#include "Sub3Judge12Ptdt.h"
#include "HFactory.h"

Sub3Judge12Ptdt::Sub3Judge12Ptdt(TKM3Item* exam)
{
    m_exam = exam;
}

Sub3Judge12Ptdt::~Sub3Judge12Ptdt()
{
    m_exam = nullptr;
}

bool Sub3Judge12Ptdt::dealJudgeEnter()
{
    if(m_exam->TestPro != ItemProFlagInit) return false;
    // if(!m_car->rtkEnabled() || !m_car->rtkEnabled(1)) return false;

    const TChuanGan* cg = m_car->historyChuanGan();
    const TGpsInfo& gps = cg->real.gps;

    m_itemv = TSub3Item12Ptdt();

    const std::vector<std::string>& s510 = TableSysSet->asArray510();
    //得到掉头项目必须的项目距离（如果到达了这个项目距离，没有完成掉头，判：不按规定考试)
    m_itemv.XMJL_Mi = s510.size() > 0 && s510[0] != "" ? std::atoi(s510[0].c_str()) : 350; //完成项目的规定距离
    //角度变动到多大算掉头完成(达到这个角度后，并且不压任何线，就算掉头完成)
    m_itemv.FinishDiaoTou_JiaoDu_Change = s510.size() > 1 && s510[1] != "" ? std::atoi(s510[1].c_str()) : 120;
    //速度阈值(必须小于设定值，认为速度合法)
    m_itemv.Temp_XS = s510.size() > 2 && s510[2] != "" ? std::atoi(s510[2].c_str()) : 35; //20170824
    //初始行驶距离（用于计算项目距离)
    m_itemv.CSJL_Mi = cg->ai_ljjl;
    //得到最多倒车次数
    m_itemv.Max_DC_CiShu = s510.size() > 5 && s510[5] != "" ? std::atoi(s510[5].c_str()) : 0;
    //初始GPS角度
    m_itemv.CS_GPS_D = gps.hxj;

    m_itemv.mapping = m_car->graphic()->mapping();
    m_itemv.line = coordTransform(cg);

    m_exam->TestPro = ItemProFlagJudge;
    //ToDo1:播报项目语音
    //ToDo2:生成进项目事件
    return true;
}

void Sub3Judge12Ptdt::dealJudgeItem()
{
    HELP_COST_TIME("");
    if(m_exam->TestPro != ItemProFlagJudge) return;
    if(!judgeAllowable()) return;

    const TChuanGan* cg = m_car->historyChuanGan();
    const TRTKResult& RTKKM3 = cg->RTKKM3;
    const TGpsInfo& gps = cg->real.gps;
    const TSensorInfo& sor = cg->real.sensor;
    const TChuanGan* his1 = m_car->historyChuanGan(1);
    const TChuanGan* his2 = m_car->historyChuanGan(2);
    const TChuanGan* his3 = m_car->historyChuanGan(3);
    const std::string& ksdd = TableSysSet->get211();

    if(m_car->isExamMode())  //正式考试
    {
        if(!m_car->isQualified())
        {
            m_exam->TestPro = ItemProFlagEnd;
            return;
        }
    }

    Update_DiaoTou_JianSuRec(m_itemv.slowDown); //, m_itemv.Temp_XS

    //多次后退
    if(m_itemv.Max_DC_CiShu > 0)
    {
        if(cg->move == moveBackward && his1->move == moveBackward && his2->move != moveBackward && his3->move != moveBackward)
        {
            m_itemv.Max_DC_CiShu = m_itemv.Max_DC_CiShu - 1;
            if(m_itemv.Max_DC_CiShu == 0)
            {
                //不按考试员指令驾驶
                JUDGE_MARK_SUB3(12, "03", false);
            }
        }
    }
    //车辆行驶中骑轧车道中心实线或者车道边缘实线
    if(ksdd == siteof::xjcj)
    {
        const TRTKResult& RTKKM3_1 = his1->RTKKM3;
        const TRTKResult& RTKKM3_2 = his2->RTKKM3;
        const TRTKResult& RTKKM3_3 = his3->RTKKM3;
        //InShapeAttr: Integer; //0-不在形状里 1-在人行道内 2-在网格线内
        if(RTKKM3.InShapeAttr == InShapeAttr_2 && RTKKM3_1.InShapeAttr == InShapeAttr_2 &&
                RTKKM3_2.InShapeAttr == InShapeAttr_0 && RTKKM3_3.InShapeAttr == InShapeAttr_0)

        {
            //车辆行驶中骑轧车道中心实线或者车道边缘实线
            JUDGE_MARK_SUB3(20, "57", false);
        }
    }
    //不按规定速度行驶
    if(gps.sd > 20 && his1->real.gps.sd > 20 && ksdd == siteof::lfgakm3)
    {
        //不按规定速度行驶
        JUDGE_MARK_SUB3(20, "58", true);
    }
    if(ksdd == siteof::linxiahz || ksdd == siteof::guizhou)
    {
        const TRTKResult& RTKKM3_1 = his1->RTKKM3;
        const TRTKResult& RTKKM3_2 = his2->RTKKM3;
        const TRTKResult& RTKKM3_3 = his3->RTKKM3;
        //记录一下第一次变道时刻的项目距离（向右边变道的)
        if(RTKKM3.BaseLaneCount > 0 &&
                RTKKM3_2.BasePointInLaneNo == RTKKM3_3.BasePointInLaneNo &&
                RTKKM3_2.BasePointInLaneNo < RTKKM3_1.BasePointInLaneNo &&
                RTKKM3_1.BasePointInLaneNo == RTKKM3.BasePointInLaneNo)
        {
            m_itemv.BianDaoJL = cg->ai_ljjl;
        }
        //路段状况:车轮是否压线以及压线类型: 0-无 1-中心实线 2-车道分界线(虚线） 3-路右边线 4-路左边线 5-非机动车道分界线
        //6:中心线虚线   7:道路分界线（实线） 8:道路边缘线（右黄）
        if(RTKKM3.TouchLineType == LineType_6 &&
                RTKKM3_1.TouchLineType == LineType_6 &&
                RTKKM3_2.TouchLineType != LineType_6 &&
                RTKKM3_3.TouchLineType != LineType_6)
        {
            //如果再次压中心虚线，是不是可以说：你准备再次变道了
            if(cg->ai_ljjl - m_itemv.BianDaoJL < 20)
            {
                if(ksdd == siteof::guizhou)
                {
                    //连续变更两条或两条以上车道
                    if(!m_itemv.MarkFlag_12_45)
                    {
                        m_itemv.MarkFlag_12_45 = true;
                        JUDGE_MARK_SUB3(20, "89", false);
                    }
                }
                else
                {
                    //不按交通信号灯、标志、标线或者民警指挥信号行驶
                    if(!m_itemv.MarkFlag_12_45)
                    {
                        m_itemv.MarkFlag_12_45 = true;
                        JUDGE_MARK_SUB3(12, "45", false);
                    }
                }
            }
        }
    }

    if(m_exam->bYdt == true)  //20150516 表示右掉头
    {
        if(m_itemv.b_FXD == false)
        {
            if(sor.yfxd == SYES && sor.zfxd == SNOT)
            {
                m_itemv.b_FXD = true;
            }
        }
        if(m_itemv.b_FXD == true)
        {
            bool FindFlag = true;
            if(sor.yfxd == SNOT && sor.zfxd == SYES)
            {
                FindFlag = false;
            }
            for(int i = 1; i <= 14; i++)
            {
                const TSensorInfo& sori = m_car->historySensor(i);
                if(sori.zfxd == SYES)
                {
                    FindFlag = false;
                    break;
                }
                if(sori.yfxd != SYES)
                {
                    FindFlag = false;
                    break;
                }
            }
            if(FindFlag == true)
            {
                m_itemv.FXD_TM_OK_Flag = true;
            }
        }
    }
    else
    {
        if(m_itemv.b_FXD == false)
        {
            if(sor.zfxd == SYES && sor.yfxd == SNOT)
            {
                m_itemv.b_FXD = true;
            }
        }
        if(m_itemv.b_FXD == true)
        {
            bool FindFlag = true;
            if(sor.zfxd == SNOT && sor.yfxd == SYES)
            {
                FindFlag = false;
            }
            for(int i = 1; i <= 14; i++)
            {
                const TSensorInfo& sori = m_car->historySensor(i);
                if(sori.yfxd == SYES)
                {
                    FindFlag = false;
                    break;
                }
                if(sori.zfxd != SYES)
                {
                    FindFlag = false;
                    break;
                }
            }
            if(FindFlag == true)
            {
                m_itemv.FXD_TM_OK_Flag = true;
            }
        }
    }

    const TChuanGan* his5 = m_car->historyChuanGan(5);

    //掉头角度变化 老的角度变化计算方式（windows就是这么做的）
    //const TGpsInfo& gps5 = his5->real.gps;
    //double a = std::abs(gps.hxj - m_itemv.CS_GPS_D);
    //double b = std::abs(gps5.hxj- m_itemv.CS_GPS_D);

    //***新的角度变化计算方式（这个应该更精准）注意：左上角是(0,0)点  yhy 20240823
    Linei line0 = coordTransform(cg);
    Linei line5 = coordTransform(his5);
    double a = std::abs(GpsMath::calcAngle(line0.p2, m_itemv.line.p2, m_itemv.line.p1));
    double b = std::abs(GpsMath::calcAngle(line5.p2, m_itemv.line.p2, m_itemv.line.p1));

    //IGraphicAbstract* graphic = m_car->graphic();
    //graphic->drawPoint({10,10},RGB_RED,10);
    //graphic->drawLine(m_itemv.line,RGB_RED);
    //graphic->drawLine(line0,RGB_GREEN);
    //graphic->drawLine(line5,RGB_PURPLE);
    //FactoryExamService->examJudgeCallbackMapImageToCaller(graphic->image(), graphic->size());

    //logdebug("CS_GPS_D=%0.2f,hxj=%0.2f,hxj5=%0.2f, a=%0.2f,b=%0.2f a_=%0.2f,b_=%0.2f",
    //         m_itemv.CS_GPS_D, gps.hxj, gps5.hxj, a, b, a_, b_);

    //528:掉头N米内不判连续变道和方向灯
    if(m_car->getNJ_DiaoTou_JL() == 0 && TableSysSet->asInt528() > 0)
    {
        if(a > 90 && a < 270 && b > 90 && b < 270)
        {
            m_car->setNJ_DiaoTou_JL(cg->ai_ljjl);
        }
    }

    const std::vector<std::string>& s510 = TableSysSet->asArray510();  //StrToIntDef(getdotstr(8, sysset[510], ','), 1) = 1
    int si = s510.size() > 7 && s510[7] != "" ? std::atoi(s510[7].c_str()) : 1;
    //贵州地区需求
    if(Tools::pos(siteof::guizhou, ksdd) == true || si == 1)
    {
        // //路段状况:车轮是否压线以及压线类型: 0-无 1-中心实线 2-车道分界线(虚线） 3-路右边线 4-路左边线 5-非机动车道分界线
        //6:中心线虚线   7:道路分界线（实线） 8:道路边缘线（右黄）
        if(RTKKM3.TouchLineType == LineType_6 &&
                his1->RTKKM3.TouchLineType == LineType_6  &&
                his2->RTKKM3.TouchLineType == LineType_0)
        {
            if(!m_itemv.Judge_DengGuang_Flag)
            {
                m_itemv.Judge_DengGuang_Flag = true;
                if(!m_itemv.b_FXD)
                {
                    if(!m_itemv.MarkFlag_12_42)
                    {
                        //掉头前未开启左转向灯
                        JUDGE_MARK_SUB3(12, "42", false); //20160928
                        m_itemv.MarkFlag_12_42 = true;
                    }
                    //ToDo：头部姿态
                }
                if(ksdd == siteof::gdjykm3  || ksdd == siteof::gsgnzkm3 || ksdd == siteof::chongqingkm3 || ksdd == siteof::ynzt ||
                        ksdd == siteof::guizhou || ksdd == siteof::guizhouas || ksdd == siteof::shandongyt || ksdd == siteof::gxlzkm3)
                {
                    //:对可能出现危险的情形未采取减速、鸣喇叭等安全措施
                    //if not Itmv12.Js_Passed then
                    if (m_itemv.slowDown.Js_Passed == false)
                    {
                        if(!m_itemv.MarkFlag_12_46)
                        {
                            //对可能出现危险的情形未采取减速、鸣喇叭等安全措施
                            JUDGE_MARK_SUB3(12, "46", false); //20170505
                            m_itemv.MarkFlag_12_46 = true;
                        }
                    }
                }
            }
        }
    }

    if(ksdd == siteof::dehongkm3)
    {
        if(cg->ai_ljjl - m_itemv.CSJL_Mi > m_itemv.XMJL_Mi)
        {
            if(!m_itemv.b_FXD)
            {
                if(!m_itemv.MarkFlag_12_42)
                {
                    //掉头前未开启左转向灯
                    JUDGE_MARK_SUB3(12, "42", false); //20160928
                    m_itemv.MarkFlag_12_42 = true;
                }
            }
            if(!m_itemv.b_JSC)
            {
                if(!m_itemv.MarkFlag_12_46)
                {
                    //对可能出现危险的情形未采取减速、鸣喇叭等安全措施
                    JUDGE_MARK_SUB3(12, "46", false); //20170505
                    m_itemv.MarkFlag_12_46 = true;
                }
            }
            m_exam->TestPro = ItemProFlagEnd;
        }
    }
    else
    {
        if(a > 50 && a < 210 && b > 50 && b < 210)
        {
            if(!m_itemv.Judge_DengGuang_Flag)
            {
                m_itemv.Judge_DengGuang_Flag = true;
                //ToDo:头部姿态
                if(ksdd == siteof::gdjykm3 || ksdd == siteof::gsgnzkm3  || ksdd == siteof::chongqingkm3 || ksdd == siteof::ynzt ||
                   ksdd == siteof::guizhou || ksdd == siteof::guizhouas || ksdd == siteof::shandongyt   || ksdd == siteof::gxlzkm3 )
                {
                    if(!m_itemv.slowDown.Js_Passed)
                    {
                        if(!m_itemv.MarkFlag_12_46)
                        {
                            //对可能出现危险的情形未采取减速、鸣喇叭等安全措施
                            JUDGE_MARK_SUB3(12, "46", false); //20170505
                            m_itemv.MarkFlag_12_46 = true;
                        }
                    }
                }

                //如果是右掉头
                //制动气压不足起步(20,73) 为什么这么扣？按规则翻译即可
                if(m_exam->bYdt == true)  //右掉头
                {
                    if(!m_itemv.b_FXD)
                    {
                        if(!m_itemv.MarkFlag_20_73)
                        {
                            JUDGE_MARK_SUB3(20, "73", false); //20170505
                            m_itemv.MarkFlag_20_73 = true;
                        }
                    }

                    if(Tools::pos(siteof::guizhou, ksdd) == true && !m_itemv.FXD_TM_OK_Flag)
                    {
                        //违反交通安全法律、法规，影响交通安全
                        if(!m_itemv.MarkFlag_20_20)
                        {
                            JUDGE_MARK_SUB3(20, "20", true);
                            m_itemv.MarkFlag_20_20 = true;
                        }
                    }
                }
                else
                {
                    if(!m_itemv.b_FXD)
                    {
                        if(!m_itemv.MarkFlag_12_42)
                        {
                            //起步、转向、变更车道、超车、靠边停车前不使用或错误使用转向灯
                            JUDGE_MARK_SUB3(12, "42", false); //20160928
                            m_itemv.MarkFlag_12_42 = true;
                        }
                    }
                    else
                    {
                        if(ksdd == siteof::hebeihskm3)
                        {
                            //起步、转向、变更车道、超车、靠边停车前，开转向灯少于3s即转向
                            if(!m_itemv.FXD_TM_OK_Flag) //20141107
                            {
                                if(!m_itemv.MarkFlag_12_43)
                                {
                                    JUDGE_MARK_SUB3(12, "43", false);
                                    m_itemv.MarkFlag_12_43 = true;
                                }
                            }
                        }
                    }

                    //20171109 贵州个性需求
                    if(Tools::pos(siteof::guizhou, ksdd) == true && !m_itemv.FXD_TM_OK_Flag)
                    {
                        if(!m_itemv.MarkFlag_20_20)
                        {
                            JUDGE_MARK_SUB3(20, "20", false); //20160928
                            m_itemv.MarkFlag_20_20 = true;
                        }
                    }
                }
            }
        }
    }

    if(a > m_itemv.FinishDiaoTou_JiaoDu_Change && a < 210 && b > m_itemv.FinishDiaoTou_JiaoDu_Change && b < 210)
    {
        //路段状况:车轮是否压线以及压线类型: 0-无 1-中心实线 2-车道分界线(虚线） 3-路右边线 4-路左边线 5-非机动车道分界线
        //6:中心线虚线   7:道路分界线（实线） 8:道路边缘线（右黄）
        if(RTKKM3.TouchLineType == LineType_0)
        {
            m_exam->TestPro = ItemProFlagEnd;
        }
    }

    if(cg->ai_ljjl - m_itemv.CSJL_Mi > m_itemv.XMJL_Mi)
    {
        JUDGE_MARK_SUB3(12, "41", false); //20160928
        m_exam->TestPro = ItemProFlagEnd;
        return;
    }


#if JUDGE_USE_INSPECT //无锡所送检转向灯少于3s即转向
    if(m_itemv.b_FXD)
    {
        if(m_exam->TestPro == ItemProFlagEnd)
        {
            //开转向灯少于3s即转向
            if(!m_itemv.FXD_TM_OK_Flag) //20141107
            {
                if(!m_itemv.MarkFlag_12_43)
                {
                    JUDGE_MARK_SUB3(12, "43", false);
                    m_itemv.MarkFlag_12_43 = true;
                }
            }
        }
    }
#endif

    char buf[128] = {0};
    SafeSprintf(buf, sizeof(buf), JUDGE_UTF8S("结束距离=%d,当前距离=%d;角度阈值=%d,当前角度变化=%0.2f,a=%0.2f,b=%0.2f"),
                m_itemv.XMJL_Mi, cg->ai_ljjl-m_itemv.CSJL_Mi, m_itemv.FinishDiaoTou_JiaoDu_Change, gps.hxj-m_itemv.CS_GPS_D,a,b);
    std::string str = buf;
    showStatus(JUDGE_UTF8S("[普通掉头]") + str);
}

Linei Sub3Judge12Ptdt::coordTransform(const TChuanGan* cg)
{
    const TGPSPoint center = cg->real.gps.to();
    Linei line = GpsMath::coordMapping(TGPSLine(cg->body.b1_a, cg->body.b2_a), center, m_itemv.mapping);
    return line;
}