import { DRC_METHOD } from '@/const/drc.js'
import { useMqtt } from '@/hooks/controlDrone/useMqtt'
import { ElMessage } from 'element-plus'
import { postPayloadCommands } from '@/api/payload'

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(mqttState,deviceTopicInfo, isCurrentFlightController,paramsRef) {
	const activeCodeKey = ref(null)
	let genPortOne = true //是一代机场
	const mqttHooks = useMqtt(mqttState,deviceTopicInfo)
	let seq = 0

	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++
			window.console.log('keyCode>>>>', activeCodeKey.value, body)
			mqttHooks?.publishMqtt(deviceTopicInfo.pubTopic, body, { qos: 0 })
		}, 50)
	}

	function handleKeyup(keyCode) {
		const  {droneSn,speed} =  paramsRef.value

		if (!deviceTopicInfo.pubTopic) {
			ElMessage.error('请确保已经建立DRC链路')
			return
		}
		if (droneSn.value === '4TADKCM0010016' || droneSn.value === 'BA0BA1C3D38157A49E1B16574FA474F7') {
			genPortOne = true
		}

		const SPEED = genPortOne ? (speed.value || 5) : 500 //  check
		const HEIGHT = genPortOne ? 5 : 500; //  check
		const W_SPEED = genPortOne ? 20 : 500 // 机头角速度

		seq = 0
		switch (keyCode) {
			case 'KeyQ':
				if (activeCodeKey === keyCode) return
				let objQ = { yaw: 1024-W_SPEED }
				if (genPortOne) {objQ = {w: -W_SPEED}}
				handlePublish(objQ)
				activeCodeKey.value = keyCode
				break
			case 'KeyW':
				if (activeCodeKey === keyCode) return
				let objW = { pitch: 1024+SPEED }
				if (genPortOne) {objW = {x: SPEED}}
				handlePublish(objW)
				activeCodeKey.value = keyCode
				break
			case 'KeyE':
				if (activeCodeKey === keyCode) return
				let objE = { yaw: 1024+W_SPEED }
				if (genPortOne) {objE = {w: W_SPEED}}
				handlePublish(objE)
				activeCodeKey.value = keyCode
				break
			case 'KeyA':
				if (activeCodeKey === keyCode) return
				let objA = { roll: 1024-SPEED }
				if (genPortOne) {objA = {y: -SPEED}}
				handlePublish(objA)
				activeCodeKey.value = keyCode
				break
			case 'KeyS':
				if (activeCodeKey === keyCode) return
				let objS = { pitch: 1024-SPEED }
				if (genPortOne) {objS = {x: -SPEED}}
				handlePublish(objS)
				activeCodeKey.value = keyCode
				break
			case 'KeyD':
				if (activeCodeKey === keyCode) return
				let objD = { roll: 1024+SPEED }
				if (genPortOne) {objD = {y: SPEED}}
				handlePublish(objD)
				activeCodeKey.value = keyCode
				break
			case 'ArrowUp':
				if (activeCodeKey.value === keyCode) return
				handlePublish({ h: HEIGHT })
				activeCodeKey.value = keyCode
				break
			case 'ArrowDown':
				if (activeCodeKey.value === keyCode) return
				handlePublish({ h: -HEIGHT })
				activeCodeKey.value = keyCode
				break

			default:
				break
		}
	}

	const handlePayloadTurn = (params) => {
		handleClearInterval()
		if (!this.myInterval) {
			postPayloadCommands(this.sn, params)
		}
		this.myInterval = setInterval(() => {
			postPayloadCommands(this.sn, params)
		}, 500)
	}


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

	function resetControlState() {
		activeCodeKey.value = null
		seq = 0
		handleClearInterval()
	}

	function onKeyup() {
		resetControlState()
	}

	function onKeydown(e) {
		handleKeyup(e.code)
	}

	function startKeyboardManualControl() {
		window.addEventListener('keydown', onKeydown)
		window.addEventListener('keyup', onKeyup)
	}

	function closeKeyboardManualControl() {
		resetControlState()
		window.removeEventListener('keydown', onKeydown)
		window.removeEventListener('keyup', onKeyup)
	}

	watch(
		() => isCurrentFlightController.value,
		val => {
			if (val && deviceTopicInfo.pubTopic) {
				startKeyboardManualControl()
			} else {
				closeKeyboardManualControl()
			}
		},
		{ immediate: true }
	)

	onUnmounted(() => {
		closeKeyboardManualControl()
	})

	function handleEmergencyStop() {
		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: {},
		}
		resetControlState()
		window.console.log('handleEmergencyStop>>>>', deviceTopicInfo.pubTopic, body)
		mqttHooks?.publishMqtt(deviceTopicInfo.pubTopic, body, { qos: 1 })
	}

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