import * as Cesium from 'cesium'
import { Decimal } from 'decimal.js'
import _, { cloneDeep, throttle } from 'lodash'
import { v4 as uuidv4 } from 'uuid'
import { render } from 'vue'
import { analysisPointLineKmz, handlePointListForKmz } from '@/views/newRoutePlan/Waypoint/pointWayLineUtils'
import HistoryDronePopup from '@/components/DeviceJobDetails/HistoryDronePopup.vue'

import {
	getNewPolygonData,
} from '@/views/newRoutePlan/routeUtils'

import { analyzeKmzFile, removeTextKey, XMLToJSON } from '@/utils/cesium/kmz'
import { ArrowLineMaterialProperty, LineTrailMaterial, PolylineGlowMaterial } from '@/utils/cesium/Material'
import CreateFrustum from '@/utils/cesium/frustum/CreateFrustum'
import { ElMessage } from 'element-plus'

import rwqfdImg from '@/assets/images/signMachineNest/rwqfd.png'
import endingOnlineImg from '@/assets/images/aiNowFly/ending-online.png'
import newEndPointImg from '@/assets/images/newEndPointicon.png'
import endPointImg from '@/assets/images/EndPointicon.png'
import aircraftGltf from '@/assets/gltf/aircraft.gltf'
import newNumPoint from '@/assets/images/newStartPoint.png'

import { getPolyLine } from '@/views/newRoutePlan/Waypoint/pointWayLineUtils'
import store from '@/store/index'
import newStartPoint from '@/assets/images/newStartPoint.png'
import newStartPointMore from '@/assets/images/newStartPointMore.png'
import {
	arrowLineMaterialProperty, arrowLineMaterialPropertyGray, arrowLineMaterialPropertyGrayT,
	arrowLineMaterialPropertyGreen,
	arrowLineMaterialPropertyOrange,
} from '@/hooks/useMorePointLine/useMorePointLine'


let runningTextColor = Cesium.Color.fromCssColorString('#1FFF69')
let runningTextOffset = new Cesium.Cartesian2(0, -32)
let pendingTextColor = Cesium.Color.fromCssColorString('#FFB81D')
let pendingTextOffset = new Cesium.Cartesian2(0, 32)
let MapPopUpBox = HistoryDronePopup

function getZoomFactor (camerasInfo, type) {
	let zoom_factor
	const irLevel = camerasInfo?.ir_zoom_factor
	const zoomLevel = camerasInfo?.zoom_factor
	if (type === 'wide') {
		zoom_factor = 1
	} else if (type === 'ir') {
		zoom_factor = irLevel
	} else {
		zoom_factor = zoomLevel
	}
	zoom_factor = _.round(zoom_factor, 1)

	return zoom_factor
}
// 记录index
let indexLog = 0
// 颜色
function getPendingExecutionLineColor (lineNumber) {
	// 颜色顺序: 蓝(灰), 更灰
	const colors = [arrowLineMaterialPropertyGray, arrowLineMaterialPropertyGrayT]
	// 计算颜色索引 (从0开始)
	const colorIndex = (lineNumber - 1) % 2
	// 返回对应颜色
	return colors[colorIndex]
}

function getLineColor (lineNumber) {
	// 颜色顺序: 蓝(0), 黄(1), 绿(2)
	const colors = [arrowLineMaterialProperty, arrowLineMaterialPropertyOrange, arrowLineMaterialPropertyGreen]
	// 计算颜色索引 (从0开始)
	const colorIndex = (lineNumber - 1) % 3
	// 返回对应颜色
	return colors[colorIndex]
}

function getBase64Image (imgUrl) {
	const img = new Image()
	const canvas = document.createElement('canvas')
	const ctx = canvas.getContext('2d')

	return new Promise(resolve => {
		img.onload = function () {
			canvas.width = img.width
			canvas.height = img.height
			ctx.drawImage(img, 0, 0)
			const base64 = canvas.toDataURL('image/png')
			resolve(base64)
		}
		img.src = imgUrl
	})
}
async function createCombinedSVG (index, billboardImageUrl) {
	const base64Image = await getBase64Image(billboardImageUrl)
	const svg = `
	  <svg width="100" height="100" xmlns="http://www.w3.org/2000/svg">
		<image href="${base64Image}" x="10" y="10" width="80" height="80"/>
		<text x="50" y="54" font-size="26" fill="white" text-anchor="middle" dominant-baseline="middle">
		  ${index + 1}
		</text>
	  </svg>
	`
	return `data:image/svg+xml;charset=utf-8,${encodeURIComponent(svg)}`
}

function findHeightByCoordinates (data, targetLng, targetLat) {
	// 展平二维数组，然后查找第一个匹配的点
	const allPoints = data.flat()
	const point = allPoints.find(point =>
		point.longitude === targetLng && point.latitude === targetLat
	)

	return point ? point.height : null
}

function renderingMachineNest (options) {
	const { viewer, dockTransformPosition, dockPosition, data } = options
	viewer.entities.add({
		name: 'work-drone-route-point-dock',
		position: dockTransformPosition,
		billboard: {
			image: endingOnlineImg,
			width: 50,
			height: 50,
			disableDepthTestDistance: Number.POSITIVE_INFINITY,
		},
		customData: {
			data,
		},
	})
	viewer.entities.add({
		name: 'work-drone-route--point-polyline',
		position: dockTransformPosition,
		polyline: getPolyLine(viewer, { value: [dockPosition] }, 0),
	})
}

function renderingStartingPoint (options) {
	const { viewer, startPosition, data } = options
	viewer.entities.add({
		name: 'work-drone-route-point-start',
		position: startPosition,
		billboard: {
			image: rwqfdImg,
			width: 50,
			height: 50,
			disableDepthTestDistance: Number.POSITIVE_INFINITY,
		},
		customData: {
			data,
		},
	})
}

export default class CreateRouteLine {
	/**
	 *
	 * @param {*} options 参数
	 */
	constructor(options) {
		this.type = options?.type || 'single'
		this.isShowVideoPlan = options?.isShowVideoPlan || false

		this.viewer = null
		this.currentWaypointIndex = null
		this.droneSpeedArr = []

		this.multiNestData = []

		this.detailsMapPopupData = []

		this.labelBoxRenderHandler = this.labelBoxRender.bind(this)
		this.removeLabelHandler = this.removeLabel.bind(this)
	}

	/**
	 * 初始化viewer
	 * @param {*} viewer
	 */
	initCreateRoute (viewer) {
		this.viewer = viewer
	}

	/**
	 * 设置当前所在点位
	 * @param {*} data flighttaskProgressInfo 信息
	 */
	setCurrentWaypointIndex (data) {
		const output = data?.output
		const sn = data?.sn

		if (output?.ext) {
			const currentWaypointIndex = output?.ext['current_waypoint_index']

			this.updataMultiNestData(sn, {
				currentWaypointIndex,
			})
		}
	}

	/**
	 * 请求航线文件数据并绘制解析处理
	 * @param {*} data 包含文件url等信息
	 * @param {*} dockPosition 无人机位置
	 * @returns
	 */
	async parsingFiles (data, dockPosition = null, isShowDock = false, isShowPointBillboard = true) {
		console.log(data,'888')
		const { url, wayline_type, device_sn } = data
		indexLog = 0
		if (!url)
			return dockPosition != null
				? {
					dronePosition: [{ lng: dockPosition.longitude, lat: dockPosition.latitude, alt: dockPosition.height }],
				}
				: {}
		this.updataMultiNestData(device_sn)

		const res = await analyzeKmzFile(`${url}?_t=${new Date().getTime()}`)

		const templateXML = await res.fileInfoObj['wpmz/template.kml']
		const waylinesXML = await res.fileInfoObj['wpmz/waylines.wpml']

		const templateXmlJson = XMLToJSON(templateXML)?.['Document']
		const waylinesXmlJson = XMLToJSON(waylinesXML)?.['Document']

		const templateXMLObj = removeTextKey(templateXmlJson.Folder)
		const { takeOffRefPoint } = removeTextKey(templateXmlJson.missionConfig)

		const [latitude, longitude, height] = takeOffRefPoint.split(',').map(item => _.round(item, 6))

		const startPoint = { latitude, longitude, height: Number.isNaN(height) ? 0 : height }

		const { templateType } = templateXMLObj

		const missionConfig = removeTextKey(waylinesXmlJson.missionConfig)
		const waylinesXMLObj = removeTextKey(waylinesXmlJson.Folder)

		if (templateType === 'mapping3d') {
			if (!waylinesXMLObj[0].Placemark.length) return ElMessage.error('没有航线点位')
		} else {
			if (!waylinesXMLObj.Placemark.length) return ElMessage.error('没有航线点位')
		}

		if ([2, 4, 5, 7, 10].includes(Number(wayline_type))) {
			if (templateType === 'mapping3d') {
				let morePolygonData = waylinesXMLObj.map(i => ({
					data: i.Placemark,
				}))

				let newPolygonData = getNewPolygonData(morePolygonData)

				let newPolygonDisposePositions = newPolygonData.map(i =>
					Cesium.Cartesian3.fromDegrees(Number(i[0]), Number(i[1]))
				)

				this.viewer.entities.add({
					name: 'work-drone-route-planar-outer-polygon',

					polygon: {
						hierarchy: new Cesium.CallbackProperty(() => {
							return new Cesium.PolygonHierarchy(newPolygonDisposePositions)
						}, false),
						material: Cesium.Color.fromBytes(255, 228, 22, 44),
						outline: false,
						outlineWidth: 2,
						heightReference: Cesium.HeightReference.CLAMP_TO_GROUND,
					},
				})

				return this.drawPlanarRoute(
					waylinesXMLObj[0],
					missionConfig,
					templateXmlJson,
					dockPosition,
					data,
					startPoint,
					isShowDock,
					isShowPointBillboard,
					wayline_type
				)
			}

			return this.drawPlanarRoute(
				waylinesXMLObj,
				missionConfig,
				templateXmlJson,
				dockPosition,
				data,
				startPoint,
				isShowDock,
				isShowPointBillboard,
				wayline_type
			)
		} else {
			return this.drawPointRoute(
				waylinesXMLObj,
				missionConfig,
				dockPosition,
				data,
				startPoint,
				isShowDock,
				isShowPointBillboard,
				wayline_type
			)
		}
	}

	// 拆分航线
	async splitWayLine (data, dronePosition = null, isShowDock = false, isShowPointBillboard = true) {
		const {
			pointPlacemark,
			polygonList,
			pointList,
			templateType,
			startPoint,
			execute_height_mode,
			auto_flight_speed,
			take_off_security_height,
			buffer_distance_meters,
			missionConfig,
			waylinesXMLObjR,
		} = await analysisPointLineKmz(`${data.domain_url}${data.object_key}`)
		const { positionArray, filePositions } = this.disposeData(
			waylinesXMLObjR,
			missionConfig,
			null,
			data,
			startPoint,
			0
		)
		let bigPointList = handlePointListForKmz({
			placemark: pointPlacemark,
			startPoint: startPoint,
			execute_height_mode: execute_height_mode,
			auto_flight_speed: auto_flight_speed,
		})
		// 路径线
		let entityConfig
		bigPointList.shift()
		let flyPositions = bigPointList.map(i => [Number(i.longitude), Number(i.latitude), Number(i.height)])
		// 渲染多个点
		let firstTopPosition = null
		let resultPosotions = []
		await Promise.all(data.wayline_file_list.map(async (item, index) => {
			// 小航线渲染线
			const kmzUrl = import.meta.env.VITE_APP_AIRLINE_URL + item.object_key
			const { pointList } = await analysisPointLineKmz(kmzUrl)
			resultPosotions.push(pointList)
		})).then(res => {
			// 目的是区分大航线点属于哪条小航线
			bigPointList.forEach(bigObj => {
				let foundIndex = -1
				// 遍历 resultPositions 查找匹配项
				resultPosotions.some((subArray, subIndex) => {
					const found = subArray.some(obj =>
						obj.latitude === bigObj.latitude &&
						obj.longitude === bigObj.longitude
					)
					if (found) {
						foundIndex = subIndex
						return true // 找到就停止搜索
					}
					return false
				})
				// 如果找到了，给 bigPointList 的对象添加标记
				if (foundIndex !== -1) {
					bigObj.log = foundIndex // 或 bigObj.index = foundIndex
				}
			})
			console.log(bigPointList, '查看结果值') // 现在 bigPointList 会有 log 属性
			bigPointList.map(async (i, index) => {
				firstTopPosition = i
				const position = Cesium.Cartesian3.fromDegrees(Number(i.longitude), Number(i.latitude), Number(findHeightByCoordinates(resultPosotions, i.longitude, i.latitude)))
				const combinedImage = await createCombinedSVG(index, i.log % 2 ? newStartPoint : newStartPointMore)

				entityConfig = {
					name: 'work-drone-route-point-split',
					position: position,
					billboard: {
						disableDepthTestDistance: Number.POSITIVE_INFINITY,
						image: combinedImage,
						width: 50,
						height: 50,
						verticalOrigin: Cesium.VerticalOrigin.CENTER,
						horizontalOrigin: Cesium.HorizontalOrigin.CENTER,
					}
				}

				// 只在第一个点添加 label
				if (index === 0) {
					entityConfig.label = {
						text: data.task_name || '',
						font: 'bold 16px sans-serif',
						fillColor: data.status === 2 ? runningTextColor : pendingTextColor,
						pixelOffset: data.status === 2 ? runningTextOffset : pendingTextOffset,
						style: Cesium.LabelStyle.FILL_AND_OUTLINE,
						outlineWidth: 2,
						outlineColor: Cesium.Color.BLACK,
						disableDepthTestDistance: Number.POSITIVE_INFINITY,
					}
				}

				this.viewer.entities.add(entityConfig)
			})
		})

		// 渲染航线
		data.wayline_file_list.map(async (item, index) => {
			// 小航线渲染线
			const kmzUrl = import.meta.env.VITE_APP_AIRLINE_URL + item.object_key
			const { pointList } = await analysisPointLineKmz(kmzUrl)
			// if (curRouteLineData.value.droneData && splitLines.length === 1) {
			// 	// 把pointList的第一个点替换为无人机位置
			// 	pointList[0] = curRouteLineData.value.droneData[0]
			// }
			if (take_off_security_height + pointList[0].height > firstTopPosition.height) {
				// 安全高度+机巢高度 > 第一个点高度
				const positionTest = {
					longitude: pointList[0].longitude,
					latitude: pointList[0].latitude,
					height: take_off_security_height + pointList[0].height,
				}

				const positionTest1 = {
					longitude: pointList[1].longitude,
					latitude: pointList[1].latitude,
					height: take_off_security_height + pointList[0].height,
				}
				pointList.splice(1, 0, positionTest)
				// 往数组中插入元素
				pointList.splice(2, 0, positionTest1)
				// console.log(pointList, 'pointList')
			} else if (take_off_security_height + pointList[0].height < firstTopPosition.height) {
				const positionTest = {
					longitude: pointList[0].longitude,
					latitude: pointList[0].latitude,
					height: firstTopPosition.height,
				}
				pointList.splice(1, 0, positionTest)
			}
			const routePositions = pointList.map(i =>
				Cesium.Cartesian3.fromDegrees(Number(i.longitude), Number(i.latitude), Number(i.height))
			)

			this.viewer.entities.add({
				name: 'work-drone-route-line-split',
				polyline: {
					width: 4,
					positions: routePositions,
					material: data.status === 1 ? arrowLineMaterialPropertyGray : getLineColor(index + 1),
					clampToGround: false,
				},
			})
		})
			// 落点线
			; (bigPointList || [])?.forEach((item, index) => {
				const topPosition = Cesium.Cartesian3.fromDegrees(
					Number(item.longitude),
					Number(item.latitude),
					Number(item.height)
				)
				let setting = {
					name: 'work-drone-route--planar-polyline-split',
					position: topPosition,
					polyline: getPolyLine(this.viewer, { value: bigPointList }, index),
				}
				this.viewer.entities.add(setting)
			})
		return {
			entity: entityConfig,
			routeLinePositions: positionArray,
			filePositions:
				dronePosition != null
					? [{ lng: dronePosition.longitude, lat: dronePosition.latitude, alt: dronePosition.height }, ...filePositions]
					: filePositions,
		}
	}

	/**
	 * 绘制面状航线
	 * @param {*} lineObj 航线文件中的
	 * @param {*} missionConfig 航线文件中的
	 * @param {*} templateXmlJson 航线文件中的
	 * @param {*} dockPosition 无人机位置
	 * @param {*} data
	 * @param {*} startPoint
	 * @returns
	 */
	async drawPlanarRoute (
		lineObj,
		missionConfig,
		templateXmlJson,
		dockPosition,
		data,
		startPoint,
		isShowDock,
		isShowPointBillboard,
		wayline_type
	) {
		const { positionArray, filePositions } = this.disposeData(
			lineObj,
			missionConfig,
			dockPosition,
			data,
			startPoint,
			wayline_type
		)
		const { device_sn } = data

		const dockTransformPosition = Cesium.Cartesian3.fromDegrees(
			Number(dockPosition.longitude),
			Number(dockPosition.latitude),
			Number(dockPosition.height)
		)

		let coordArr = null

		const placemark = templateXmlJson.Folder?.Placemark
		// 取出点位
		const coordinates = placemark.Polygon?.outerBoundaryIs.LinearRing.coordinates?.['#text']?.split('\n') || []
		// 数组转换
		coordArr = coordinates.map(coordinate =>
			coordinate
				.replace(/\s+/g, '')
				.split(',')
				.map(v => Number(v))
		)

		// 获取当前经纬度绝对高度
		let newCoordArr = coordArr.map(item => [item[0], item[1], 0])
		let planarRouteEntity = this.viewer.entities.add({
			name: 'work-drone-route-planar-polyline',
			polyline: {
				width: 3,
				positions: positionArray,
				material: Cesium.Color.CHARTREUSE,
				zIndex: 1,
			},

			customData: {
				data,
			},
		})

		let droppointPositions = (filePositions || [])?.map(i => ({
			longitude: Number(i.lng),
			latitude: Number(i.lat),
			height: Number(i.alt),
		}))

			// 落点线
			; (droppointPositions || [])?.forEach((item, index) => {
				const topPosition = Cesium.Cartesian3.fromDegrees(
					Number(item.longitude),
					Number(item.latitude),
					Number(item.height)
				)
				let setting = {
					name: 'work-drone-route--planar-polyline',
					position: topPosition,
					polyline: getPolyLine(this.viewer, { value: droppointPositions }, index),
				}
				this.viewer.entities.add(setting)
			})

		// 面状航线第一个点突出展示
		isShowPointBillboard && this.startingIncreasePoint(positionArray)

		// 面状判断当前点位数量
		const cloneCoordArr = [...newCoordArr]

		if (cloneCoordArr.length >= 3) {
			cloneCoordArr.push(newCoordArr[0])
		}

		// 绘制面状边框线--------------------
		this.viewer.entities.add({
			name: 'work-drone-route-planar-border',

			polyline: {
				positions: Cesium.Cartesian3.fromDegreesArrayHeights(cloneCoordArr.flat()),
				width: 4,
				material: new Cesium.PolylineOutlineMaterialProperty({
					color: new Cesium.Color.fromBytes(74, 138, 233),
					outlineWidth: 2,
					outlineColor: Cesium.Color.WHITE,
				}),
				zIndex: -1,
				clampToGround: true,
			},
		})

		// 绘制面状地块--------------------
		this.viewer.entities.add({
			name: 'work-drone-route-planar-polygon',
			polygon: {
				hierarchy: Cesium.Cartesian3.fromDegreesArrayHeights(newCoordArr.flat()),
				material: new Cesium.Color.fromBytes(75, 159, 221, 100),
				outline: true,
				outlineColor: new Cesium.Color.fromBytes(35, 85, 216, 255),
				zIndex: -1,
			},
		})

		if (this.type === 'clusterScheduling') {
			this.viewer.entities.add({
				name: 'work-drone-route-point-start',
				position: Cesium.Cartesian3.fromDegrees(filePositions[0].lng, filePositions[0].lat, filePositions[0].alt),

				billboard: {
					image: rwqfdImg,
					outlineWidth: 0,
					width: 50,
					height: 50,
					disableDepthTestDistance: Number.POSITIVE_INFINITY,
				},

				label: {
					text: data.job_name || '',
					font: 'bold 16px sans-serif',
					fillColor: Cesium.Color.WHITE,
					pixelOffset: new Cesium.Cartesian2(0, -50),
					style: Cesium.LabelStyle.FILL_AND_OUTLINE,
					outlineWidth: 2,
					outlineColor: Cesium.Color.BLACK,
					disableDepthTestDistance: Number.POSITIVE_INFINITY,
				},
			})
		} else {
			// 显示机巢位置
			isShowDock && renderingMachineNest({
				viewer: this.viewer,
				dockTransformPosition,
				dockPosition,
				data
			})
			// 起点
			isShowPointBillboard && renderingStartingPoint({
				viewer: this.viewer,
				startPosition: Cesium.Cartesian3.fromDegrees(
					Number(filePositions[0].lng),
					Number(filePositions[0].lat),
					Number(filePositions[0].alt)
				),
				data
			})
		}

		return {
			entity: planarRouteEntity,
			routeLinePositions: positionArray,
			filePositions:
				dockPosition != null
					? [{ lng: dockPosition.longitude, lat: dockPosition.latitude, alt: dockPosition.height }, ...filePositions]
					: filePositions,
		}
	}

	planarBillboard (color) {
		const billboard = document.createElement('canvas')
		const ctx = billboard.getContext('2d')
		const radius = 4
		ctx.beginPath()
		ctx.arc(radius, radius, radius, 0, 2 * Math.PI, false)
		ctx.fillStyle = color // 设置填充颜色
		ctx.fill()
		return billboard
	}

	startingIncreasePoint (wayData) {
		let positions = wayData[3]

		let setting = {
			name: 'work-drone-route-planar-start',
			position: positions,
			billboard: {
				image: this.planarBillboard('#2D8CF0'),
				pixelOffset: new Cesium.Cartesian2(146, 72),
				zIndex: 2,
			},
		}

		this.viewer.entities.add(setting)
	}

	/**
	 * 绘制点航线
	 * @param {*} lineObj 航线文件中的
	 * @param {*} missionConfig 航线文件中的
	 * @param {*} dockPosition 无人机位置
	 * @param {*} data 任务信息，航线地址等
	 * @param {*} startPoint
	 * @param {*} isShowDock 是否显示机巢位置
	 * @returns
	 */
	async drawPointRoute (
		lineObj,
		missionConfig,
		dockPosition,
		data,
		startPoint,
		isShowDock,
		isShowPointBillboard,
		wayline_type
	) {
		const { positionArray, filePositions } = this.disposeData(
			lineObj,
			missionConfig,
			dockPosition,
			data,
			startPoint,
			wayline_type
		)

		const dockTransformPosition = Cesium.Cartesian3.fromDegrees(
			Number(dockPosition.longitude),
			Number(dockPosition.latitude),
			Number(dockPosition.height)
		)
		// 路径线
		let polyline

		indexLog = indexLog + 1

		if (this.type === 'clusterScheduling') {
			filePositions.forEach((item, index) => {
				let position = Cesium.Cartesian3.fromDegrees(item.lng, item.lat, item.alt)
				if (index === 0) {
					this.viewer.entities.add({
						name: 'work-drone-route-point-start',
						position,
						billboard: {
							image: rwqfdImg,
							outlineWidth: 0,
							width: 50,
							height: 50,
							disableDepthTestDistance: Number.POSITIVE_INFINITY,
						},
						label: {
							text: data.job_name || '',
							font: 'bold 16px sans-serif',
							fillColor: data.type === 2 ? runningTextColor : pendingTextColor,
							pixelOffset: data.type === 2 ? runningTextOffset : pendingTextOffset,
							style: Cesium.LabelStyle.FILL_AND_OUTLINE,
							outlineWidth: 2,
							outlineColor: Cesium.Color.BLACK,
							disableDepthTestDistance: Number.POSITIVE_INFINITY,
						},
					})
				} else if (index === filePositions.length - 1) {
					this.viewer.entities.add({
						name: 'work-drone-route-point-end',
						position,
						billboard: {
							image: newEndPointImg,
							outlineWidth: 0,
							width: 40,
							height: 40,
							scale: 1.0,
							verticalOrigin: Cesium.VerticalOrigin.TOP, // 添加这行确保图标正确显示
							pixelOffset: new Cesium.Cartesian2(0, -20), // 根据需要调整偏移量
						},
					})
				} else {
					this.viewer.entities.add({
						name: 'work-drone-route-point-approach',
						position,
						billboard: {
							image: newNumPoint,
							width: 50,
							height: 50,
						},

						label: {
							text: `${index}`,
							font: 'bold 14px serif',
							fillColor: Cesium.Color.WHITE,
							pixelOffset: new Cesium.Cartesian2(1, 0), // 根据需要调整偏移量
							eyeOffset: new Cesium.Cartesian3(0, 0, -10), // 使标签在点的上方
						},

						offset: new Cesium.Cartesian2(10, 30),
					})
				}
			})
			polyline = this.viewer.entities.add({
				name: 'work-drone-route-point-polyline',
				polyline: {
					width: 4,
					positions: positionArray,
					material: data.type === 2 ? getLineColor(indexLog) : arrowLineMaterialPropertyGray,
					clampToGround: false,
				},
			})
		} else {
			// 显示机巢位置
			isShowDock && renderingMachineNest({
				viewer: this.viewer,
				dockTransformPosition,
				dockPosition
			})
			// 起点
			isShowPointBillboard && renderingStartingPoint({
				viewer: this.viewer,
				startPosition: Cesium.Cartesian3.fromDegrees(
					Number(filePositions[0].lng),
					Number(filePositions[0].lat),
					Number(filePositions[0].alt)
				),
				data
			})
			// 终点
			isShowPointBillboard &&
				this.viewer.entities.add({
					name: 'work-drone-route-point-end',
					position: positionArray[positionArray.length - 1],
					billboard: {
						image: new Cesium.ConstantProperty(endPointImg),
						width: 30,
						height: 30,
						verticalOrigin: Cesium.VerticalOrigin.BOTTOM, // 底部对齐
					},
				})
			console.log(data.status, '失败')
			polyline = this.viewer.entities.add({
				name: 'work-drone-route-point-polyline',
				polyline: {
					width: 4,
					positions: positionArray,
					material: data.status === 5 ? arrowLineMaterialPropertyGray : getLineColor(indexLog),
					clampToGround: false,
				},
				customData: {
					data,
				},
			})
		}

		let droppointPositions = (filePositions || [])?.map(i => ({
			longitude: Number(i.lng),
			latitude: Number(i.lat),
			height: Number(i.alt),
		}))

			// 落点线
			; (droppointPositions || [])?.forEach((item, index) => {
				const topPosition = Cesium.Cartesian3.fromDegrees(
					Number(item.longitude),
					Number(item.latitude),
					Number(item.height)
				)

				let setting = {
					name: 'work-drone-route--point-polyline',
					position: topPosition,
					polyline: getPolyLine(this.viewer, { value: droppointPositions }, index),
				}
				this.viewer.entities.add(setting)
			})

		return {
			entity: polyline,
			routeLinePositions: positionArray,
			filePositions:
				dockPosition !== null
					? [{ lng: dockPosition.longitude, lat: dockPosition.latitude, alt: dockPosition.height }, ...filePositions]
					: filePositions,
		}
	}

	/**
	 * 通用处理数据
	 * @param {*} lineObj
	 * @param {*} missionConfig
	 * @param {*} dronePosition
	 * @param {*} startPoint
	 * @returns {} {positionArray： 带拼接点位置， filePositions：光航线点位置}
	 */
	disposeData (lineObj, missionConfig, dronePosition, data, startPoint, wayline_type) {
		const { device_sn } = data
		const executeHeightMode = lineObj.executeHeightMode === 'WGS84'

		let filePositions = lineObj.Placemark.map(item => {
			const [lng, lat] = item.Point.coordinates.split(',')
			const height = item.executeHeight

			return {
				lng: Number(lng),
				lat: Number(lat),
				alt: Number(height),
			}
		})

		let safetyHeight

		if (executeHeightMode) {
			let startHeight = new Decimal(missionConfig.takeOffSecurityHeight).plus(dronePosition?.height || 0).toNumber()

			safetyHeight = startHeight < filePositions[0].alt ? filePositions[0].alt : startHeight
		} else {
			safetyHeight =
				missionConfig.takeOffSecurityHeight < filePositions[0].alt
					? filePositions[0].alt
					: missionConfig.takeOffSecurityHeight
		}

		let safetyPositions = []

		if (dronePosition != null) {
			safetyPositions = [
				{
					lng: Number(dronePosition.longitude),
					lat: Number(dronePosition.latitude),
					alt: Number(dronePosition.height),
				},

				{
					lng: Number(dronePosition.longitude),
					lat: Number(dronePosition.latitude),
					alt: Number(safetyHeight),
				},

				{
					lng: filePositions[0].lng,
					lat: filePositions[0].lat,
					alt: Number(safetyHeight),
				},
			]
		}

		let pointAll = [...safetyPositions, ...filePositions]

		const currentRoutePositions = pointAll.map((item, index) => {
			let height = executeHeightMode ? item.alt : item.alt + (dronePosition != null ? dronePosition.height : 0)

			if (index == 0) height = item.alt

			return Cesium.Cartesian3.fromDegrees(item.lng, item.lat, height)
		})

		this.updataMultiNestData(device_sn, {
			currentRoutePositions,
		})

		if ([0].includes(wayline_type)) {
			let startHeight = executeHeightMode
				? filePositions[0].alt
				: filePositions[0].alt + (dronePosition != null ? dronePosition.height : 0)
			let endHeight = executeHeightMode
				? filePositions[1].alt
				: filePositions[1].alt + (dronePosition != null ? dronePosition.height : 0)

			this.updataMultiNestData(device_sn, {
				showPopupPosition: Cesium.Cartesian3.midpoint(
					Cesium.Cartesian3.fromDegrees(filePositions[0].lng, filePositions[0].lat, startHeight),
					Cesium.Cartesian3.fromDegrees(filePositions[1].lng, filePositions[1].lat, endHeight),
					new Cesium.Cartesian3()
				),
			})
		} else {
			let startHeight = executeHeightMode
				? safetyPositions[1].alt
				: safetyPositions[1].alt + (dronePosition != null ? dronePosition.height : 0)
			let endHeight = executeHeightMode
				? safetyPositions[2].alt
				: safetyPositions[2].alt + (dronePosition != null ? dronePosition.height : 0)

			this.updataMultiNestData(device_sn, {
				showPopupPosition: Cesium.Cartesian3.midpoint(
					Cesium.Cartesian3.fromDegrees(safetyPositions[1].lng, safetyPositions[1].lat, startHeight),
					Cesium.Cartesian3.fromDegrees(safetyPositions[2].lng, safetyPositions[2].lat, endHeight),
					new Cesium.Cartesian3()
				),
			})
		}

		return {
			positionArray: currentRoutePositions,
			filePositions: filePositions.map(item => {
				let height = executeHeightMode ? item.alt : item.alt + (dronePosition != null ? dronePosition.height : 0)

				return {
					...item,
					alt: Number(height),
				}
			}),
		}
	}

	/**
	 * 删除entity
	 */
	removeAllRouteEntity () {
		const entities = this.viewer?.entities.values.filter(i => {
			return i?.name && i?.name.includes('work-drone-route-')
		})

		Array.isArray(entities) &&
			entities.forEach(item => {
				this.viewer?.entities.remove(item)
			})
	}

	// 当前无人机视椎体相关
	setCreateFrustum (host, zoomFactor = {}, cameraParams = {}) {
		if (!host) return

		const parent_sn = host?.parent_sn

		if (parent_sn) {
			const curDroneData = this.getCurDroneData(parent_sn)

			curDroneData.viewInfoFrustum?.destroyed()

			const attitude_head = 180 + host?.attitude_head
			const gimbal_pitch = 90 - Number(host?.payloads[0]?.gimbal_pitch) || 0

			let fov = 60

			if (
				zoomFactor?.value?.set === true &&
				cameraParams?.value?.set === true &&
				curDroneData?.camera_type &&
				['wide', 'ir', 'zoom'].includes(curDroneData?.camera_type)
			) {
				if (curDroneData.camera_type === 'wide') {
					fov = 65
				} else {
					const cameraMultiplier = getZoomFactor(host?.cameras?.[0], curDroneData.camera_type)
					switch (cameraMultiplier) {
						case 2: fov = 30; break
						case 3: fov = 19; break
						case 4: fov = 15; break
						case 5: fov = 13; break
						case 6: fov = 11; break
						case 7: fov = 9; break
						case 8: fov = 8.34; break
						case 9: fov = 7.68; break
						case 10: fov = 6.9; break
						case 14: fov = 5; break
						default: fov = 55.946 * Math.exp(-0.4504 * cameraMultiplier) + 6.323
					}
				}
			}

			this.updataMultiNestData(parent_sn, {
				viewInfoFrustum: new CreateFrustum(this.viewer, {
					position: {
						longitude: host?.longitude,
						latitude: host?.latitude,
						altitude: host?.height,
					},
					width: store.state.common.liveResolution.width || 960,
					height: store.state.common.liveResolution.height || 720,
					fov: fov,
					near: 0.01,
					far: 250,
					roll: gimbal_pitch,
					pitch: 0,
					heading: attitude_head,

					isShowVideoPlan: this.isShowVideoPlan,
				}),
			})
		}
	}

	setLiveStatusWs (data) {
		const { device_sn, live_status } = data

		if (device_sn && live_status) {
			this.updataMultiNestData(device_sn, {
				camera_type: live_status?.[0].video_type || 'wide',
			})
		}
	}

	removeCreateFrustum (host) {
		const parent_sn = host?.parent_sn

		if (parent_sn) {
			const curDroneData = this.getCurDroneData(parent_sn)

			curDroneData.viewInfoFrustum?.clear()
		}
	}

	// 设置当前无人机视椎体信息面板
	setFrustumInfoDetails (data) {
		const { dock_sn, distance_to_airport, distance_to_next_point, estimated_time_to_next_point, plane_mileage } = data

		if (dock_sn) {
			const aircraftEntity = this.viewer?.entities.values.find(i => {
				return i?.name && i?.name.includes(`aircraft-glf-${dock_sn}`)
			})

			if (aircraftEntity) {
				// 预计到达下一个航点时间
				let arrivalTime = estimated_time_to_next_point

				if (arrivalTime > 60) {
					const minute = Math.floor(arrivalTime / 60)
					const second = Math.round(arrivalTime % 60)
					arrivalTime = `${minute}m${second}s`
				} else {
					arrivalTime = Math.round(arrivalTime) + 's'
				}

				aircraftEntity.label = new Cesium.LabelGraphics({
					text: `离机场平面距离:${distance_to_airport}m\n离下个航点平面距离:${Math.round(
						distance_to_next_point
					)}m\n到达下个航点剩余时间:${arrivalTime}\n航线总平面里程:${Math.round(plane_mileage)}m`,
					font: '13px monospace',
					showBackground: true,
					horizontalOrigin: Cesium.HorizontalOrigin.CENTER,
					verticalOrigin: Cesium.VerticalOrigin.BOTTOM,
					disableDepthTestDistance: Number.POSITIVE_INFINITY,
					pixelOffset: new Cesium.Cartesian2(0, -40),
					show: true,
				})

				return
			}
		}
	}

	removeFrustumInfoDetails (host) {
		const parent_sn = host?.parent_sn

		if (parent_sn) {
			const aircraftEntity = this.viewer?.entities.values.find(i => {
				return i?.name && i?.name.includes(`aircraft-glf-${parent_sn}`)
			})

			if (aircraftEntity) {
				aircraftEntity.label.show = false
			}
		}
	}

	// 设置无人机模型
	setAircraftGltf (host) {
		const parent_sn = host?.parent_sn
		const attitude_head = Number(host?.payloads?.[0]?.gimbal_yaw) - 90 || 0

		if (parent_sn) {
			const aircraftEntity = this.viewer?.entities.values.find(i => {
				return i?.name && i?.name.includes(`aircraft-glf-${parent_sn}`)
			})

			const position = Cesium.Cartesian3.fromDegrees(host?.longitude, host?.latitude, host?.height)
			// ✅ 新增：Heading / Pitch / Roll（单位：度 -> 弧度）
			const heading = Cesium.Math.toRadians(attitude_head) // 航向角
			const pitch = Cesium.Math.toRadians(0)     // 俯仰角
			const roll = Cesium.Math.toRadians(0)       // 横滚角

			// ✅ 新增：构造 HeadingPitchRoll 和 四元数
			const hpr = new Cesium.HeadingPitchRoll(heading, pitch, roll)
			const orientation = Cesium.Transforms.headingPitchRollQuaternion(position, hpr)

			if (aircraftEntity) {
				aircraftEntity.position = new Cesium.ConstantPositionProperty(position)
				aircraftEntity.orientation = new Cesium.ConstantProperty(orientation)

				return
			}

			if (parent_sn) {
				this.viewer?.entities.add({
					name: `aircraft-glf-${parent_sn}`,
					position,
					orientation,
					label: {},
					model: {
						uri: aircraftGltf, // 或 .glb
						scale: 64, // 缩放比例
						minimumPixelSize: 64, // 最小像素尺寸（保证模型远处可见）
						maximumScale: 64, // 最大缩放（可选）
					},
				})
			}
		}
	}

	// 移除无人机模型
	removeAircraftGltf (host) {
		const parent_sn = host?.parent_sn

		if (parent_sn) {
			const aircraftEntity = this.viewer?.entities.values.find(i => {
				return i?.name && i?.name.includes(`aircraft-glf-${parent_sn}`)
			})

			if (aircraftEntity) {
				this.viewer?.entities.remove(aircraftEntity)
			}
		}
	}

	// 移除所有无人机视椎体
	removeViewInfoFrustum () {
		this.multiNestData.forEach(item => {
			if ('viewInfoFrustum' in item && item.viewInfoFrustum) {
				item.viewInfoFrustum?.clear()

				delete item.viewInfoFrustum
			}
		})
	}

	mapEntityRemove (host) {
		const parent_sn = host?.parent_sn

		if (parent_sn) {
			const curDroneData = this.getCurDroneData(parent_sn)

			curDroneData.viewInfoFrustum?.clear()

			delete curDroneData.viewInfoFrustum

			const entities = this.viewer?.entities.values.filter(i => {
				return i?.name && i?.name.includes(`aircraft-glf-${parent_sn}`)
			})

			Array.isArray(entities) &&
				entities.forEach(item => {
					this.viewer?.entities.remove(item)
				})
		}
	}

	mapEntityRemoveAll () {
		const entities = this.viewer?.entities.values.filter(i => {
			return i?.name && i?.name.includes(`aircraft-glf-`)
		})

		Array.isArray(entities) &&
			entities.forEach(item => {
				this.viewer?.entities.remove(item)
			})

		this.multiNestData.length > 0 &&
			this.multiNestData.forEach(item => {
				item.viewInfoFrustum?.clear()
			})
	}

	/**
	 * 更新多机场数据
	 * @param {*} device_sn 机巢SN
	 * @param {*} data 机巢对应需绑定数据
	 */
	updataMultiNestData (device_sn, data) {
		const isHave = this.multiNestData.find(item => item.device_sn === device_sn)
		const isHaveInd = this.multiNestData.findIndex(item => item.device_sn === device_sn)

		if (isHave) {
			this.multiNestData[isHaveInd] = {
				...this.multiNestData[isHaveInd],

				...data,
			}
		} else {
			this.multiNestData.push({
				device_sn,
				...data,
			})
		}
	}

	/**
	 * 根据机巢sn获取当前机巢对应的相关信息
	 * @param {*} device_sn
	 */
	getCurDroneData (device_sn) {
		const isHave = this.multiNestData.find(item => item.device_sn === device_sn)

		if (isHave) return this.multiNestData.find(item => item.device_sn === device_sn)

		return false
	}

	showDetailMapPopup (data) {
		const that = this
		this.detailsMapPopupData = data.map(item => {
			return {
				...item,
				show: true,
				uuid: uuidv4(),
			}
		})
		this.viewer.scene.postRender.addEventListener(that.labelBoxRenderHandler)
	}

	showSingleDetailMapPopup (data) {
		this.detailsMapPopupData.forEach(
			i => i?.job_id === data?.job_id && i?.device_sn === data?.device_sn && (i.show = true)
		)
	}

	getLabelDom (data) {
		const that = this
		const vNode = h(MapPopUpBox, { data, removeLabel: that.removeLabelHandler })
		const tooltipContainer = document.createElement('div')

		tooltipContainer.id = data.uuid
		tooltipContainer.style.position = 'absolute'
		tooltipContainer.style.transform = 'translate(-50%,10%)'
		tooltipContainer.style.pointerEvents = 'none'
		document.querySelector('.content-map-popups').append(tooltipContainer)
		render(vNode, tooltipContainer)
		return tooltipContainer
	}

	labelBoxRender () {
		this.detailsMapPopupData
			.filter(i => i.show === true)
			.forEach(item => {
				const { showPopupPosition } = this.getCurDroneData(item.device_sn)

				let dom = document.querySelector(`[id="${item.uuid}"]`)

				if (!dom) {
					dom = this.getLabelDom(item)
				}

				const screenPosition = this.viewer?.scene.cartesianToCanvasCoordinates(showPopupPosition)
				if (screenPosition) {
					dom.style.left = `${screenPosition.x}px`
					dom.style.top = `${screenPosition.y}px`
					dom.style.display = 'block'
				}
			})
	}

	// 移除弹框标签
	removeLabel (data) {
		const that = this

		that.removeDom(data)
	}

	removeDom (data) {
		const that = this

		const dom = document.querySelector(`[id="${data.uuid}"]`)

		if (dom && dom.parentNode) {
			that.detailsMapPopupData.forEach(i => i.uuid === data.uuid && (i.show = false))

			dom.parentNode.removeChild(dom)
		}
	}

	destroyedCustomDom () {
		const that = this
		that.viewer?.scene.postRender.removeEventListener(that.labelBoxRenderHandler)
	}
}