import common from '@ohos.app.ability.common';
import RealTime from '../components/RealTime';
import { MediaPlayer } from '../utils/MediaPlayer';
import { CommandType, MessageCallBackParams, SimulatorUdpClient } from '../utils/simulator/UdpClient';
import { BackMachineUdpClient } from '../utils/udp/UdpClient';
import { ConfigItemProps, ConfigProps, Status } from '../model/index';
import { getConfigFile } from '../utils/native/NativeUtils';
import promptAction from '@ohos.promptAction';

import { OutWireControl } from '../utils/wireControl/OutWireControl';
import {
  nativeLogCallback,
  nativeSDKInit,
  onTrack,
  registerControlCallback,
  registerSoundCallback,
  selectLineAndLib,
  setConfigFile,
  setImageSize
} from '../utils/native/NativeSDK';
import { LogHelper } from '../utils/LogHelper';
import util from '@ohos.util';
import { CarInfo, GpsInfo, parseCar, parseGps } from '../utils/udp/Gps';


// 直角转弯 (0, 0) (0, 1)   ...
// 坡道起步 (1, 0) (1, 1)   ...
// 倒车入库 (2, 0) (2, 1)   ...
// 曲线行驶 (3, 0) (3, 1)   ...
// 侧方停车 (4, 0) (4, 1)   ...


const startImage: Resource[] = [$rawfile("images/start.png"), $rawfile("images/finish.png"), $rawfile("images/finish.png")]
const resumeImage: Resource[] = [$rawfile("images/resume.png"), $rawfile("images/pause.png"), $rawfile("images/resume.png")]
const audios = new Array(33).map((_, i) => {
  return "audio/output_" + i + ".mp3"
})

const projectAudio = [
  [4, 5],
  [0, 1, 2, 3],
  [6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21],
  [29, 30, 31, 32],
  [22, 23, 24, 25, 26, 27, 28],
]

@Component
struct CustomButton {
  @Prop checked: boolean
  private text: string = ""

  build() {
    Button(this.text, { type: ButtonType.Normal })
      .backgroundColor(this.checked ? 0xff5e69 : 0xffffff)
      .fontColor(this.checked ? 0xffffff : 0x557685)
      .borderRadius(8)
      .shadow({
        offsetX: 3,
        offsetY: 3,
        color: 0xf1f1f1,
        radius: 10
      })
      .width("100%")
  }
}

@Entry
@Component
struct Index {
  @State status: Status = Status.Idle
  @State paths: ConfigItemProps<Array<Array<number>>>[] = []
  @State libraries: ConfigItemProps<Array<number>>[] = []
  @State currentPath: number = 0
  @State currentLibrary: number = 0
  @State process: number = 1
  private line: string
  private lib: string
  private carModel: string
  private fieldModel: string
  private teachPoint: string
  private teachPointParams: string
  private basePoint: string
  private player: MediaPlayer = new MediaPlayer(getContext(this) as common.UIAbilityContext)
  private simulatorUdpClient?: SimulatorUdpClient
  private backupUdpClient?: BackMachineUdpClient
  private outWireControl?: OutWireControl
  private carStatus: number = 0

  async aboutToAppear() {
    try {
      await this.initWireControlUDP()
      await this.initPlatformUDP()
      await this.initAudioPlayer()
      await this.initBackMachineUDP()
      await getConfigFile().then(([fieldModel, carModel, line, lib, teachPoint, teachPointParams, basePoint]) => {
        this.fieldModel = fieldModel
        this.carModel = carModel
        this.teachPoint = teachPoint
        this.basePoint = basePoint
        this.teachPointParams = teachPointParams
        this.line = line
        this.lib = lib
        this.libraries = (JSON.parse(lib) as ConfigProps<Array<number>>).features
        this.paths = (JSON.parse(line) as ConfigProps<Array<Array<number>>>).features
      })
      await nativeSDKInit()
      await nativeLogCallback((message: string, _: number) => {
        LogHelper.I("NativeSDK", "[Log Callback]: ", message)
      })
      await registerControlCallback((fxp: number, move: number) => {
        if (fxp > 0) {
          this.outWireControl.rightWheel(fxp)
        } else {
          this.outWireControl.leftWheel(fxp)
        }
        switch (move) {
          case -1000:
            break;
          case -1:
            this.outWireControl.moveDown()
            this.carStatus = move
            break;
          case 0:
            this.outWireControl.moveStop()
            this.carStatus = move
            break;
          case 1:
            this.outWireControl.moveUp()
            this.carStatus = move
            break;
          default:
            break;
        }
        LogHelper.I("NativeSDK", "[Control Callback]: ")
      })
      await registerSoundCallback((project: number, idx: number) => {
        this.playAudio(project, idx)
        LogHelper.I("NativeSDK", "[Sound Callback]: ")
      })
      await setImageSize(500, 300)
      await setConfigFile(this.basePoint, this.fieldModel, this.teachPoint, this.teachPointParams, this.carModel, this.line, this.lib)
    } catch (err) {
      promptAction.showToast({
        message: JSON.stringify(err?.message || err),
        duration: 3000
      })
      LogHelper.E("View", JSON.stringify(err?.message || err))
    }
  }

  // 播放语音
  async playAudio(project: number, idx: number) {
    try {
      await this.player.setSource({
        type: "raw",
        url: audios[projectAudio[project][idx]]
      })
    } catch (err) {
      promptAction.showToast({
        message: JSON.stringify(err?.message || err),
        duration: 3000
      })
      LogHelper.E("View", JSON.stringify(err?.message || err))
    }

  }

  // 初始化语音播放器
  async initAudioPlayer() {
    await this.player.create()
    this.player.on("prepared", () => {
      this.player.play()
    })
  }

  // 初始化终端UDP
  async initPlatformUDP() {
    this.simulatorUdpClient = new SimulatorUdpClient("0.0.0.0", 8990, "88.22.10.118", 9001)
    try {
      await this.simulatorUdpClient.bindUdp()
      // this.simulatorUdpClient.heart()
      // setInterval(() => {
      //   this.simulatorUdpClient.uploadPosition(new GpsInfo(), new CarInfo())
      // }, 1000)
      this.simulatorUdpClient.onMessage(({type, data = [] }: MessageCallBackParams) => {
        if (type === CommandType.Start) {
          let path = this.paths.findIndex(item => {
            return item.properties.id === data[0]
          })
          let lib = this.libraries.findIndex(item => {
            return item.properties.id === data[1]
          })
          if (path === -1 || lib === -1) {
            promptAction.showToast({
              message: "错误的路线或库位"
            })
            this.simulatorUdpClient.sendPID26(CommandType.Failed)
            return
          }
          this.currentPath = path
          this.currentLibrary = lib
          this.status = Status.Running
          this.simulatorUdpClient.sendPID26(CommandType.Success)
        }
        else if (type === CommandType.Stop) {
          this.status = Status.Idle
          this.simulatorUdpClient.sendPID26(CommandType.Success)
        }
      })
    } catch (err) {
      throw new Error(JSON.stringify(err))
    }
  }

  // 初始化后置机UDP
  async initBackMachineUDP() {
    this.backupUdpClient = new BackMachineUdpClient("0.0.0.0", 8991, "", 0)
    try {
      await this.backupUdpClient.bindUdp()
      this.backupUdpClient.onMessage((arr) => {
        let gps = parseGps(arr)
        let car = parseCar(arr)
        this.simulatorUdpClient?.uploadPosition(gps, car)
        onTrack(gps.lng, gps.lat, gps.heading, gps.v)
      })
    } catch (err) {
      throw new Error(JSON.stringify(err))
    }
  }

  // 初始化车机控制UDP
  async initWireControlUDP() {
    this.outWireControl = new OutWireControl()
    await this.outWireControl.init("192.168.7.181", 30021)
  }

  // 上方按钮点击
  onConfirm() {
    if (this.status === Status.Idle) {
      this.simulatorUdpClient?.setPathId(this.paths[this.currentPath].properties.id)
      this.simulatorUdpClient?.setLibId(this.libraries[this.currentLibrary].properties.id)
      this.simulatorUdpClient?.sendPID26(CommandType.Start)
      selectLineAndLib(this.paths[this.currentPath].properties.id, this.libraries[this.currentLibrary].properties.id)
      this.status = Status.Running
      this.outWireControl.apaStart()
    } else {
      this.simulatorUdpClient?.sendPID26(CommandType.Stop)
      this.status = Status.Idle
      this.outWireControl.moveStop()
      this.outWireControl.apaStop()
    }
  }

  // 下方按钮点击
  onCancel() {
    if (this.status === Status.Running) {
      this.status = Status.Pause
      this.outWireControl.moveStop()
    } else if (this.status === Status.Pause) {
      switch (this.carStatus) {
        case -1:
          this.outWireControl.moveDown()
          break;
        case 0:
          this.outWireControl.moveStop()
          break;
        case 1:
          this.outWireControl.moveUp()
          break;
        default:
          break;
      }
      this.status = Status.Running
    }
  }

  build() {
    Row() {
      Stack() {
        RealTime()

        Row() {
          Column() {
            Row() {
              ForEach(["项目演示", "发车", "收车"], (item, index) => {
                Text(item)
                  .padding(12)
                  .backgroundColor(this.process === index ? 0xff5d69 : "rgba(240, 242, 246, 0.88)")
                  .fontColor(this.process === index ? 0xffffff : 0x7f899f)
                  .borderRadius(index === 0 ? { topLeft: 10, bottomLeft: 10 } : index === 2 ? {
                    topRight: 10,
                    bottomRight: 10
                  } : {})
                  .width(90)
                  .textAlign(TextAlign.Center)
                  .onClick(() => {
                    if (index > 0) {
                      this.process = index
                    }
                  })
              })
            }.borderRadius(10).margin({ bottom: 20 })

            Column() {
              Column() {
                Row() {
                  Image($rawfile("images/path.png")).width(42)
                  Text("线路选择").fontColor(0x557685)
                }.margin({ bottom: 12 })

                Flex({ wrap: FlexWrap.Wrap }) {
                  ForEach(this.paths, (item: ConfigItemProps<Array<Array<number>>>, index: number) => {
                    Row() {
                      CustomButton({ text: item.properties.name, checked: this.currentPath === index }).onClick(() => {
                        this.currentPath = index
                      }).margin({ bottom: 12 }).width("100%")
                    }.width("50%").padding({ left: index % 2 === 0 ? 0 : 5, right: index % 2 === 0 ? 5 : 0 })
                  })
                }
              }.alignItems(HorizontalAlign.Start).width("100%")

              Column() {
                Row() {
                  Image($rawfile("images/park.png")).width(42)
                  Text("库位选择").fontColor(0x557685)
                }.margin({ bottom: 12 })

                Flex({ wrap: FlexWrap.Wrap }) {
                  ForEach(this.libraries, (item: ConfigItemProps<Array<number>>, index: number) => {
                    Row() {
                      CustomButton({ text: item.properties.name, checked: this.currentLibrary === index })
                        .onClick(() => {
                          this.currentLibrary = index
                        })
                        .margin({ bottom: 12 })
                        .width("100%")
                    }.width("50%").padding({ left: index % 2 === 0 ? 0 : 5, right: index % 2 === 0 ? 5 : 0 })
                  })
                }
              }.alignItems(HorizontalAlign.Start).width("100%")
            }.backgroundColor("rgba(240, 242, 246, 0.88)").borderRadius(10).padding(12).width(270)
          }

          Blank()
          Column() {
            Image(startImage[this.status]).width(74).onClick(() => {
              this.onConfirm()
            })
            Image(resumeImage[this.status]).width(74).onClick(() => {
              this.onCancel()
            })
          }.backgroundColor('rgba(228, 229, 233, 0.7)').borderRadius(10)
        }.width("100%").height("100%").padding(24).alignItems(VerticalAlign.Top)
      }.height('100%')
      .width("100%")
    }
    .height('100%')
    .width("100%")
  }
}