package com.hivekion.room.bean;

import cn.hutool.extra.spring.SpringUtil;
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONArray;
import com.alibaba.fastjson2.JSONObject;
import com.hivekion.Global;
import com.hivekion.common.MultiPointGeoPosition;
import com.hivekion.common.entity.ResponseCmdInfo;
import com.hivekion.room.func.TaskAction;
import com.hivekion.scenario.entity.ScenarioTask;
import java.util.Map;
import java.util.TreeMap;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.ScheduledFuture;
import lombok.extern.slf4j.Slf4j;
import org.springframework.core.env.Environment;

/**
 * [类的简要说明]
 * <p>
 * [详细描述，可选]
 * <p>
 *
 * @author LiDongYU
 * @since 2025/7/22
 */
@Slf4j
public class MoveRootTask extends AbtParentTask implements TaskAction {

  protected final ScheduledExecutorService schedule = Executors.newScheduledThreadPool(
      1);
  protected ScheduledFuture<?> scheduledFuture;
  private final double SPEED = 170;
  private double accumulatedDistance = 0;

  public MoveRootTask(ScenarioTask scenarioTask, String roomId) {
    super(scenarioTask, roomId);
  }

  private final Map<Double, String> distanceInfoMap = new TreeMap<Double, String>();

  @Override
  public void doSomeThing() {
    log.info("move task running");
    //累计距离

    String url = SpringUtil.getBean(Environment.class).getProperty("path.planning.url");
    String params = url + "?"
        + "profile=car"
        + "&point=" + scenarioTask.getFromLat() + ","
        + scenarioTask.getFromLng()
        + "&point=" + scenarioTask.getToLat() + ","
        + scenarioTask.getToLng()
        + "points_encoded=false"
        + "&algorithm=alternative_route&alternative_route.max_paths=3";
    String result = webClient.get().uri(params)
        .retrieve()
        .bodyToMono(String.class)
        .block();
    JSONObject pointJson = JSON.parseObject(result);
    //获取路径点
    if (pointJson != null) {
      JSONObject pointsObj = pointJson.getJSONArray("paths").getJSONObject(0)
          .getJSONObject("points");
      //推送路径任务
      Global.sendCmdInfoQueue.add(
          ResponseCmdInfo.create("path_init", roomId, scenarioTask.getScenarioId(), pointsObj));
      JSONArray coordinates = pointsObj.getJSONArray("coordinates");
      Double beforeLng = null;
      Double beforeLat = null;
      for (int i = 0; i < coordinates.size(); i++) {
        JSONArray coordinate = coordinates.getJSONArray(i);
        Double lng = coordinate.getDouble(0);
        Double lat = coordinate.getDouble(1);
        if (beforeLng == null && beforeLat == null) {
          distanceInfoMap.put((double) 0, lng + "," + lat);
        } else {
          double distance = MultiPointGeoPosition.haversine(beforeLat, beforeLng, lng, lat);
          distanceInfoMap.put(distance, lng + "," + lat);
        }
        beforeLng = lng;
        beforeLat = lat;

      }
    }


  }




  @Override
  protected void finished() {

  }

  @Override
  protected void setMag(int mag) {

  }


}