package com.moral.api.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.moral.api.entity.HistorySecondUav;
import com.moral.api.mapper.HistorySecondUavMapper;
import com.moral.api.pojo.dto.uav.UAVGteForDTO;
import com.moral.api.pojo.dto.uav.UAVQueryTimeSlotDTO;
import com.moral.api.pojo.dto.uav.UAVResultDTO;
import com.moral.api.pojo.form.uav.UAVQueryTimeSlotForm;
import com.moral.api.pojo.vo.uav.HistorySecondUavVOs;
import com.moral.api.pojo.vo.uav.UAVQueryDateVO;
import com.moral.api.pojo.vo.uav.UAVQueryTimeSlotVO;
import com.moral.api.pojo.vo.uav.UAVQueryTimeSlotVOs;
import com.moral.api.service.HistorySecondUavService;
import com.moral.constant.ResponseCodeEnum;
import com.moral.constant.ResultMessage;
import com.moral.util.DateUtils;
import io.swagger.annotations.Api;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.CrossOrigin;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;

import java.awt.geom.GeneralPath;
import java.awt.geom.Point2D;
import java.text.DecimalFormat;
import java.util.*;

/**
 * @ClassName UAVController
 * @Description 无人机控制器
 * @Author 陈凯裕
 * @Date 2021/8/31 15:08
 * @Version TODO
 **/
@Slf4j
@Api(tags = {"无人机控制器"})
@RestController
@CrossOrigin(origins = "*", maxAge = 3600)
@RequestMapping("/uav")
public class UAVController {

    @Autowired
    HistorySecondUavService historySecondUavService;
    @Autowired
    HistorySecondUavMapper historySecondUavMapper;

    /**
    * @Description: 根据批次号查询无人机飞行数据
            * @Param: [batch]
            * @return: com.moral.constant.ResultMessage
            * @Author: 陈凯裕
            * @Date: 2021/9/13
            */
    @RequestMapping("queryDataByBatch")
    public ResultMessage queryDataByBatch(String batch){
        List<HistorySecondUav> historySecondUavs = historySecondUavService.queryDataByBatch(batch);
        if (historySecondUavs==null){
            return new ResultMessage(ResponseCodeEnum.SENSOR_IS_NOT_EXIST,"null");
        }
        
        //转换前端所需参数
        HistorySecondUavVOs vo = HistorySecondUavVOs.convert(historySecondUavs);
        return new ResultMessage(ResponseCodeEnum.SUCCESS.getCode(), ResponseCodeEnum.SUCCESS.getMsg(),vo);
    }

    @RequestMapping("test")
    public ResultMessage test(){
        //纬度
        ArrayList<Double> flyLatList = new ArrayList<>();
        //经度
        ArrayList<Double> flyLonList = new ArrayList<>();
        HashMap<String, Object> map = new HashMap<>();
        String mac ="p5dnd7a0243592";
        String time1 ="2023-05-14 10:40:00";
        String time2 ="2023-05-14 11:10:00";
        map.put("mac",mac);
        map.put("time1",time1);
        map.put("time2",time2);
//        List<UAVResultDTO> uavResultDTOS = historySecondUavMapper.reList(map);
        QueryWrapper<HistorySecondUav> queryWrapper = new QueryWrapper<>();
        queryWrapper.select("value");
        queryWrapper.eq("mac",mac);
        queryWrapper.between("time",time1,time2);
        List<HistorySecondUav> historySecondUavs = historySecondUavMapper.selectList(queryWrapper);
        for (HistorySecondUav historySecondUav : historySecondUavs) {
            String value = historySecondUav.getValue();
            Map map1 = JSON.parseObject(value, Map.class);
            flyLatList.add(Double.parseDouble(map1.get("flylat").toString()));
            flyLonList.add(Double.parseDouble(map1.get("flylon").toString()));

        }
        Double maxLat = Collections.max(flyLatList);
        Double maxLon = Collections.max(flyLonList);
        Double minLat = Collections.min(flyLatList);
        Double minLon = Collections.min(flyLonList);

        //大四边形右下
        String leftTop =  minLat +";"+ maxLon;
        //右上
        String rightTop =  maxLat +";"+ maxLon;
        //左下
        String leftBottom = minLat +";" + minLon;
        //左上
        String rightBottom = maxLat +";" + minLon;
        //计算纬度的距离
        double distance1 = getDistance(maxLon, minLat, maxLon, maxLat);
        //计算经度的距离
        double distance2 = getDistance(maxLon, minLat, minLon, minLat);
        ArrayList<UAVGteForDTO> list = new ArrayList<>();
        //小四边形

        String [] lefts =new String[]{maxLon.toString(),minLat.toString()};
        //右上2
        String[] youshang = calLocationByDistanceAndLocationAndDirection(90, minLon, maxLat, 50);
        //右下2
        String[] youxia = calLocationByDistanceAndLocationAndDirection(180, Double.parseDouble(youshang[0]), Double.parseDouble(youshang[1]), 50);
        //左下2
        String[] zuoxia = calLocationByDistanceAndLocationAndDirection(180, minLon, maxLat, 50);

        for (int i = 0; i <distance1 ; i+=60) {
            UAVGteForDTO dto1 = new UAVGteForDTO();
            String[] strings2 = calLocationByDistanceAndLocationAndDirection(90, minLon, maxLat, i);
            String[] strings3 = calLocationByDistanceAndLocationAndDirection(90, Double.parseDouble(youshang[0].toString()), Double.parseDouble(youshang[1].toString()), i);
            String[] strings4 = calLocationByDistanceAndLocationAndDirection(90, Double.parseDouble(youxia[0].toString()), Double.parseDouble(youxia[1].toString()), i);
            String[] strings5 = calLocationByDistanceAndLocationAndDirection(90, Double.parseDouble(zuoxia[0].toString()), Double.parseDouble(zuoxia[1].toString()), i);
            dto1.setLeftTop(strings2);
            dto1.setRightTop(strings3);
            dto1.setRightBottom(strings4);
            dto1.setLeftBottom(strings5);
            list.add(dto1);
            for (int j = 0; j < distance2; j+=60) {
                UAVGteForDTO dto2 = new UAVGteForDTO();
                String[] strings6 = calLocationByDistanceAndLocationAndDirection(180, Double.parseDouble(strings2[0].toString()), Double.parseDouble(strings2[1].toString()), j);
                String[] strings7 = calLocationByDistanceAndLocationAndDirection(180, Double.parseDouble(strings3[0].toString()), Double.parseDouble(strings3[1].toString()), j);
                String[] strings8 = calLocationByDistanceAndLocationAndDirection(180, Double.parseDouble(strings4[0].toString()), Double.parseDouble(strings4[1].toString()), j);
                String[] strings9 = calLocationByDistanceAndLocationAndDirection(180, Double.parseDouble(strings5[0].toString()), Double.parseDouble(strings5[1].toString()), j);
                dto2.setLeftTop(strings6);
                dto2.setRightTop(strings7);
                dto2.setRightBottom(strings8);
                dto2.setLeftBottom(strings9);
                if (j!=0){
                list.add(dto2);
                }
            }
        }
        ArrayList<UAVResultDTO> uavResultDTOS1 = new ArrayList<>();
        for (UAVGteForDTO uavGteForDTO : list) {
            ArrayList<String[]> doubleArrayList = new ArrayList<>();
            doubleArrayList.add(uavGteForDTO.getLeftTop());
            doubleArrayList.add(uavGteForDTO.getLeftBottom());
            doubleArrayList.add(uavGteForDTO.getRightTop());
            doubleArrayList.add(uavGteForDTO.getRightBottom());
            UAVResultDTO result = getResult(doubleArrayList);
            uavResultDTOS1.add(result);
        }
        if (uavResultDTOS1!=null){
            return new ResultMessage(ResponseCodeEnum.SUCCESS.getCode(), ResponseCodeEnum.SUCCESS.getMsg(),uavResultDTOS1);

        }

//        ArrayList<List<String>> lists = new ArrayList<>();
        HashMap<String,List<String>> rsMap = new HashMap<>();
//        HashMap<String,List<Map<String,Object>>> rsMap1 = new HashMap<>();
        for (UAVGteForDTO uavGteForDTO : list) {
            ArrayList<String> list1 = new ArrayList<>();
            ArrayList<String[]> doubleArrayList = new ArrayList<>();
            doubleArrayList.add(uavGteForDTO.getLeftTop());
            doubleArrayList.add(uavGteForDTO.getLeftBottom());
            doubleArrayList.add(uavGteForDTO.getRightTop());
            doubleArrayList.add(uavGteForDTO.getRightBottom());
            //获取区域对象
            for (HistorySecondUav historySecondUav : historySecondUavs) {
                String value = historySecondUav.getValue();
                Map map1 = JSON.parseObject(value, Map.class);
                String flylat = map1.get("flylat").toString();
                String flylon = map1.get("flylon").toString();
                //判断点是否在区域内
                boolean flag = isInPolygon(flylon,flylat,doubleArrayList);
                if (flag){

                list1.add(historySecondUav.getValue());
                }
            }
//            lists.add(list1);
//            String result = getResult(doubleArrayList);
//            rsMap.put(result,list1);
        }


        ArrayList<UAVResultDTO> uavResultDTOS = new ArrayList<>();
        Set<String> strings = rsMap.keySet();
        for (String string : strings) {
            UAVResultDTO dto = new UAVResultDTO();
            List<String> list1 = rsMap.get(string);
            ArrayList<Double> TVOCArrayList = new ArrayList<>();
            ArrayList<Double> PM10ArrayList = new ArrayList<>();
            ArrayList<Double> PM25ArrayList = new ArrayList<>();
            ArrayList<Double> SOArrayList = new ArrayList<>();
            ArrayList<Double> NOArrayList = new ArrayList<>();
            ArrayList<Double> QYArrayList = new ArrayList<>();
            ArrayList<Double> COArrayList = new ArrayList<>();
            ArrayList<Double> WDArrayList = new ArrayList<>();
            ArrayList<Double> SHArrayList = new ArrayList<>();
            for (String s : list1) {
                JSONObject jsonObject = JSON.parseObject(s);
                //tvoc
                String a99054 = jsonObject.get("a99054").toString();
                //pm2.5
                String a34004 = jsonObject.get("a34004").toString();
                //二氧化硫
                String a21026 = jsonObject.get("a21026").toString();
                ///二氧化氮
                String a21004 = jsonObject.get("a21004").toString();
//                //气压
//                String a01006 = jsonObject.get("a01006").toString();
//                if (a01006!=null){
//                    QYArrayList.add(Double.parseDouble(a01006));
//                }
                //pm10
                String a34002 = jsonObject.get("a34002").toString();
                //co
                String a21005 = jsonObject.get("a21005").toString();
                //湿度
//                String a01002 = jsonObject.get("a01002").toString();
                //温度
//                String a01001 = jsonObject.get("a01001").toString();
                TVOCArrayList.add(Double.parseDouble(a99054));
                PM10ArrayList.add(Double.parseDouble(a34002));
                PM25ArrayList.add(Double.parseDouble(a34004));
                SOArrayList.add(Double.parseDouble(a21026));
                NOArrayList.add(Double.parseDouble(a21004));
                COArrayList.add(Double.parseDouble(a21005));

//                WDArrayList.add(Double.parseDouble(a01001));
//                SHArrayList.add(Double.parseDouble(a01002));
            }

            double asDouble = COArrayList.stream().mapToInt(Double::intValue).average().getAsDouble();

        }


        return new ResultMessage(ResponseCodeEnum.SUCCESS.getCode(), ResponseCodeEnum.SUCCESS.getMsg(),null);
    }


    /**
    * @Description: 查询组织在哪天有无人机飞行，返回具体日期
            * @Param: [organizationId]
            * @return: com.moral.constant.ResultMessage
            * @Author: 陈凯裕
            * @Date: 2021/9/8
            */
    @RequestMapping("queryDate")
    public ResultMessage queryDate(Integer organizationId){
        //处理查询业务
        List<Date> dates = historySecondUavService.queryDate(organizationId);
        //封装vo层
        UAVQueryDateVO vo = UAVQueryDateVO.convert(dates);
        //返回数据
        return new ResultMessage(ResponseCodeEnum.SUCCESS.getCode(), ResponseCodeEnum.SUCCESS.getMsg(),vo);
    }


    /**
    * @Description: 查询某天组织无人机的飞行时间段
            * @Param: [form]
            * @return: com.moral.constant.ResultMessage
            * @Author: 陈凯裕
            * @Date: 2021/9/13
            */
    @RequestMapping("queryTimeSlot")
    public ResultMessage queryTimeSlot(UAVQueryTimeSlotForm form){
        //判断是否缺少参数
        if (!form.valid())
            return ResultMessage.fail(ResponseCodeEnum.PARAMETERS_IS_MISSING.getCode(),
                    ResponseCodeEnum.PARAMETERS_IS_MISSING.getMsg());
        //处理查询业务
        List<UAVQueryTimeSlotDTO> dtos = historySecondUavService.queryTimeSlot(form);
        //封装vo层
        UAVQueryTimeSlotVOs vo = UAVQueryTimeSlotVOs.convert(dtos);
        //返回数据
        return new ResultMessage(ResponseCodeEnum.SUCCESS.getCode(), ResponseCodeEnum.SUCCESS.getMsg(),vo);
    }

    private static final double EARTH_RADIUS = 6378137;

    private static final double R = 6371e3;
    /** 180° **/
    private static final DecimalFormat df = new DecimalFormat("0.00000000");

    /**
     * 根据一点的坐标与距离，以及方向，计算另外一点的位置
     * @param angle 角度，从正北顺时针方向开始计算
     * @param startLong 起始点经度
     * @param startLat 起始点纬度
     * @param distance 距离，单位m
     * @return
     */
    public static String[] calLocationByDistanceAndLocationAndDirection(double angle, double startLong,double startLat, double distance){
        String[] result = new String[2];
        //将距离转换成经度的计算公式
        double δ = distance/R;
        // 转换为radian，否则结果会不正确
        angle = Math.toRadians(angle);
        startLong = Math.toRadians(startLong);
        startLat = Math.toRadians(startLat);
        double lat = Math.asin(Math.sin(startLat)*Math.cos(δ)+Math.cos(startLat)*Math.sin(δ)*Math.cos(angle));
        double lon = startLong + Math.atan2(Math.sin(angle)*Math.sin(δ)*Math.cos(startLat),Math.cos(δ)-Math.sin(startLat)*Math.sin(lat));
        // 转为正常的10进制经纬度
        lon = Math.toDegrees(lon);
        lat = Math.toDegrees(lat);
        result[0] = df.format(lon);
        result[1] = df.format(lat);
        return result;
    }

    /**
     * 根据经纬度，计算两点间的距离
     *
     * @param longitude1 第一个点的经度
     * @param latitude1  第一个点的纬度
     * @param longitude2 第二个点的经度
     * @param latitude2  第二个点的纬度
     * @return 返回距离 单位米
     */
    public static double getDistance(double longitude1, double latitude1, double longitude2, double latitude2) {
        // 纬度
        double lat1 = Math.toRadians(latitude1);
        double lat2 = Math.toRadians(latitude2);
        // 经度
        double lng1 = Math.toRadians(longitude1);
        double lng2 = Math.toRadians(longitude2);
        // 纬度之差
        double a = lat1 - lat2;
        // 经度之差
        double b = lng1 - lng2;
        // 计算两点距离的公式
        double s = 2 * Math.asin(Math.sqrt(Math.pow(Math.sin(a / 2), 2) +
                Math.cos(lat1) * Math.cos(lat2) * Math.pow(Math.sin(b / 2), 2)));
        // 弧长乘地球半径, 返回单位: 米
        s =  s * EARTH_RADIUS;
        return s;
    }


    public static UAVResultDTO getResult(ArrayList<String[]> doubleArrayList){
        UAVResultDTO uavResultDTO = new UAVResultDTO();
            int total = doubleArrayList.size();
            double X = 0, Y = 0, Z = 0;
            for (int i = 0; i < total; i++) {
                double lat, lon, x, y, z;
                String[] strings = doubleArrayList.get(i);
                lon = Double.parseDouble(strings[0]) * Math.PI / 180;
                lat = Double.parseDouble(strings[1]) * Math.PI / 180;
                x = Math.cos(lat) * Math.cos(lon);
                y = Math.cos(lat) * Math.sin(lon);
                z = Math.sin(lat);
                X += x;
                Y += y;
                Z += z;
            }
            X = X / total;
            Y = Y / total;
            Z = Z / total;
            double Lon = Math.atan2(Y, X);
            double Hyp = Math.sqrt(X * X + Y * Y);
            double Lat = Math.atan2(Z, Hyp);

        double rsLon = Lon * 180 / Math.PI;
        double rsLat = Lat * 180 / Math.PI;
        uavResultDTO.setFlyLon(rsLon);
        uavResultDTO.setFlyLat(rsLat);

//        return rsLon+"_"+rsLat;
        return uavResultDTO;
    }

    /**
     * 将经纬度点集合转换为GeneralPath对象
     *
     * @param points 点集合(有序)
     *
     * @return GeneralPath对象
     */
    public static GeneralPath genGeneralPath(ArrayList<Point2D.Double> points) {
        GeneralPath path = new GeneralPath();

        if (points.size() < 3) {
            return null;
        }

        path.moveTo((float) points.get(0).getX(), (float) points.get(0).getY());

        for (Iterator<Point2D.Double> it = points.iterator(); it.hasNext();) {
            Point2D.Double point = (Point2D.Double) it.next();

            path.lineTo((float) point.getX(), (float) point.getY());
        }

        path.closePath();

        return path;
    }
    /**
     * 判断点是否在多边形内，如果点位于多边形的顶点或边上，也算做点在多边形内，直接返回true
     * @param point 检测点
     * @param pts   多边形的顶点
     * @return      点在多边形内返回true,否则返回false
     */
    public static boolean IsPtInPoly(Point2D.Double point, List<Point2D.Double> pts){

        int N = pts.size();
        boolean boundOrVertex = true; //如果点位于多边形的顶点或边上，也算做点在多边形内，直接返回true
        int intersectCount = 0;//cross points count of x
        double precision = 2e-10; //浮点类型计算时候与0比较时候的容差
        Point2D.Double p1, p2;//neighbour bound vertices
        Point2D.Double p = point; //当前点

        p1 = pts.get(0);//left vertex
        for(int i = 1; i <= N; ++i){//check all rays
            if(p.equals(p1)){
                return boundOrVertex;//p is an vertex
            }

            p2 = pts.get(i % N);
            if(p.x < Math.min(p1.x, p2.x) || p.x > Math.max(p1.x, p2.x)){
                p1 = p2;
                continue;
            }

            if(p.x > Math.min(p1.x, p2.x) && p.x < Math.max(p1.x, p2.x)){
                if(p.y <= Math.max(p1.y, p2.y)){
                    if(p1.x == p2.x && p.y >= Math.min(p1.y, p2.y)){
                        return boundOrVertex;
                    }

                    if(p1.y == p2.y){
                        if(p1.y == p.y){
                            return boundOrVertex;
                        }else{//before ray
                            ++intersectCount;
                        }
                    }else{
                        double xinters = (p.x - p1.x) * (p2.y - p1.y) / (p2.x - p1.x) + p1.y;
                        if(Math.abs(p.y - xinters) < precision){
                            return boundOrVertex;
                        }

                        if(p.y < xinters){
                            ++intersectCount;
                        }
                    }
                }
            }else{
                if(p.x == p2.x && p.y <= p2.y){
                    Point2D.Double p3 = pts.get((i+1) % N);
                    if(p.x >= Math.min(p1.x, p3.x) && p.x <= Math.max(p1.x, p3.x)){
                        ++intersectCount;
                    }else{
                        intersectCount += 2;
                    }
                }
            }
            p1 = p2;
        }

        if(intersectCount % 2 == 0){//偶数在多边形外
            return false;
        } else { //奇数在多边形内
            return true;
        }
    }

    /**
     * 判断当前位置是否在多边形区域内
     * @param
     * @param doubleArrayList 区域顶点
     * @return
     */
    public static boolean isInPolygon(String X,String Y,ArrayList<String[]> doubleArrayList){

        double p_x =Double.parseDouble(X);
        double p_y =Double.parseDouble(Y);
        Point2D.Double point = new Point2D.Double(p_x, p_y);

        List<Point2D.Double> pointList= new ArrayList<Point2D.Double>();

        for (String[] strings : doubleArrayList) {
            double polygonPoint_x=Double.parseDouble(strings[0]);
            double polygonPoint_y=Double.parseDouble(strings[1]);
            Point2D.Double polygonPoint = new Point2D.Double(polygonPoint_x,polygonPoint_y);
            pointList.add(polygonPoint);
        }
        return IsPtInPoly(point,pointList);

    }

    public final static double x_pi = 3.14159265358979324 * 3000.0 / 180.0;

    /**
     * 高德坐标转百度坐标
     *
     * @param gd_lon 经度
     * @param gd_lat 纬度
     * @return
     */
    public static Map<String, String> gd2bd(String gd_lon, String gd_lat) {
        double longitude = Double.parseDouble(gd_lon);
        double latitude = Double.parseDouble(gd_lat);
        Map<String, String> data = new HashMap<>();
        double x = longitude, y = latitude;
        double z = Math.sqrt(x * x + y * y) + 0.00002 * Math.sin(y * x_pi);
        double theta = Math.atan2(y, x) + 0.000003 * Math.cos(x * x_pi);
        double bd_lon = z * Math.cos(theta) + 0.0065;
        double bd_lat = z * Math.sin(theta) + 0.006;
        data.put("lon", String.valueOf(bd_lon));
        data.put("lat", String.valueOf(bd_lat));
        return data;
    }

}