import { DRC_METHOD } from '@/const/drc.js'
import { ElMessage } from 'element-plus'
import { postPayloadCommands, ptzControlApi } from '@/api/payload'
import _, { throttle } from 'lodash'
import EventBus from '@/utils/eventBus'
import store from '@/store/'
let myInterval

export const KeyCode =  {
		KEY_W: 'KeyW',
		KEY_A: 'KeyA',
		KEY_S: 'KeyS',
		KEY_D: 'KeyD',
		KEY_Q: 'KeyQ',
		KEY_E: 'KeyE',
		KEY_J: 'KeyJ',
		KEY_K: 'KeyK',
		KEY_L: 'KeyL',
		KEY_X: 'KeyX',
		KEY_Z: 'KeyZ',
		KEY_C: 'KeyC',
		KEY_I: 'KeyI',
		KEY_O: 'KeyO',
		ARROW_UP: 'ArrowUp',
		ARROW_DOWN: 'ArrowDown',
		ARROW_LEFT: 'ArrowLeft',
		ARROW_RIGHT: 'ArrowRight',
		NUMPAD_SUBTRACT: 'NumpadSubtract',
		NUMPAD_ADD: 'NumpadAdd',
		// 提升速度
		KEY_EQUAL: 'Equal',
		KEY_MINUS: 'Minus',
		// 录音
		KEY_N: 'KeyN',
		KEY_M: 'KeyM',
	}

export function useManualControl(mqttHooks,deviceTopicInfo,paramsRef,isManualControl,modelCode,activeBtnList) {
	let activeCodeKey = null
	let genPortOne = true //是一代机场
	let seq = 0
	let downTime = null; // 按键按下时间

	const keysPressed = [
		{key: 'KeyQ', value: false},
		{key: 'KeyW', value: false},
		{key: 'KeyE', value: false},
		{key: 'KeyA', value: false},
		{key: 'KeyS', value: false},
		{key: 'KeyD', value: false},
		{key: 'KeyC', value: false},
		{key: 'KeyZ', value: false},
		{key: 'ArrowUp', value: false},
		{key: 'ArrowDown', value: false},
		{key: 'ArrowLeft', value: false},
		{key: 'ArrowRight', value: false},
	]

	// QE按键额外处理
	function qKeyEKeyHandle() {
		let ratio = (Date.now()-downTime) / 4000
		if (ratio > 1) ratio = 1;
		if (ratio < 0.1) ratio = 0.1;
		const W_SPEED = (genPortOne ? 90 : 600) * ratio
		let obj
		if (activeCodeKey === 'KeyQ'){
			obj = { yaw: 1024-W_SPEED }
			if (genPortOne) {obj = {w: -W_SPEED}}
		}else{
			obj = { yaw: 1024+W_SPEED }
			if (genPortOne) {obj = {w: W_SPEED}}
		}
		return obj
	}

	// 云台参数处理，最大20°
	function ptzKeyHandle() {
		let ratio = (Date.now()-downTime) / 4000
		if (ratio > 1) ratio = 1;
		if (ratio < 0.1) ratio = 0.1;
		return 20 * ratio
	}

	// 变焦倍数处理，最大5倍
	function getZoomFactor() {
		let ratio = (Date.now()-downTime) / 4000
		if (ratio > 1) ratio = 1;
		if (ratio < 0.1) ratio = 0.2;
		return 5 * ratio
	}

	// 处理无人机控制指令的发布逻辑
	function handlePublish(params) {
		const body = {
			method: genPortOne ? DRC_METHOD.DRONE_CONTROL : DRC_METHOD.DRONE_CONTROL2,
			data: params,
		}
		handleClearInterval()
		myInterval = setInterval(() => {
			body.data.seq = seq++
			seq++
			// q,e额外处理
			if (['KeyQ', 'KeyE'].includes(activeCodeKey)){
				body.data = qKeyEKeyHandle()
			}
			window.console.log('keyCode>>>>', activeCodeKey, body)
			mqttHooks?.publishMqtt(deviceTopicInfo.pubTopic, body, { qos: 0 })
		}, 50)
	}

	let downKeyCode
	// 案件按下逻辑
	function handleKeyup(keyCode) {
		console.log(keyCode,'keyCodekeyCode')
		const droneControl = [3, 16, 17].includes(modelCode.value)
		if (
			!['KeyJ', 'KeyK', 'KeyI', 'KeyO', 'ArrowUp', 'ArrowRight', 'ArrowDown', 'ArrowLeft',].includes(keyCode)
			&& !droneControl
		) {
			return
		}
		if (downKeyCode !== keyCode){
			downKeyCode = keyCode
			downTime = Date.now()
		}
		const  {droneSn,speed} =  paramsRef.value
		genPortOne = droneSn === '1581F5BMD22CK0014H2U' || droneSn === 'BA0BA1C3D38157A49E1B16574FA474F7';
		const exactMapping = [0,3,5,6,7,8,9,10,11,12,12,13,14,14,15,15]
		const SPEED = genPortOne ?  speed : (exactMapping[speed] * 44)
		const HEIGHT = genPortOne ? 5 : 500; //  check
		// 机头角速度  一代-90， 90，二三代 -600，600
		const W_SPEED = genPortOne ? 90 : 600

		let arrList = []
		if (genPortOne) {
			arrList = [
				{ Key: 'KeyQ', category: 'w', value: -W_SPEED },{ Key: 'KeyW',category: 'x', value: SPEED },
				{ Key: 'KeyE', category: 'w', value: W_SPEED},{ Key: 'KeyA', category: 'y', value: -SPEED},
				{ Key: 'KeyS', category: 'x', value: -SPEED},{ Key: 'KeyD', category: 'y', value: SPEED}
			]
		} else {
			arrList = [
				{ Key: 'KeyQ', category: 'yaw', value: 1024-W_SPEED },{ Key: 'KeyW',category: 'pitch', value: 1024+SPEED },
				{ Key: 'KeyE', category: 'yaw', value: 1024+W_SPEED},{ Key: 'KeyA', category: 'roll', value: 1024-SPEED},
				{ Key: 'KeyS', category: 'pitch', value: 1024-SPEED},{ Key: 'KeyD', category: 'roll', value: 1024+SPEED}
			]
		}
		let resultObj = []
		let resultArr = []
		// 遍历被选中得数组
		if (keyCode === 'assemblyKeys') {
			keysPressed.map(key => {
				if (key.value) {
					let result = arrList.filter(item =>item.Key===key.key)
					resultObj.push(result[0])
				}
			})
			// 相同属性值进行计算
			resultArr = resultObj.reduce((acc, item) => {
				// 如果累加器中已经有这个 category，则累加 value
				if (acc[item.category]) {
					// acc[item.category] += item.value;
					acc[item.category] = genPortOne ? 0 : 1024;
				} else {
					// 否则，初始化这个 category 的 value
					acc[item.category] = item.value;
				}
				return acc;
			}, {});
		}

		seq = 0
		switch (keyCode) {
			case 'assemblyKeys': // 针对Q W E A S D 组合键
				if (activeCodeKey === keyCode) return
				handlePublish(resultArr)
				activeCodeKey = keyCode
				break
			case 'KeyQ':
				if (activeCodeKey === keyCode) return
				console.log(88888888888888)
				let objQ = { yaw: 1024-W_SPEED }
				if (genPortOne) {objQ = {w: -W_SPEED}}
				handlePublish(objQ)
				activeCodeKey = keyCode
				break
			case 'KeyW':
				if (activeCodeKey === keyCode) return
				let objW = { pitch: 1024+SPEED }
				if (genPortOne) {objW = {x: SPEED}}
				handlePublish(objW)
				activeCodeKey = keyCode
				break
			case 'KeyE':
				if (activeCodeKey === keyCode) return
				let objE = { yaw: 1024+W_SPEED }
				if (genPortOne) {objE = {w: W_SPEED}}
				handlePublish(objE)
				activeCodeKey = keyCode
				break
			case 'KeyA':
				if (activeCodeKey === keyCode) return
				let objA = { roll: 1024-SPEED }
				if (genPortOne) {objA = {y: -SPEED}}
				handlePublish(objA)
				activeCodeKey = keyCode
				break
			case 'KeyS':
				if (activeCodeKey === keyCode) return
				let objS = { pitch: 1024-SPEED }
				if (genPortOne) {objS = {x: -SPEED}}
				handlePublish(objS)
				activeCodeKey = keyCode
				break
			case 'KeyD':
				if (activeCodeKey === keyCode) return
				let objD = { roll: 1024+SPEED }
				if (genPortOne) {objD = {y: SPEED}}
				handlePublish(objD)
				activeCodeKey = keyCode
				break
			case 'KeyZ':
				if (activeCodeKey === keyCode) return
				let objZ = { throttle: 1024-HEIGHT }
				if (genPortOne) {objZ = {h: -HEIGHT}}
				handlePublish(objZ)
				activeCodeKey = keyCode
				break
			case 'KeyC':
				if (activeCodeKey === keyCode) return
				let objC = { throttle: 1024+HEIGHT }
				if (genPortOne) {objC = {h: HEIGHT}}
				handlePublish(objC)
				activeCodeKey = keyCode
				break
			case 'NumpadAdd':
				if (activeCodeKey === keyCode) return
				EventBus.emit('controlPanel-editSpeed',1)
				activeCodeKey = keyCode
				break
			case 'NumpadSubtract':
				if (activeCodeKey === keyCode) return
				EventBus.emit('controlPanel-editSpeed',-1)
				activeCodeKey = keyCode
				break
			case 'ArrowUp':
				if (activeCodeKey === keyCode) return
				ptzControlInterval('up')
				activeCodeKey = keyCode
				break
			case 'ArrowDown':
				if (activeCodeKey === keyCode) return
				ptzControlInterval('down')
				activeCodeKey = keyCode
				break
			case 'ArrowLeft':
				if (activeCodeKey === keyCode) return
				ptzControlInterval('left')
				activeCodeKey = keyCode
				break
			case 'ArrowRight':
				if (activeCodeKey === keyCode) return
				ptzControlInterval('right')
				activeCodeKey = keyCode
				break
			case 'KeyJ': //拍照
				if (activeCodeKey === keyCode) return
				EventBus.emit('TaskDetailsLeft-takePictures')
				activeCodeKey = keyCode
				break
			case 'KeyK'://录像
				if (activeCodeKey === keyCode) return
				EventBus.emit('TaskDetailsLeft-recordFun')
				activeCodeKey = keyCode
				break
			case 'KeyI': //放大变焦
				if (activeCodeKey === keyCode) return
				zoomFactorChange(1)
				activeCodeKey = keyCode
				break
			case 'KeyO': //缩小变焦
				if (activeCodeKey === keyCode) return
				zoomFactorChange(0)
				activeCodeKey = keyCode
				break
			case 'KeyX': //悬停
				break
			case 'KeyB': // 文字转广播
				if (!isManualControl.value) {
					return ElMessage.warning('请先接管!')
				}
				if (activeCodeKey === keyCode) return
				EventBus.emit('TaskDetailsLeft-txtShoutList', 'keyB')
				activeCodeKey = keyCode
				break
			case 'KeyN': // 喊话
				if (!isManualControl.value) {
					return ElMessage.warning('请先接管!')
				}
				if (activeCodeKey === keyCode) return
				EventBus.emit('TaskDetailsLeft-shoutList', 'videoNKey')
				activeCodeKey = keyCode
				break
			case 'KeyM': //广播
				if (!isManualControl.value) {
					return ElMessage.warning('请先接管!')
				}
				if (activeCodeKey === keyCode) return
				EventBus.emit('TaskDetailsLeft-broadcastList', 'keyM')
				activeCodeKey = keyCode
				break
			default:
				break
		}
	}

	function ptzControl(key) {
		let pitchSpeed = ptzKeyHandle()
		const  {dockSn} =  paramsRef.value
		if (key === 'down' || key === 'left'){
			pitchSpeed = -pitchSpeed
		}
		ptzControlApi(key, { sn: dockSn,pitchSpeed })
	}
	// 云台控制上下左右
	function ptzControlInterval(key){
		handleClearInterval()
		ptzControl(key)
		myInterval = setInterval(()=>ptzControl(key), 200)
	}

	// 按键变焦
	const zoomFactorControl = _.throttle((amplify)=>{
		let zoom = getZoomFactor()
		zoom = amplify ?  zoom : (zoom * -1)
		EventBus.emit('TaskDetailsLeft-quickZoomIn', zoom)
	},1000)

	function zoomFactorChange(amplify) {
		handleClearInterval()
		zoomFactorControl(amplify)
		myInterval = setInterval(()=>zoomFactorControl(amplify), 1000)
	}


	function handleClearInterval() {
		clearInterval(myInterval)
		myInterval = undefined
	}

	// 重置所有控制状态
	function resetControlState() {
		downTime = null
		downKeyCode = null
		keysPressed.map(item => (item.value = false))
		activeCodeKey = null
		seq = 0
		handleClearInterval()
	}

	// 按键弹起
	function onKeyup(e) {
		if (store?.state?.task?.keysDisabled) return
		keysPressed.forEach(item => {
			if (e.code === item.key) item.value = false
		})
		const keyList = keysPressed.filter(item => item.value === true);
		if (keyList.length === 1) {
			handleKeyup(keyList[0].key);
		} else {
			resetControlState();
		}
		activeBtnList.value = keyList.map(i => i.key)
	}

	let timedReset = _.debounce(resetControlState,2000)
	// 按键按下
	function onKeydown(e) {
		if (store?.state?.task?.keysDisabled) return
		e.preventDefault()
		keysPressed.forEach(item => {
			if(e.code === item.key) item.value = true
		})
		let result = keysPressed.filter(item=>item.value===true)
		if (result && result.length >= 2) {
			handleKeyup('assemblyKeys')
		} else {
			handleKeyup(e.code)
		}
		// 保底措施，避免长时间不操作导致控制状态不重置
		timedReset()
		activeBtnList.value = result.map(i => i.key)
	}

	// 紧急停止
	function handleEmergencyStop() {
		resetControlState()
		if (!deviceTopicInfo.pubTopic) {
			ElMessage.error('请确保已经建立DRC链路')
			return
		}
		const body = {
			method: DRC_METHOD.DRONE_EMERGENCY_STOP,
			data: {},
		}
		window.console.log('handleEmergencyStop>>>>', deviceTopicInfo.pubTopic, body)
		mqttHooks?.publishMqtt(deviceTopicInfo.pubTopic, body, { qos: 1 })
	}

	function openKeyMonitor() {
		removeKeyMonitor()
		console.log('开启键盘监听事件')
		window.addEventListener('keydown', onKeydown)
		window.addEventListener('keyup', onKeyup)
	}
	function removeKeyMonitor() {
		resetControlState()
		console.log('关闭键盘监听事件')
		window.removeEventListener('keydown', onKeydown)
		window.removeEventListener('keyup', onKeyup)
	}

	return {
		activeCodeKey,
		handleKeyup,
		handleEmergencyStop,
		resetControlState,
		openKeyMonitor,
		removeKeyMonitor,
	}
}