属的告警区域号:" + AreaNo);

                    byte[] cGrp = Arrays.copyOfRange(data, index + 22, index + 23);
                    cGrp = toLittleEndian(cGrp);
                    int Grp = ByteUtils.bytesToDecimal(cGrp);
                    //log.info("所属组:" + Grp);
                    //endregion
                    String alarmType;
                    //抽油机状态变量
                    String wellType;
                    byte[] cStat = Arrays.copyOfRange(data, index + 23, index + 24);
                    cStat = toLittleEndian(cStat);
                    //String binaryString = String.format("%8s", Integer.toBinaryString(cStat[0] & 0xFF)).replace(' ', '0');
                    //log.info("目标当前状态:" + binaryString);
                    // 提取第0位值
                    // 使用位运算操作判断第0位是否为1
                    boolean isB0 = (cStat[0] & 0x01) == 0x00;
                    // 判断提取的值
                    if (isB0) {
                        alarmType = "雷达抽油机停机";
                        byte[] szName = Arrays.copyOfRange(data, index + 32, index + 64);
                        //log.info("所属告警区域名称:" + DatatypeConverter.printHexBinary(szName));
                        String alarmPointName = ByteUtils.bytesToStringZh(szName);
                        // log.info("所属告警区域名称:" + alarmPointName);
                        log.debug("报警信息：" + "【radarName】" + radarName + "【targetId】" + targetId + "【name】" + alarmPointName + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime);
                        ArdAlarmRadar ardAlarmRadar = new ArdAlarmRadar();
                        ardAlarmRadar.setTargetId(targetId);
                        ardAlarmRadar.setName(alarmPointName);
                        ardAlarmRadar.setAlarmType(alarmType);
                        radarAlarmInfos.add(ardAlarmRadar);
                        wellType = "停机";
                    } else {
                        wellType = "运行";
                    }
                    //抽油机状态集合中装入数据
                    byte[] szName = Arrays.copyOfRange(data, index + 32, index + 64);
                    String alarmPointName = ByteUtils.bytesToStringZh(szName);
                    //log.debug("状态信息：" + "【radarName】" + radarName + "【targetId】" + targetId  + "【alarmTime】" + alarmTime + "【name】" + alarmPointName + "【alarmState】" + wellType);
                    ArdAlarmRadar wellAlarm = new ArdAlarmRadar();
                    wellAlarm.setTargetId(targetId);
                    wellAlarm.setName(alarmPointName);
                    wellAlarm.setAlarmType(wellType);
                    well.add(wellAlarm);
                }
                //endregion
                if (StringUtils.isEmpty(alarmTime)) {
                    return;
                }
                if (targetNum == 0) {
                    return;
                }
                RadarAlarmData radarAlarmData = new RadarAlarmData();
                radarAlarmData.setRadarId(radarId);
                radarAlarmData.setRadarName(radarName);
                radarAlarmData.setAlarmTime(alarmTime);
                radarAlarmData.setArdAlarmRadars(radarAlarmInfos);
                MqttProducer.publish(2, false, "radar", JSON.toJSONString(radarAlarmData));
                //抽油机状态MQTT队列
                radarAlarmData.setArdAlarmRadars(well);
                MqttProducer.publish(2, false, "radarWellData", JSON.toJSONString(radarAlarmData));
            }
            //强制引导
            if (Arrays.equals(cmdId, new byte[]{0x02})) {
                //region 告警前端发送的强制引导信息
                byte[] iDistance = Arrays.copyOfRange(data, 4, 8);
                iDistance = toLittleEndian(iDistance);
                long distance = ByteUtils.bytesToDecimal(iDistance);
                log.info("目标当前距离(m):" + distance);
                byte[] fTx = Arrays.copyOfRange(data, 8, 12);
                fTx = toLittleEndian(fTx);
                float tx = ByteUtils.bytesToFloat(fTx);
                log.debug("方位:" + tx);
                byte[] fTy = Arrays.copyOfRange(data, 12, 16);
                fTy = toLittleEndian(fTy);
                float ty = ByteUtils.bytesToFloat(fTy);
                if (ty < 0) {
                    ty += 360;
                }
                log.debug("俯仰:" + ty);
                Map<String, Object> forceGuideMap = new HashMap<>();
                forceGuideMap.put("distance", distance);
                forceGuideMap.put("p", tx);
                forceGuideMap.put("t", ty);
                forceGuideMap.put("radarId", radarId);
                log.debug("强制引导信息" + forceGuideMap);
                //endregion
                MqttProducer.publish(2, false, "radarForceGuide", JSON.toJSONString(forceGuideMap));
            }
        } catch (Exception ex) {
            log.error("雷达报文解析异常:" + ex.getMessage());
        }
    }
}