package producer

import (
	"encoding/json"
	"fmt"
	"math"
	"os"
	"time"

	log "github.com/sirupsen/logrus"
	"gonum.org/v1/gonum/spatial/r3"

	"github.com/duke-git/lancet/v2/mathutil"
	"github.com/paulmach/orb"
	"github.com/paulmach/orb/geo"
	"github.com/paulmach/orb/geojson"
	"github.com/paulmach/orb/planar"
	"starwiz.cn/sjy01/image-proc/pkg/auxilary"
	"starwiz.cn/sjy01/image-proc/pkg/calculator"
	"starwiz.cn/sjy01/image-proc/pkg/utils"
)

func (r *Registrator) LoadAuxData() error {
	var err error
	r.auxHeads, r.auxBoxes, r.AuxPlatforms, err = auxilary.ExtractAux(r.Params.AuxRawFile)
	r.setW84Positions()
	return err
}

// GPS 点按秒更新，从辅助数据按秒提取
func (r *Registrator) setW84Positions() {
	sec := uint32(0)
	var x, y, z, t []float64
	for _, p := range r.AuxPlatforms {
		if p.UTCTimeSec != sec {
			r.w84Positions = append(r.w84Positions, r3.Vec{X: p.W84PosX, Y: p.W84PosY, Z: p.W84PosZ})
			x = append(x, p.W84PosX)
			y = append(y, p.W84PosY)
			z = append(z, p.W84PosZ)
			sec = p.UTCTimeSec
			t = append(t, float64(p.UTCTimeSec))
		}
	}

	r.w84PositionTime = t
	r.w84PositionX = x
	r.w84PositionY = y
	r.w84PositionZ = z
	r.w84FitPre[0] = &utils.PolynomialInterpolator{}
	r.w84FitPre[1] = &utils.PolynomialInterpolator{}
	r.w84FitPre[2] = &utils.PolynomialInterpolator{}
	r.w84FitPre[0].Fit(t, x)
	r.w84FitPre[1].Fit(t, y)
	r.w84FitPre[2].Fit(t, z)

	log.Println("set w84 positions:", len(r.w84Positions), "points")
}

// 数据校验和测试
func (r *Registrator) AuxPrint() {
	var fcPos84 geojson.FeatureCollection
	for _, p := range r.AuxPlatforms {
		lat, lon, _ := calculator.WGS84XYZtoLatLngH(p.W84PosX, p.W84PosY, p.W84PosZ)
		point := orb.Point{lon, lat}
		fcPos84.Features = append(fcPos84.Features, geojson.NewFeature(point))
	}
	data, _ := json.Marshal(fcPos84)
	f, _ := os.Create(fmt.Sprintf("log/%s_aux_pos_84.geojson", r.Params.DataId))
	defer f.Close()
	f.Write(data)

	var fcPos84Interp geojson.FeatureCollection

	for _, p := range r.auxHeads {
		tp := float64(p.TimeSec) + float64(p.TimeSecFrac)/10e6
		X := utils.InterpPolynomial(r.w84PositionTime, r.w84PositionX, tp)
		Y := utils.InterpPolynomial(r.w84PositionTime, r.w84PositionY, tp)
		Z := utils.InterpPolynomial(r.w84PositionTime, r.w84PositionZ, tp)
		lat, lon, _ := calculator.WGS84XYZtoLatLngH(X, Y, Z)
		point := orb.Point{lon, lat}
		fcPos84Interp.Features = append(fcPos84Interp.Features, geojson.NewFeature(point))
	}
	data, _ = json.Marshal(fcPos84Interp)
	f, _ = os.Create(fmt.Sprintf("log/%s_aux_pos_84_interp.geojson", r.Params.DataId))
	defer f.Close()
	f.Write(data)
}

func (r *Registrator) SceneImageTime(scene *Scene) (start, center, end time.Time) {
	startPosInAux, endPosInAux := r.SceneInAuxIndex(scene)
	centerPosInAux := (startPosInAux + endPosInAux) / 2

	start = time.Unix(int64(auxilary.ReferenceTime2000)+int64(r.AuxPlatforms[startPosInAux].UTCTimeSec),
		int64(r.AuxPlatforms[startPosInAux].Microsecond)*1000)
	center = time.Unix(int64(auxilary.ReferenceTime2000)+int64(r.AuxPlatforms[centerPosInAux].UTCTimeSec),
		int64(r.AuxPlatforms[centerPosInAux].Microsecond)*1000)
	end = time.Unix(int64(auxilary.ReferenceTime2000)+int64(r.AuxPlatforms[endPosInAux].UTCTimeSec),
		int64(r.AuxPlatforms[endPosInAux].Microsecond)*1000)

	return
}

// FIXME: This function is not accurate enough.
func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.Point) {
	startPosInAux, endPosInAux := r.SceneInAuxIndex(scene)

	as := r.AuxPlatforms[startPosInAux]
	ae := r.AuxPlatforms[endPosInAux]

	startTime := time.Unix(int64(auxilary.ReferenceTime2000)+int64(as.UTCTimeSec), int64(as.Microsecond)*1000).UTC()
	endTime := time.Unix(int64(auxilary.ReferenceTime2000)+int64(ae.UTCTimeSec), int64(ae.Microsecond)*1000).UTC()

	startPos84 := []float64{as.W84PosX, as.W84PosY, as.W84PosZ}
	endPos84 := []float64{ae.W84PosX, ae.W84PosY, ae.W84PosZ}

	// FIXME: GPS 拟合效果不佳
	// x0 := float64(r.auxHeads[startPosInAux].TimeSec) + float64(r.auxHeads[startPosInAux].TimeSecFrac)/10e6
	// x1 := float64(r.auxHeads[endPosInAux].TimeSec) + float64(r.auxHeads[endPosInAux].TimeSecFrac)/10e6
	// startPos84 := []float64{r.w84FitPre[0].Predict(x0), r.w84FitPre[1].Predict(x0), r.w84FitPre[2].Predict(x0)}
	// endPos84 := []float64{r.w84FitPre[0].Predict(x1), r.w84FitPre[1].Predict(x1), r.w84FitPre[2].Predict(x1)}
	// startPos84 := []float64{
	// 	utils.InterpPolynomial(r.w84PositionTime, r.w84PositionX, x0),
	// 	utils.InterpPolynomial(r.w84PositionTime, r.w84PositionY, x0),
	// 	utils.InterpPolynomial(r.w84PositionTime, r.w84PositionZ, x0),
	// }
	// endPos84 := []float64{
	// 	utils.InterpPolynomial(r.w84PositionTime, r.w84PositionX, x1),
	// 	utils.InterpPolynomial(r.w84PositionTime, r.w84PositionY, x1),
	// 	utils.InterpPolynomial(r.w84PositionTime, r.w84PositionZ, x1),
	// }
	// ------------------ 使用定姿态四元数计算图像边界 ------------------
	log.Info("using attitude quaternion to calculate image boundary...")
	Qsat2eci := calculator.Quaternion{W: as.QuatAttstarQ0, X: as.QuatAttstarQ1, Y: as.QuatAttstarQ2, Z: as.QuatAttstarQ3}
	line0Start, _ := calculator.IntersectionAttitude(Qsat2eci, startPos84, startTime, 0)
	line0End, _ := calculator.IntersectionAttitude(Qsat2eci, startPos84, startTime, 9344)

	Qsat2eci = calculator.Quaternion{W: ae.QuatAttstarQ0, X: ae.QuatAttstarQ1, Y: ae.QuatAttstarQ2, Z: ae.QuatAttstarQ3}
	lineNStart, _ := calculator.IntersectionAttitude(Qsat2eci, endPos84, endTime, 0)
	lineNEnd, _ := calculator.IntersectionAttitude(Qsat2eci, endPos84, endTime, 9344)

	// ------------------ 使用本体和轨道四元数计算图像边界 ECI------------------
	// log.Info("using orbit and body quaternion to calculate image boundary...")
	// Qsat2orbit := calculator.Quaternion{X: as.QuatOrbitQ1, Y: as.QuatOrbitQ2, Z: as.QuatOrbitQ3}
	// Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z)
	// Qorbit2eci := calculator.Quaternion{X: as.QuatOrbJQ1, Y: as.QuatOrbJQ2, Z: as.QuatOrbJQ3}
	// Qorbit2eci.W = math.Sqrt(1 - Qorbit2eci.X*Qorbit2eci.X - Qorbit2eci.Y*Qorbit2eci.Y - Qorbit2eci.Z*Qorbit2eci.Z)
	// line0Start,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, startPos84, startTime, 0)
	// line0End,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, startPos84, startTime, 9344)

	// Qsat2orbit = calculator.Quaternion{X: ae.QuatOrbitQ1, Y: ae.QuatOrbitQ2, Z: ae.QuatOrbitQ3}
	// Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z)
	// Qorbit2eci = calculator.Quaternion{X: ae.QuatOrbJQ1, Y: ae.QuatOrbJQ2, Z: ae.QuatOrbJQ3}
	// Qorbit2eci.W = math.Sqrt(1 - Qorbit2eci.X*Qorbit2eci.X - Qorbit2eci.Y*Qorbit2eci.Y - Qorbit2eci.Z*Qorbit2eci.Z)
	// lineNStart,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, endPos84, endTime, 0)
	// lineNEnd,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, endPos84, endTime, 9344)

	// ------------------ 使用本体和轨道四元数计算图像边界 ECEF------------------
	// log.Info("using orbit and body quaternion to calculate image boundary...")
	// Qsat2orbit := calculator.Quaternion{X: as.QuatOrbitQ1, Y: as.QuatOrbitQ2, Z: as.QuatOrbitQ3}
	// Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z)
	// vec84 := []float64{as.W84VelX, as.W84VelY, as.W84VelZ}
	// line0Start, _ := calculator.IntersectionECEF(Qsat2orbit, startPos84, vec84, 0)
	// line0End, _ := calculator.IntersectionECEF(Qsat2orbit, startPos84, vec84, 9344)

	// Qsat2orbit = calculator.Quaternion{X: ae.QuatOrbitQ1, Y: ae.QuatOrbitQ2, Z: ae.QuatOrbitQ3}
	// Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z)
	// vec84 = []float64{ae.W84VelX, ae.W84VelY, ae.W84VelZ}
	// lineNStart, _ := calculator.IntersectionECEF(Qsat2orbit, endPos84, vec84, 0)
	// lineNEnd, _ := calculator.IntersectionECEF(Qsat2orbit, endPos84, vec84, 9344)

	// ------------------ 计算图像边界距离和分辨率 ------------------
	W0 := geo.Distance(orb.Point{line0Start.Lon, line0Start.Lat}, orb.Point{line0End.Lon, line0End.Lat})
	// WN := geo.Distance(orb.Point{lineNStart.Lon, lineNStart.Lat}, orb.Point{lineNEnd.Lon, lineNEnd.Lat})
	H0 := geo.Distance(orb.Point{line0Start.Lon, line0Start.Lat}, orb.Point{lineNStart.Lon, lineNStart.Lat})
	// HN := geo.Distance(orb.Point{line0End.Lon, line0End.Lat}, orb.Point{lineNEnd.Lon, lineNEnd.Lat})
	xResolution := W0 / float64(scene.Width)
	yResolution := H0 / float64(scene.Height)
	scene.Meta.Gsd = math.Min(xResolution, yResolution)

	// FIXME: 临时设置分辨率
	if scene.Meta.Gsd < 2 {
		scene.Meta.Gsd = 1.3
	} else {
		scene.Meta.Gsd = 5.2
	}
	log.Debug("resolution x: ", xResolution)
	log.Debug("resolution y: ", yResolution)

	// 求外接矩形
	latMin := mathutil.Min(line0Start.Lat, line0End.Lat, lineNStart.Lat, lineNEnd.Lat)
	lngMin := mathutil.Min(line0Start.Lon, line0End.Lon, lineNStart.Lon, lineNEnd.Lon)
	latMax := mathutil.Max(line0Start.Lat, line0End.Lat, lineNStart.Lat, lineNEnd.Lat)
	lngMax := mathutil.Max(line0Start.Lon, line0End.Lon, lineNStart.Lon, lineNEnd.Lon)

	poly := orb.Polygon{
		{
			{lngMin, latMin},
			{lngMax, latMin},
			{lngMax, latMax},
			{lngMin, latMax},
			{lngMin, latMin},
		},
	}

	centroid, _ := planar.CentroidArea(poly)
	scene.Meta.CentreLocation.Latitude = centroid.Y()
	scene.Meta.CentreLocation.Longitude = centroid.X()

	// 暂定存储四角点
	scene.Meta.Corners.UpperLeft.Latitude = line0Start.Lat
	scene.Meta.Corners.UpperLeft.Longitude = line0Start.Lon
	scene.Meta.Corners.UpperRight.Latitude = line0End.Lat
	scene.Meta.Corners.UpperRight.Longitude = line0End.Lon
	scene.Meta.Corners.LowerLeft.Latitude = lineNStart.Lat
	scene.Meta.Corners.LowerLeft.Longitude = lineNStart.Lon
	scene.Meta.Corners.LowerRight.Latitude = lineNEnd.Lat
	scene.Meta.Corners.LowerRight.Longitude = lineNEnd.Lon

	scene.Meta.SatPosX = startPos84[0]
	scene.Meta.SatPosY = startPos84[1]
	scene.Meta.SatPosZ = startPos84[2]
	scene.Meta.Yaw = ae.Eular3 * 180 / math.Pi
	scene.Meta.Pitch = ae.Eular2 * 180 / math.Pi
	scene.Meta.Roll = ae.Eular1 * 180 / math.Pi

	return
}

func (r *Registrator) SceneInAuxIndex(scene *Scene) (int, int) {
	var auxForImageRow int
	switch scene.Type {
	case "MSS":
		auxForImageRow = 4
	case "PAN":
		auxForImageRow = 16
	case "FUS":
		auxForImageRow = 16
	}

	startPosInAux := scene.Y / auxForImageRow
	if startPosInAux >= len(r.AuxPlatforms) {
		startPosInAux = len(r.AuxPlatforms) - 1
	}

	endPosInAux := (scene.Y + scene.Height) / auxForImageRow
	if endPosInAux >= len(r.AuxPlatforms) {
		endPosInAux = len(r.AuxPlatforms) - 1
	}

	return startPosInAux, endPosInAux
}