#include "collisiondetectionthread.h"
#include "qdebug.h"
#include <QPointF>

//#pragma execution_character_set("utf-8")

CollisionDetectionThread::CollisionDetectionThread(QMapControl* pMapControl,QObject *parent)
    : QObject{parent}
{
//    trayIcon = new QSystemTrayIcon(this);

    this->detectFlag = false;
    this->endFlag = false;
    this->pMapControl = pMapControl;
    this->ms = 1000;

    this->collisionX = -1;
    this->collisionY = -1;

    resetWarning();
}

CollisionDetectionThread::~CollisionDetectionThread()
{
//    delete trayIcon;

}

//执行地形碰撞检测子线程逻辑
void CollisionDetectionThread::working(double lon,double lat,double relativeAlititude,double heading,double speed)
{
    double detectDist = speed * 60;//计算探测距离
    int offsetDist = 10; //偏移距离，考虑到左右机翼长度
    //计算当前坐标点垂直左右偏点
    QPointF curLPointOffset = geoComputation.getDestinationPoint(lon,lat,heading-90,offsetDist);
    QPointF curRPointOffset = geoComputation.getDestinationPoint(lon,lat,heading+90,offsetDist);

    QList<QPointF> ptList;
    ptList.append(curLPointOffset);
    ptList.append(QPointF(lon,lat));
    ptList.append(curRPointOffset);

    double collisionDistance = -1;
    QPointF collisionPt;
    double collisionAlititude;
    foreach(QPointF pt,ptList)
    {
        QPointF destPt = geoComputation.getDestinationPoint(pt.x(),pt.y(),heading,detectDist);
        UGPoint2D pntView(pt.x(),pt.y());//观察点
        UGPoint2D pntObject(destPt.x(),destPt.y()); //目标点
        UG3DAnalyst::SingleResult* result = spatialAnalysis.DoublePointVisibility(pMapControl,pntView,pntObject,relativeAlititude);
        if(!result->bVisible)
        {
            //计算碰撞距离
            double tmpDist = geoComputation.getSphericalDistance(pt.x(),pt.y(),result->pnt3D.x,result->pnt3D.y);
            if(collisionDistance<0)
            {
                collisionDistance = tmpDist;
                collisionPt.setX(result->pnt3D.x);
                collisionPt.setY(result->pnt3D.y);
                collisionAlititude = result->pnt3D.z;
            }
            else if(tmpDist<collisionDistance)
            {//获取距离最近的一个碰撞点
                collisionDistance = tmpDist;
                collisionPt.setX(result->pnt3D.x);
                collisionPt.setY(result->pnt3D.y);
                collisionAlititude = result->pnt3D.z;
            }
        }
    };

    if(collisionDistance<0) return;
    else
    {
        double collisionLon = collisionPt.x();
        double collisionLat = collisionPt.y();
//        qDebug()<<"*******curLon:"<<QString::number(lon,'f',6)<<" curLat:"<<QString::number(lat,'f',6)<<" collisionLon:"<<QString::number(collisionLon,'f',6)<<" collisionLat:"<<QString::number(collisionLat,'f',6);
        //判断是否同一碰撞点，不是的话进行预警重置
        if(!isIdenticalCollisionPoint(collisionLon,collisionLat)) resetWarning();
        //预警逻辑实现
        int collisionTime = collisionDistance/speed;
        /***********************预警提示**************************/
        showWarningNotify(collisionTime,collisionDistance,collisionAlititude);
    }

    /*
    //计算目标点
    QPointF destPoint = geoComputation.getDestinationPoint(lon,lat,heading,detectDist);
//    QPointF destLPointOffset = geoComputation.getDestinationPoint(curLPointOffset.x(),curLPointOffset.y(),heading,detectDist);
//    QPointF destRPointOffset = geoComputation.getDestinationPoint(curRPointOffset.x(),curRPointOffset.x(),heading,detectDist);
//    qDebug()<<"*******lon:"<<QString::number(destPoint.x(),'f',6)<<" lat:"<<QString::number(destPoint.y(),'f',6);
    //进行通视分析
    UGPoint2D pntView(lon,lat);//观察点
    UGPoint2D pntObject(destPoint.x(),destPoint.y()); //目标点
    UG3DAnalyst::SingleResult* result = spatialAnalysis.DoublePointVisibility(pMapControl,pntView,pntObject,relativeAlititude);
    if(result->bVisible)
    {//两点通视，无障碍，不做任何处理
        return;
    }
    else
    {//发现碰撞点，进行预警提示
        //第一碰撞点
        double collisionLon = result->pnt3D.x;
        double collisionLat = result->pnt3D.y;
        qDebug()<<"*******curLon:"<<QString::number(lon,'f',6)<<" curLat:"<<QString::number(lat,'f',6)<<" collisionLon:"<<QString::number(collisionLon,'f',6)<<" collisionLat:"<<QString::number(collisionLat,'f',6);
        //判断是否同一碰撞点，不是的话进行预警重置
        if(!isIdenticalCollisionPoint(collisionLon,collisionLat)) resetWarning();

        //计算碰撞距离(m)
        double collisionDistance = geoComputation.getSphericalDistance(lon,lat,collisionLon,collisionLat);
        //预警逻辑实现
        int collisionTime = collisionDistance/speed;
        //预警提示
        showWarningNotify(collisionTime,collisionDistance,result->pnt3D.z);
    }
    */
//    this->detectFlag = false;
}

void CollisionDetectionThread::start(int ms)
{
    emit requestPositionInfo(ms);
}

//接收飞机位置信息
void CollisionDetectionThread::receiveLocationData(QList<double> lon,QList<double> lat,QList<double> relativeAlititude,
                                                   QList<double> heading,QList<double> speed)
{
//    this->currentLat1 = currentLat1;
//    this->currentLon1 = currentLon1;
//    this->heading = heading;
//    this->relativeAltitude = relativeAltitude;
//    this->speed = speed;
//    qDebug()<<"*********************Lon:"<<lon.takeLast();
    if(lon.isEmpty()) return;
    for(int i=0;i<lon.size();i++)
    {
        working(lon.at(i),lat.at(i),relativeAlititude.at(i),heading.at(i),speed.at(i));
    }
    //    this->detectFlag = true;
}

//关闭线程
void CollisionDetectionThread::closedCollisionDetection()
{
    emit stopSendData();//通知RealTimePositionInfoThread停止发送数据
}

//判断是否同一碰撞点
bool CollisionDetectionThread::isIdenticalCollisionPoint(double collisionLon,double collisionLat)
{
    UGPoint2D pt(collisionLon,collisionLat);
    UGDatasetRasterPtr datasetRaster = pMapControl->getDemDataSet(pt);
    UGPoint pntImg;
    datasetRaster->XYToImg(pt,pntImg);
    datasetRaster = NULL;
//    qDebug()<<"**************x:"<<pntImg.x<<" y:"<<pntImg.y;
//    qDebug()<<"*****collisionX:"<<this->collisionX<<" y:"<<this->collisionY;
//    if(this->collisionX == pntImg.x && this->collisionY==pntImg.y)
//    {//同一碰撞点
//        qDebug()<<"**************true:";
//        return true;
//    }
    if(abs(this->collisionX - pntImg.x)<=1 && abs(this->collisionY-pntImg.y)<=1)//设置1像素的容差
    {//同一碰撞点
        qDebug()<<"**************true:";
        return true;
    }
    else
    {//不是同一碰撞点，更新碰撞点记录
//        qDebug()<<"******imgX:"<<pntImg.x<<" collisionX:"<<this->collisionX<<" imgY:"<<pntImg.y<<" collisionY:"<<this->collisionY;
        this->collisionX = pntImg.x;
        this->collisionY = pntImg.y;
        return false;
    }
}

//重置预警
void CollisionDetectionThread::resetWarning()
{
    this->highWarning = false;
    this->middleWarning = false;
    this->lowWarning = false;
}

//显示预警通知
void CollisionDetectionThread::showWarningNotify(int collisionTime,int collisionDist,int collisionHeight)
{
//    qDebug()<<"*************************showWarningNotify:";
    QString title;
    QString message = "";
//    QString message = QString(u8"前方大约") + QString::number(collisionTime) + QString("s ") + QString(u8"后有") + QString::number(collisionHeight) + QString("m ") + QString("地形障碍物 ");
    message += "前方" + QString::number(collisionDist) + "m存在高度为" + QString::number(collisionHeight) + "m的地形障碍物;"
               + "大约" + QString::number(collisionTime) + "s到达;" + "请尽快提高飞行高度!";
//    qDebug()<<"*************************message:"<<message;
    QVariantMap data;
    if(collisionTime>40)
    {
        if(lowWarning) return;
        title = "三级碰撞黄色警告!";
        data["icon"] = ":/Resources/WarningLevel3.png";
        qDebug()<<"*********message3:"<<message;
        emit showNotify(title,message,data);
        this->lowWarning = true;
    }else if(collisionTime>20)
    {
        if(middleWarning) return;
        title = "二级碰撞橙色警告!";
        data["icon"] = ":/Resources/WarningLevel2.png";
        qDebug()<<"**********message2:"<<message;
        emit showNotify(title,message,data);
        this->middleWarning = true;
    }else if(collisionTime<=20)
    {
        if(highWarning) return;
        title = "一级碰撞红色警告!";
        data["icon"] = ":/Resources/WarningLevel1.png";
        qDebug()<<"***********message1:"<<message;
        emit showNotify(title,message,data);
        this->highWarning = true;
    }
//    notifyManager->notify(title,message,data);
}



/********************************测试线程:发送飞机实时位置************************************/
SendDataTestThread::SendDataTestThread(QObject *parent): QObject{parent}
{

}

void SendDataTestThread::working()
{
//    qDebug()<<"***************************SendDataTestThread";

    pt.setX(119.668);
    pt.setY(32.23);
//    int i = 0;

    m_timer = new QTimer;
    connect(m_timer,&QTimer::timeout,this,[=](){
        generateData();
        emit sendPositionData(lon,lat,relativeAlititude,heading,speed);
    });
    m_timer->start(200);

}

void SendDataTestThread::stopGenerateData()
{
    m_timer->stop();
    delete m_timer;
//    this->deleteLater();
    qDebug()<<"*******************************stopGenerateData";
}

void SendDataTestThread::generateData()
{
//    qDebug() << "SendDataTestThread address: " << QThread::currentThread();
    lon.clear();
    lat.clear();
    heading.clear();
    speed.clear();
    relativeAlititude.clear();

    pt = geoComputation.getDestinationPoint(pt.x(),pt.y(),90,4);
//    qDebug()<<"***********lon:"<<QString::number(pt.x(),'f',6)<<" lat:"<<QString::number(pt.y(),'f',6);
    lon.append(pt.x());
    lat.append(pt.y());
    heading.append(90);
    speed.append(20);
    relativeAlititude.append(90);
}