/**
 * AutomaticService.h
 *
 * @brief: 自动驾驶服务接口
 * @author: zhanke
 * @history: 2024-08-01, move from java project
 */

#ifndef AUTOMATIC_SERVICE_H_
#define AUTOMATIC_SERVICE_H_

#include "AutomaticServiceDefines.h"
#include "FieldModelCftc.h"
#include "FieldModelDcrk.h"
#include "FieldModelPdqb.h"
#include "FieldModelQxxs.h"
#include "FieldModelZjzw.h"
#include "IAutomaticService.h"
#include "TrackInfo.h"
#include "TrackModeManager.h"

using graphic::AutoRect;

class AutomaticService : public IAutomaticService
{
public:
    explicit AutomaticService();
    virtual ~AutomaticService() = default;

    virtual int autoServiceInit() override;
    virtual int autoServiceSetBasePoint(const char *data, int length) override;
    virtual int autoServiceSetFieldModel(const char *data, int length) override;
    virtual int autoServiceSetTeachPointInfo(const char *data, int length) override;
    virtual int autoServiceSetTeachPointParam(const char *data, int length) override;
    virtual int autoServiceSetCarModel(const char *data, int length) override;
    virtual int autoServiceSetLineInfo(const char *data, int length) override;
    virtual int autoServiceSetLibInfo(const char *data, int length) override;
    virtual int autoServiceSelectLineAndLib(int lineIndex, int libIndex) override;
    virtual int autoServiceTrack(double x, double y, double yaw, double v) override;
    virtual int autoServiceSetImageSize(int width, int height) override;
    virtual int registerMapImageCallback(examJudgeCallbackMapImage callback) override;
    virtual int registerAutoServiceControlCallback(autoServerControlCallback callback) override;
    virtual int registerAutoServiceSoundCallback(autoServerSoundCallback callback) override;
    virtual int registerAutoServiceLogCallback(autoServerLogCallback callback) override;

    TrackInfo getTrack();

private:
    void drawFieldModel(int x, int y);
    void drawCarModel(double yaw);
    void drawSelectedLine(int x, int y);
    void drawSelectedLib(int x, int y);
    void drawCarHistoryPos(int x, int y);

    TrackInfo *pTrackInfo_ = nullptr;               // 外部跟踪输入信息
    TrackModeManager *pTrackModeManager_ = nullptr; // 跟踪循迹模块
    IGraphicAbstract *pGraphicTool_ = nullptr;      // 绘图工具

    AutoRect mapRect_;    // 绘图范围（单位：米）
    double unit_ = 0.0;   // 绘图单位长度（单位：像素/米）
    int imageWidth_ = 0;  // 绘图宽度（单位：像素）
    int imageHeight_ = 0; // 绘图高度（单位：像素）

    int selectedLineIndex_ = 0;
    int selectedLibIndex_ = 0;

    examJudgeCallbackMapImage mapImageCallback_ = nullptr;
    autoServerControlCallback controlCallback_ = nullptr;
    autoServerSoundCallback soundCallback_ = nullptr;

    std::vector<FieldModelAbstractClass *> fieldModelPtrList_; // 场地模型指针列表
    std::vector<std::vector<double>> historyPosList_;          // 车辆历史位置
};

#endif // !AUTOMATIC_SERVICE_H_