package com.mogo.functions.test

import android.text.TextUtils
import android.util.Log
import androidx.test.core.app.ActivityScenario
import androidx.test.ext.junit.runners.AndroidJUnit4
import androidx.test.filters.LargeTest
import androidx.test.platform.app.InstrumentationRegistry
import com.google.protobuf.ByteString
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.multidisplay.TelematicConstant
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
import com.mogo.eagle.core.function.main.MainLauncherActivity
import com.mogo.eagle.core.utilcode.util.CoordinateUtils
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
import com.mogo.eagle.core.utilcode.util.GsonUtils
import com.mogo.map.MapDataWrapper
import kotlinx.coroutines.delay
import kotlinx.coroutines.runBlocking
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.Location
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo.telematics.pad.MessagePad.V2nCrossSpeed
import org.junit.Before
import org.junit.Test
import org.junit.runner.RunWith
import java.util.Collections
import java.util.concurrent.TimeUnit
import kotlin.math.cos
import kotlin.math.sin


@RunWith(AndroidJUnit4::class)
@LargeTest
class V2NTest {

    companion object {
        private const val TAG = "GreenWaveTest"
    }

    lateinit var launch: ActivityScenario<MainLauncherActivity>

    @Before
    fun before() {
        launch = ActivityScenario.launch(MainLauncherActivity::class.java)
    }

    @Test
    fun testRoadShiGong(): Unit = runBlocking {
        val arguments = InstrumentationRegistry.getArguments()
        val millis = arguments.getString("delay", "0").toLong()
        if (millis > 0) {
            delay(millis)
        }
        FunctionBuildConfig.v2nTotalSwitch = true
        runCatching {
            val map = HashMap<String, Boolean>().also {
                it["f1"] = FunctionBuildConfig.v2nTotalSwitch
            }
            CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
        }
        delay(2000)
        val targetX = arguments.getString("lon", "0").toDouble()
        val targetY = arguments.getString("lat", "0").toDouble()
        val targetDistance = arguments.getString("distance", "0").toDouble()
        val eventDistance = arguments.getString("event_distance", "50").toDouble()
        val r = arguments.getString("r", "1").toDouble()
        var car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
        var distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
        Log.d(TAG, "target_distance: $targetDistance, current distance: $distance, event_distance: $eventDistance")
        while (distance > targetDistance) {
            delay(2000)
            car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
            distance =  CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
            Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
        }
        car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
        val point = DrivingDirectionUtils.calculateNewPoint(car.longitude, car.latitude, car.heading , eventDistance)
        val polygon = generateTriangle(point.first, point.second, car.heading, r * 1e-5)
        val data = TrackedObject.getDefaultInstance().toBuilder().setType(501).setLongitude(point.first).setLatitude(point.second).setAltitude(0.0).setSystemTime(System.currentTimeMillis() * 1.0 / 1000).setSatelliteTime(1.0).setUuid(10).setCarID("1").setColor("#ffffff").setHeading(car.heading).setSpeed(0.0).setDrawLevel(1).setDriverTime(1.0).setCameraIp("172.18.7.40").setVideoUrl("").addAllImageUrl(Collections.singletonList("http://www.baidu.com")).addAllPolygon(polygon.map { Location.getDefaultInstance().toBuilder().setLongitude(it.first).setLatitude(it.second).setAltitude(0.0).setHeading(0.0).setStation(false).build() }).setDetectStartTime(System.currentTimeMillis()).setV2XUuid("xxxxx1").setStrUuid("xxxxx2").build()
        val trafficData = Collections.singletonList(data)
        CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_SHI_GONG, data.toByteArray())
        CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate(trafficData)
        delay(TimeUnit.MINUTES.toMillis(10))
    }

    @Test
    fun testRoadShiGu(): Unit = runBlocking {
        val arguments = InstrumentationRegistry.getArguments()
        val millis = arguments.getString("delay", "0").toLong()
        if (millis > 0) {
            delay(millis)
        }
//        FunctionBuildConfig.v2nNewLinked = true
        FunctionBuildConfig.v2nTotalSwitch = true
        runCatching {
            val map = HashMap<String, Boolean>().also {
                it["f1"] = FunctionBuildConfig.v2nTotalSwitch
            }
            CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
        }
        delay(2000)
        val targetX = arguments.getString("lon", "0").toDouble()
        val targetY = arguments.getString("lat", "0").toDouble()
        val targetDistance = arguments.getString("distance", "0").toDouble()
        val eventDistance = arguments.getString("event_distance", "0").toDouble()
        val r = arguments.getString("r", "1").toDouble()
        var car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
        var distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
        Log.d(TAG, "target_distance: $targetDistance, current distance: $distance, event_distance: $eventDistance")
        while (distance > targetDistance) {
            delay(2000)
            car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
            distance =  CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
            Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
        }
        car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
        val point = DrivingDirectionUtils.calculateNewPoint(car.longitude, car.latitude, car.heading , eventDistance)
        val polygon = generateTriangle(point.first, point.second, car.heading, r * 1e-5)
        val data = TrackedObject.getDefaultInstance().toBuilder().setType(13).setLongitude(point.first).setLatitude(point.second).setAltitude(0.0).setSystemTime(System.currentTimeMillis() * 1.0 / 1000).setSatelliteTime(1.0).setUuid(10).setCarID("1").setColor("#ffffff").setHeading(car.heading).setSpeed(0.0).setDrawLevel(1).setDriverTime(1.0).setCameraIp("172.18.7.40").setVideoUrl("").addAllImageUrl(Collections.singletonList("http://www.baidu.com")).addAllPolygon(polygon.map { Location.getDefaultInstance().toBuilder().setLongitude(it.first).setLatitude(it.second).setAltitude(0.0).setHeading(0.0).setStation(false).build() }).setDetectStartTime(System.currentTimeMillis()).setV2XUuid("xxxxx1").setStrUuid("xxxxx2").build()
        val trafficData = Collections.singletonList(data)
        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(AutopilotControlParameters().also {
            it.autoPilotLine = AutoPilotLine(10L, "", "","", "", System.currentTimeMillis(), "")
        })
        CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_SHI_GU, data.toByteArray())
        CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate(trafficData)
        delay(TimeUnit.MINUTES.toMillis(10))
    }

    private fun generateTriangle(x: Double, y: Double, angle: Double, r: Double): List<Pair<Double, Double>> {
        val angles = arrayOf(0, 120, 240)
        val coordinates = ArrayList<Pair<Double, Double>>()
        for(i in 0 until 3) {
            val radian = Math.toRadians(angles[i] + angle)
            val x1 = x + (r * cos(radian))
            val y1 = y + (r * sin(radian))
            coordinates += Pair(x1, y1)
        }
        coordinates.add(coordinates[0])
        return coordinates
    }

    @Test
    fun testGreenWave(): Unit = runBlocking {
        val arguments = InstrumentationRegistry.getArguments()
        val millis = arguments.getString("delay", "0").toLong()
        if (millis > 0) {
            delay(millis)
        }
        val targetX = arguments.getString("lon", "0").toDouble()
        val targetY = arguments.getString("lat", "0").toDouble()
        val targetDistance = arguments.getString("distance", "0").toDouble()
        var car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
        var distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
        Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
        while (distance > targetDistance) {
            delay(2000)
            car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
            distance =  CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
            Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
        }
        Log.d(TAG, "开始获取路口数据...")
        var crossInfo = MapDataWrapper.getCrossRoad(car.longitude, car.latitude, car.heading)
        while (crossInfo == null || TextUtils.isEmpty(crossInfo.cross_id) || TextUtils.isEmpty(crossInfo.cross_id_end)) {
            Log.d(TAG, "获取到的路口数据无效, 1秒后重试")
            delay(TimeUnit.SECONDS.toMillis(1))
            Log.d(TAG, "1秒时间到，开始计算新的路口数据")
            car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
            crossInfo = MapDataWrapper.getCrossRoad(car.longitude, car.latitude, car.heading)
        }
        val newPoint = DrivingDirectionUtils.calculateNewPoint(car.longitude, car.latitude, car.heading , 200.0)
        Log.d(TAG, "获取到路口数据..., 自车:[${car.longitude}, ${car.latitude}]前方200米外的点: [${newPoint.first}, ${newPoint.second}]")
//        FunctionBuildConfig.v2nNewLinked = true
        FunctionBuildConfig.v2nTotalSwitch = true
        runCatching {
            val map = HashMap<String, Boolean>().also {
                it["f1"] = FunctionBuildConfig.v2nTotalSwitch
            }
            CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
        }
        delay(2000)
        val data = V2nCrossSpeed.getDefaultInstance().toBuilder().setSpeedLeftMin(0).setSpeedLeftMax(0).setSpeedRightMin(0).setSpeedRightMax(0).setSpeedStraightMin(30).setSpeedStraightMax(54).setMaxSpeed(0).setMaxStatus(0).setLng(newPoint.first).setLat(newPoint.second).build()
        CallerV2nNioEventListenerManager.invokeV2nNioGreenWavePassageEvent(data)
        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(AutopilotControlParameters().also {
            it.autoPilotLine = AutoPilotLine(10L, "", "","", "", System.currentTimeMillis(), "")
        })
        while (!CallerTelematicManager.getServerStarted()) {
            Log.d(TAG , "乘客屏未连接, 2秒后重试...")
            delay(2000)
        }
        Log.d(TAG, "乘客屏已连接, 将数据发送给乘客屏...")
        CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_GREEN_WAVE, data.toByteArray())
        delay(TimeUnit.MINUTES.toMillis(10))
    }


    @Test
    fun testPeopleCross(): Unit = runBlocking {
        val arguments = InstrumentationRegistry.getArguments()
        val millis = arguments.getString("delay", "0").toLong()
        if (millis > 0) {
            delay(millis)
        }
//        FunctionBuildConfig.v2nNewLinked = true
        FunctionBuildConfig.v2nTotalSwitch = true
        runCatching {
            val map = HashMap<String, Boolean>().also {
                it["f1"] = FunctionBuildConfig.v2nTotalSwitch
            }
            CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
        }

        delay(2000)
        val targetX = arguments.getString("lon", "0").toDouble()
        val targetY = arguments.getString("lat", "0").toDouble()
        val targetHeading = arguments.getString("angle", "0").toDouble()
        val targetDistance = arguments.getString("distance", "0").toDouble()
        val eventDistance = arguments.getString("event_distance", "60").toDouble()
        var car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
        var distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
        Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
        while (distance > targetDistance) {
            delay(2000)
            Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
            car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
            distance =  CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
        }
        Log.d(TAG, "2 -- > target_distance: $targetDistance, current distance: $distance")
        car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
        var newPoint = DrivingDirectionUtils.calculateNewPoint(car.longitude, car.latitude, car.heading , eventDistance)
        Log.d(TAG, "location:[x:${targetX}, y:${targetY}, new_location:[x:${newPoint.first}, y:${newPoint.second}]")
        val eventId = "xxxxxxxxxxxxx"
        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(AutopilotControlParameters().also {
            it.autoPilotLine = AutoPilotLine(10L, "", "","", "", System.currentTimeMillis(), "")
        })
        for (i in 0 until 500) {
            val data = MessagePad.Event.getDefaultInstance().toBuilder().setLongitude(newPoint.first).setLatitude(newPoint.second).setGnssType(2).setEventId(eventId).setTimestamp(System.currentTimeMillis()).addAllTargetIds(emptyList()).addTargetIdsBytes(ByteString.EMPTY).addTargetIds("0").setExts("{ \"cameraIp\": \"172.18.7.40\",\"eventExtUnits\":[{\"heading\":266.5414733886719,\"uuid\":\"e440951e-5eb6-4091-8560-72a5d8aaf229\"}] }").build()
            CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_PEOPLE_CROSS, data.toByteArray())
            CallerV2nNioEventListenerManager.invokeV2nNioCrossoverEvent(data)
            delay(50)
            newPoint = DrivingDirectionUtils.calculateNewPoint(newPoint.first, newPoint.second, targetHeading, 1.0)
        }
        delay(TimeUnit.MINUTES.toMillis(10))
    }

    @Test
    fun testOtherRetrogradeVehicle(): Unit = runBlocking {
        val arguments = InstrumentationRegistry.getArguments()
        val millis = arguments.getString("delay", "0").toLong()
        if (millis > 0) {
            delay(millis)
        }
//        FunctionBuildConfig.v2nNewLinked = true
        FunctionBuildConfig.v2nTotalSwitch = true
        runCatching {
            val map = HashMap<String, Boolean>().also {
                it["f1"] = FunctionBuildConfig.v2nTotalSwitch
            }
            CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
        }
        delay(2000)
        val targetX = arguments.getString("lon", "0").toDouble()
        val targetY = arguments.getString("lat", "0").toDouble()
        val targetHeading = arguments.getString("angle", "0").toDouble()
        val targetDistance = arguments.getString("distance", "0").toDouble()
        val eventDistance = arguments.getString("event_distance", "60").toDouble()
        var car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
        var distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
        Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
        while (distance > targetDistance) {
            delay(2000)
            Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
            car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
            distance =  CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
        }
        car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
        Log.d(TAG, "2 -- > target_distance: $targetDistance, current distance: $distance")
        var newPoint = DrivingDirectionUtils.calculateNewPoint(car.longitude, car.latitude, car.heading , eventDistance)
        Log.d(TAG, "location:[x:${targetX}, y:${targetY}, new_location:[x:${newPoint.first}, y:${newPoint.second}]")
        val eventId = System.currentTimeMillis().toString()
        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(AutopilotControlParameters().also {
            it.autoPilotLine = AutoPilotLine(10L, "", "","", "", System.currentTimeMillis(), "")
        })
        for (i in 0 until 500) {
            val data = MessagePad.Event.getDefaultInstance().toBuilder().setLongitude(newPoint.first).setLatitude(newPoint.second).setEventId(eventId).setTimestamp(System.currentTimeMillis()).addAllTargetIds(emptyList()).addTargetIdsBytes(ByteString.EMPTY).setGnssType(2).addTargetIds("0").setExts("{ \"cameraIp\": \"172.18.7.40\",\"eventExtUnits\":[{\"heading\":266.5414733886719,\"uuid\":\"e440951e-5eb6-4091-8560-72a5d8aaf229\"}] }").build()
            CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_OTHER_RETROGRADE_VEHICLE, data.toByteArray())
            CallerV2nNioEventListenerManager.invokeV2nNioOtherRetrogradeEvent(data)
            delay(50)
            newPoint = DrivingDirectionUtils.calculateNewPoint(newPoint.first, newPoint.second, targetHeading, 1.0)
        }
        delay(TimeUnit.MINUTES.toMillis(10))
    }
}