package com.ard.utils.tcp;

import com.alibaba.fastjson2.JSON;
import com.ard.alarm.radar.domain.ArdEquipRadar;
import com.ard.alarm.radar.domain.RadarAlarmInfo;
import com.ard.hiksdk.domain.alarmEventInfo;
import com.ard.utils.LonlatConver;
import com.ard.utils.SpringTool;
import com.ard.utils.mqtt.MqttConsumer;
import io.netty.buffer.ByteBuf;
import io.netty.channel.ChannelHandlerContext;
import io.netty.channel.SimpleChannelInboundHandler;
import lombok.extern.slf4j.Slf4j;
import org.gavaghan.geodesy.Ellipsoid;
import org.gavaghan.geodesy.GeodeticCalculator;
import org.gavaghan.geodesy.GlobalCoordinates;
import sun.nio.cs.ext.GBK;

import javax.xml.bind.DatatypeConverter;
import java.io.UnsupportedEncodingException;
import java.nio.ByteBuffer;
import java.nio.charset.Charset;
import java.nio.charset.StandardCharsets;
import java.text.SimpleDateFormat;
import java.util.*;
import java.util.concurrent.ScheduledFuture;
import java.util.concurrent.TimeUnit;

/**
 * @Description: tcp客户端处理
 * @ClassName: NettyTcpClientHandler
 * @Author: 刘苏义
 * @Date: 2023年06月25日17:02
 * @Version: 1.0
 **/
@Slf4j(topic = "radar")
public class NettyTcpClientHandler extends SimpleChannelInboundHandler<ByteBuf> {

    private String host;
    private Integer port;
    private Double longitude;
    private Double lagitude;
    private String name;

    public NettyTcpClientHandler(ArdEquipRadar ardEquipRadar) {
        this.host = ardEquipRadar.getIp();
        this.port = ardEquipRadar.getPort();
        this.longitude = ardEquipRadar.getLongitude();
        this.lagitude = ardEquipRadar.getLatitude();
        this.name=ardEquipRadar.getName();
    }

    private ChannelHandlerContext context;
    private ScheduledFuture<?> heartbeatTask;

    @Override
    protected void channelRead0(ChannelHandlerContext ctx, ByteBuf msg) {
        // 处理接收到的消息
        byte[] byteArray = new byte[msg.readableBytes()];
        msg.getBytes(msg.readerIndex(), byteArray);
        byte[] bytes = receiveCompletePacket(byteArray);
        if (bytes != null) {
          //  String hexString = DatatypeConverter.printHexBinary(bytes);
          //  log.info(hexString);
            processData(bytes);
        }
    }

    @Override
    public void channelActive(ChannelHandlerContext ctx) {
        context = ctx;
        startHeartbeatTask();//开始发送心跳
    }

    /**
     * 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[] heart = {0x01, 0x02, 0x01, 0x10, 0x00, 0x00, 0x00, (byte) 0x83, (byte) 0x88, 0x5d, 0x71, 0x01, 0x02, 0x00};
            String hexString = DatatypeConverter.printHexBinary(heart);
            log.info("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;
        }
    }

    @Override
    public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause) {
        log.info("tcp客户端连接异常");
        // 发生异常时的处理
        cause.printStackTrace();
        ctx.close();
        stopHeartbeatTask();//停止心跳发送
    }

    /**
     * 解析报警数据
     */
    public void processData(byte[] data) {
        try {
            data = transferData(data);//去掉包头和包尾、校验及转义

            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
            log.info("命令ID:" + DatatypeConverter.printHexBinary(cmdId));

            byte[] payloadSize = Arrays.copyOfRange(data, 2, 4);//有效负载大小
            payloadSize = toLittleEndian(payloadSize);
            int payloadSizeToDecimal = byteArrayToDecimal(payloadSize);
            log.info("有效负载大小(转整型):" + payloadSizeToDecimal);

            if (Arrays.equals(cmdId, new byte[]{0x01})) {
                byte[] dwTim = Arrays.copyOfRange(data, 4, 8);
                dwTim = toLittleEndian(dwTim);
                SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
                long l = byteArrayToDecimal(dwTim);
                String 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);
                int targetNum = byteArrayToDecimal(wTargetNum);
                log.info("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);
                    dwID = toLittleEndian(dwID);
                    int id = byteArrayToDecimal(dwID);
                    // log.info("目标ID号：" + id);

                    byte[] iDistance = Arrays.copyOfRange(data, index + 8, index + 12);
                    iDistance = toLittleEndian(iDistance);
                    int Distance = byteArrayToDecimal(iDistance);
                    // log.info("目标当前距离(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[] cStat = Arrays.copyOfRange(data, index + 23, index + 24);
//                    cStat = toLittleEndian(cStat);
//                    int Stat = byteArrayToDecimal(cStat);
//                    log.info("目标当前状态:" + Stat);
//
//                    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
                    byte[] szName = Arrays.copyOfRange(data, index + 64, index + 96);
                    int position = findIndexOfDoubleZero(szName);
                    String alarmPointName = "";
                    if (position != -1) {
                        byte[] result = new byte[position];
                        System.arraycopy(szName, 0, result, 0, position);
                        alarmPointName = new String(result, "GBK");
                    } else {
                        alarmPointName = new String(szName, "GBK");
                    }
                    // 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 = bytesToFloat(afTx);
                    //  log.info("水平角度:" + fTx);
                    byte[] afTy = Arrays.copyOfRange(data, index + 112, index + 116);
                    afTy = toLittleEndian(afTy);
                    float fTy = bytesToFloat(afTy);
                    //  log.info("垂直角度:" + fTy);
                    log.info("雷达信息：" + host + "【port】" + port + "【X】" + longitude + "【Y】" + lagitude);
                    Double[] radarXY = {longitude, lagitude};
                    Double[] alarmXY = CalculateCoordinates(radarXY, Distance, (double) fTx);
                    log.info("报警信息：" + "【id】" + id + "【name】" + alarmPointName + "【alarmTime】" + alarmTime + "【distance】" + Distance + "【P】" + fTx + "【T】" + fTy + "【X】" + alarmXY[0] + "【Y】" + alarmXY[1]);
                    RadarAlarmInfo alarmInfo=new RadarAlarmInfo();
                    alarmInfo.setId(id);
                    alarmInfo.setAlarmTime(alarmTime);
                    alarmInfo.setName(alarmPointName+"("+name+")");
                    alarmInfo.setLongitude(alarmXY[0]);
                    alarmInfo.setLagitude(alarmXY[1]);
                    MqttConsumer.publish(2, false, "radar", JSON.toJSONString(alarmInfo));
                }
            }
        } catch (Exception ex) {
            log.error(ex.getMessage());
        }
    }
    /**
     * byte数组转float
     */
    private float bytesToFloat(byte[] bytes) {
        ByteBuffer buffer = ByteBuffer.wrap(bytes);
        return buffer.getFloat();
    }


    /**
     * byte数组转整型
     */
    public int byteArrayToDecimal(byte[] byteArray) {
        int decimalValue = 0;

        for (int i = 0; i < byteArray.length; i++) {
            decimalValue = (decimalValue << 8) | (byteArray[i] & 0xFF);
        }

        return decimalValue;
    }

    /**
     * 大端转小端
     */
    public byte[] toLittleEndian(byte[] bigEndianBytes) {
        byte[] littleEndianBytes = new byte[bigEndianBytes.length];

        for (int i = 0; i < bigEndianBytes.length; i++) {
            int j = bigEndianBytes.length - i - 1;
            littleEndianBytes[i] = bigEndianBytes[j];
        }

        return littleEndianBytes;
    }


    // 创建缓冲区列表
    List<Byte> buffer = new ArrayList<>();

    /**
     * 接收完整包
     */
    public byte[] receiveCompletePacket(byte[] receivedData) {
        // 定义包尾字节序列
        byte[] packetEnd = {0x01, 0x02, 0x00};
        // 添加已接收的数据到缓冲区
        for (byte data : receivedData) {
            buffer.add(data);
        }
        // 检查缓冲区中的数据是否包含完整的包
        while (buffer.size() >= packetEnd.length) {
            int endIndex = findPacketEndIndex(buffer, packetEnd);
            if (endIndex != -1) {
                // 找到完整的包
                byte[] packet = extractPacketFromBuffer(buffer, endIndex + packetEnd.length);
                return packet;
            } else {
                // 未找到包尾，继续接收数据
                break;
            }
        }

        // 未找到完整的包
        return null;
    }

    /**
     * 获取包结束索引
     */
    public int findPacketEndIndex(List<Byte> buffer, byte[] packetEnd) {
        for (int i = 0; i <= buffer.size() - packetEnd.length; i++) {
            boolean isMatch = true;
            for (int j = 0; j < packetEnd.length; j++) {
                if (buffer.get(i + j) != packetEnd[j]) {
                    isMatch = false;
                    break;
                }
            }
            if (isMatch) {
                return i;
            }
        }
        return -1;
    }

    /**
     * 从缓冲区提取数据包
     */
    public byte[] extractPacketFromBuffer(List<Byte> buffer, int endIndex) {
        byte[] packet = new byte[endIndex];
        for (int i = 0; i < endIndex; i++) {
            packet[i] = buffer.get(i);
        }
        buffer.subList(0, endIndex).clear();
        return packet;
    }

    /**
     * 去掉包头和包尾校验及转义
     */
    public byte[] transferData(byte[] data) {
        data = Arrays.copyOfRange(data, 3, data.length);
        data = Arrays.copyOfRange(data, 0, data.length - 7);
        String dataStr = DatatypeConverter.printHexBinary(data);
        if (dataStr.contains("01020201")) {//转义01020201
            dataStr = dataStr.replaceAll("01020201", "010201");
        }
        if (dataStr.contains("01020200")) {//转义01020200
            dataStr = dataStr.replaceAll("01020200", "010200");
        }
        if (dataStr.contains("01020202")) {//转义01020202
            dataStr = dataStr.replaceAll("01020202", "010202");
        }
        data = DatatypeConverter.parseHexBinary(dataStr);
        return data;
    }

    /**
     * 找到00的索引位置
     */
    private int findIndexOfDoubleZero(byte[] bytes) {
        for (int i = 0; i < bytes.length - 1; i++) {
            if (bytes[i] == 0x00) {
                return i;
            }
        }
        return -1;
    }

    /**
     * 通过A点坐标，长度和Y轴角度计算B点坐标
     */
    public Double[] CalculateCoordinates(Double[] radarCoordinates, Integer distance, Double angle) {
        double[] to_wgs84 = LonlatConver.gcj02_To_Wgs84(radarCoordinates[0], radarCoordinates[1]);
        double Ax = to_wgs84[0]; // A 点的 X 坐标
        double Ay = to_wgs84[1]; // A 点的 Y 坐标
        double AB = distance; // AB 的长度
        double angleWithYAxisDegrees = angle; // AB 与 Y 轴的角度（以度数表示）
        GeodeticCalculator calculator = new GeodeticCalculator();
        GlobalCoordinates globalCoordinates = new GlobalCoordinates(Ay, Ax);
        GlobalCoordinates globalCoordinates1 = calculator.calculateEndingGlobalCoordinates(Ellipsoid.WGS84, globalCoordinates, angleWithYAxisDegrees, AB);
        return new Double[]{globalCoordinates1.getLongitude(), globalCoordinates1.getLatitude()};
    }

}