package com.dji.sample.patches.xml.mode;

import com.dji.sample.patches.model.entity.LotInfo;
import com.dji.sample.patches.utils.GeoToolsUtil;
import com.dji.sample.patches.utils.PointPO;
import com.dji.sample.patches.xml.mode.share.*;
import com.dji.sample.patches.xml.mode.share.action.utils.*;
import com.dji.sample.patches.xml.utils.CreateWaylineFileUtils;
import com.dji.sample.wayline.plane.PlaneCourseUtils;
import com.dji.sample.wayline.plane.param.CreateWaylineParam;
import freemarker.template.Configuration;
import freemarker.template.Template;
import lombok.Builder;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.locationtech.jts.geom.Coordinate;

import java.io.*;
import java.nio.charset.StandardCharsets;
import java.util.ArrayList;
import java.util.List;

/**
 * @PROJECT_NAME: drone
 * @DESCRIPTION:
 * @USER: aix
 * @DATE: 2024/3/27 11:11
 */
@Data
@Builder
@Slf4j
public class XMLTemplateModel {

    private String author = "aix";

    private String createTime;

    private String updateTime;

    private MissionConfig missionConfig;

    private Folder folder;

    /**
     * 初始化模板对象
     *
     * @param coordinates
     * @param lotInfos
     * @return
     */
    public static XMLTemplateModel init(List<PointPO> coordinates, List<LotInfo> lotInfos) {

        Folder folder = FolderUtils.setFloder();

        List<Placemark> placemarkList = new ArrayList<>();
        int i = 0;
        for (PointPO pointPO : coordinates) {
            if (i != 0) {//去除第一个航点
                Coordinate c = pointPO.getCoordinate();
                Placemark placemark = PlacemarkUtils.setPlacemark(c.x + "," + c.y);

                // 增加事件组
                ActionGroup actionGroup = new ActionGroup();
                actionGroup.setActionGroupId(i - 1);//动作组id从0开始单调连续递增。
                actionGroup.setActionGroupStartIndex(i - 1);//动作组开始生效的航点
                actionGroup.setActionGroupEndIndex(i - 1);//动作组结束生效的航点
                actionGroup.setActionGroupMode("sequence");
                ActionTrigger at = new ActionTrigger();
                at.setActionTriggerType("reachPoint");
                actionGroup.setActionTrigger(at);
                // 开始增加事件
                List<ActionMode> list = new ArrayList<>();

                //拍照事件
                ActionMode actionMode = new ActionMode();
                actionMode.setActionId(2);
                actionMode.setActionActuatorFunc(CameraActionEnum.TAKE_PHOTO.getDescription());//拍照事件

//                actionMode.setActionActuatorFuncParam(ActionUtils.setTakePhoto(lotInfos.get(quotient-1).getDkbh()));
                // 设置媒体文件名称后缀
                actionMode.setActionActuatorFuncParam(ActionUtils.setTakePhoto(lotInfos.get(pointPO.getIndex()).getDkbh() + "~" + lotInfos.get(pointPO.getIndex()).getTaskId()));
//                actionMode.setActionActuatorFuncParam(ActionUtils.setTakePhoto("测试"));

                //云台旋转事件
                ActionMode actionMode2 = new ActionMode();
                actionMode2.setActionId(1);
                actionMode2.setActionActuatorFunc(CameraActionEnum.GIMBAL_ROTATE.getDescription());//旋转云台
                //设置转动角度
                double bearing = GeoToolsUtil.bearing(pointPO.getCoordinate().y, pointPO.getCoordinate().x, pointPO.getCentro().y, pointPO.getCentro().x);
//                System.out.println("角度：" + bearing);
                actionMode2.setActionActuatorFuncParam(ActionUtils.setGimbalRotate(bearing));

                // 飞行器偏航事件
                ActionMode actionModeFxqph = new ActionMode();
                actionModeFxqph.setActionId(0);
                actionModeFxqph.setActionActuatorFunc(CameraActionEnum.ROTATE_YAW.getDescription());//飞行器偏航
                actionModeFxqph.setActionActuatorFuncParam(ActionUtils.setRotateYaw(bearing));

                list.add(actionModeFxqph);//添加飞行器偏航
                list.add(actionMode2);//添加云台旋转
                list.add(actionMode);//添加拍照
                actionGroup.setActions(list);

                placemark.setActionGroup(actionGroup);

                placemarkList.add(placemark);
            }

            i = i + 1;
        }

        folder.setPlacemarkList(placemarkList);

        XMLTemplateModel xtm = XMLTemplateModel.builder()
                .author("Aix")
                .createTime(String.valueOf(System.currentTimeMillis()))
                .updateTime(String.valueOf(System.currentTimeMillis()))
                .missionConfig(MissionConfigUtils.setMissionConfig(coordinates.get(0).getCoordinate().y + "," + coordinates.get(0).getCoordinate().x + ",0"))
                .folder(folder)
                .build();

        return xtm;
    }

    /**
     * 面状航线
     *
     * @return
     */
    public static XMLTemplateModel initPolygon(CreateWaylineParam param) {

        Folder folder = FolderUtils.setFloder(param.getTemplateType(), param.getAutoFlightSpeed());

        //坐标系参数
        WaylineCoordinateSysParam wcs = new WaylineCoordinateSysParam("EGM96", String.valueOf(param.getHeight()), String.valueOf(param.getHeight()));
        folder.setWaylineCoordinateSysParam(wcs);

        //建图航拍模板元素
        PlacemarkByPolygon placemarkByPolygon = new PlacemarkByPolygon();
        placemarkByPolygon.setDirection(param.getBearing());


        // 重叠率参数
        Overlap overlap = new Overlap((int) (param.getCourseRatio()* 100),
                (int) (param.getSideRatio()* 100),
                (int) (param.getCourseRatio()* 100),
                (int) (param.getSideRatio()* 100));
        placemarkByPolygon.setOverlap(overlap);

        //测区多边形
        String polygons = "";
        List<String> polygonStrList = new ArrayList<>();
        for (double [] polygon:param.getPolygon()){
            polygons = polygon[0] + "," + polygon[1] + ",0";
            polygonStrList.add(polygons);
        }
        placemarkByPolygon.setPolygons(polygonStrList);

        //全局航线高度
        placemarkByPolygon.setEllipsoidHeight(param.getHeight());
        placemarkByPolygon.setHeight(param.getHeight());

        folder.setPlacemarkByPolygon(placemarkByPolygon);

        //航点
        List<Coordinate> pointList = PlaneCourseUtils.createWaylinePoints(param);
        List<Placemark> placemarkList = new ArrayList<>();
        for (Coordinate c:pointList)  {
            Placemark placemark = new Placemark();
            placemark.setCoordinates(c.x + "," + c.y);
            placemark.setEllipsoidHeight(param.getHeight());
            placemark.setHeight(param.getHeight());

            placemark.setWaypointSpeed(param.getAutoFlightSpeed() + "");
            placemark.setUseStraightLine(1);
            //事件暂时不考虑添加

            placemarkList.add(placemark);
        }

        folder.setPlacemarkList(placemarkList);

        XMLTemplateModel xtm = XMLTemplateModel.builder()
                .author("Aix")
                .createTime(String.valueOf(System.currentTimeMillis()))
                .updateTime(String.valueOf(System.currentTimeMillis()))
                .missionConfig(MissionConfigUtils.setMissionConfigByPolygon(param.getCoordinate().y + "," + param.getCoordinate().x + ",0",
                        param.getAutoFlightSpeed(),
                        param.getDroneInfo(),
                        param.getPayloadInfo()))
                .folder(folder)
                .build();

        return xtm;
    }

    //新建面状航线测试
    public static void main(String[] args) {
        // 初始化模板对象
        CreateWaylineParam param = new CreateWaylineParam();
        param.setBearing(90);
        param.setCoordinate(new Coordinate(116.020940643,25.8917266));
        param.setHeight(372.3);
        param.setCourseRatio(0.8);
        param.setSideRatio(0.8);
        param.setFocal(10*6.9999943);
        param.setFrame(100);
        List<double[]> polygon = new ArrayList<>();
        double[] a = {116.028037250229,25.8948290570725};
        double[] a2 = {116.031565260299,25.8950672687002};
        double[] a3 = {116.032112214864,25.8901339309971};
        double[] a4 = {116.028726270654,25.8895106128711};
        polygon.add(a);
        polygon.add(a2);
        polygon.add(a3);
        polygon.add(a4);
        param.setPolygon(polygon);
        param.setTemplateType("mapping2d");
        param.setAutoFlightSpeed(15);
        DroneInfo info = new DroneInfo();
        info.setDroneEnumValue("91");
        info.setDroneSubEnumValue("0");
        param.setDroneInfo(info);
        PayloadInfo payloadInfo = new PayloadInfo();
        payloadInfo.setPayloadEnumValue("80");
        payloadInfo.setPayloadPositionIndex("0");
        payloadInfo.setPayloadSubEnumValue("0");
        param.setPayloadInfo(payloadInfo);

        // 初始化模板对象
        XMLTemplateModel xmlModel = XMLTemplateModel.initPolygon(param);

        //生成航线文件
        CreateWaylineFileUtils.createWaylineFileByPolygon(xmlModel, "src\\main\\resources\\template\\template-polygon.xml", "src\\main\\resources\\template\\wpmz2\\template.xml");
        CreateWaylineFileUtils.createWaylineFileByPolygon(xmlModel, "src\\main\\resources\\template\\waylines-polygon.xml", "src\\main\\resources\\template\\wpmz2\\waylines.xml");
    }

    //新建点航线测试
//    public static void main(String[] args) {
//
//        //测试
//        List<LotInfo> list = new ArrayList<>();
//        list.add(LotInfo.builder().dkbh("dkbh01").dkfw("POLYGON((115.866465564947 28.6344502965542, 115.86425430209 28.6357383285408, 115.864551734716 28.633120921433, 115.866977149064 28.6338435339976, 115.866465564947 28.6344502965542))").build());
//        list.add(LotInfo.builder().dkbh("dkbh02").dkfw("POLYGON((115.864006690605 28.6202713913694, 115.86002109342 28.6162025130492, 115.866374254306 28.6142037658042, 115.865912044006 28.6172001020759, 115.864006690605 28.6202713913694))").build());
//        list.add(LotInfo.builder().dkbh("dkbh03").dkfw("POLYGON((115.839366933455 28.6161999317332, 115.841288489469 28.6160843601496, 115.840931570318 28.6181544912247, 115.838147600941 28.618654178036, 115.839366933455 28.6161999317332))").build());
////        list.add(LotInfo.builder().dkbh("dkbh04").dkfw("POLYGON((115.857499052697 28.6784702230642, 115.859109158101 28.6762273976226, 115.863677723232 28.6766081113836, 115.862154868188 28.6790827508297, 115.857499052697 28.6784702230642))").build());
////        list.add(LotInfo.builder().dkbh("dkbh05").dkfw("POLYGON((115.834974056705 28.6659171428962, 115.833760531592 28.6634960413229, 115.832422084777 28.6624550271329, 115.829745191145 28.6631986086972, 115.831232354274 28.6608191476914, 115.833314382654 28.6603729987527, 115.835545127347 28.6618601618814, 115.837032290475 28.6639421902615, 115.834974056705 28.6659171428962))").build());
////        list.add(LotInfo.builder().dkbh("dkbh06").dkfw("POLYGON((115.885622116006 28.5766308429787, 115.883936664461 28.5771582901683, 115.883365593819 28.5752547213636, 115.883555950699 28.5740174016407, 115.88365112914 28.5724945465969, 115.885364341064 28.5721138328361, 115.886696839227 28.5725897250371, 115.887458266749 28.5736366878797, 115.886792017668 28.5753498998039, 115.885622116006 28.5766308429787))").build());
////        list.add(LotInfo.builder().dkbh("dkbh07").dkfw("POLYGON((115.857644341395 28.5750890964568, 115.857572957565 28.5729475815515, 115.858429563527 28.5728761977213, 115.859072017998 28.5738041875136, 115.859072017998 28.5748035611361, 115.857644341395 28.5750890964568))").build());
////        list.add(LotInfo.builder().dkbh("dkbh08").dkfw("POLYGON((115.912181587649 28.6231542087745, 115.912181587649 28.6215123806805, 115.915893546818 28.6212268453598, 115.916036314478 28.6231542087745, 115.912181587649 28.6231542087745))").build());
////        list.add(LotInfo.builder().dkbh("dkbh09").dkfw("POLYGON((115.842039042965 28.6314426646115, 115.840992080122 28.631252307731, 115.842324578286 28.6305860586493, 115.843181184248 28.6305860586493, 115.84403779021 28.6304908802091, 115.84394261177 28.6317281999322, 115.842039042965 28.6314426646115))").build());
////        list.add(LotInfo.builder().dkbh("dkbh10").dkfw("POLYGON((115.807011889796 28.623935465138, 115.805869748513 28.6224126100944, 115.810247956764 28.6220318963334, 115.809581707682 28.623935465138, 115.807011889796 28.623935465138))").build());
//
//        // 机场经纬度
//        double airportLat = 28.624514734; // 机场纬度
//        double airportLon = 115.856725497; // 机场经度
//        // 解析图斑生成航点，按顺序返回
//        List<PointPO> coordinates = GeoToolsUtil.getRoutePointOrder(list, airportLat, airportLon);
//
//        // 初始化模板对象
//        XMLTemplateModel xmlModel = XMLTemplateModel.init(coordinates, list);
//
//        //生成航线文件
//        CreateWaylineFileUtils.createWaylineFile(xmlModel, "src\\main\\resources\\template\\template.xml", "src\\main\\resources\\template\\wpmz\\template.xml", "src\\main\\resources\\template\\waylines.xml", "src\\main\\resources\\template\\wpmz\\waylines.xml");
//
//
//    }

}