package producer

import (
	"encoding/json"
	"fmt"
	"math"
	"os"
	"path/filepath"
	"strings"
	"time"

	log "github.com/sirupsen/logrus"

	"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/config"
)

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

	attFile := strings.Replace(r.Params.AuxRawFile, ".AUX", ".att.txt", 1)
	gpsFile := strings.Replace(r.Params.AuxRawFile, ".AUX", ".gps.txt", 1)
	timeFile := strings.Replace(r.Params.AuxRawFile, ".AUX", ".imgtime.txt", 1)
	r.AttQuaternion, _ = auxilary.StoreAtt(r.AuxPlatforms, attFile)
	r.GPSs, _ = auxilary.StoreGPS(r.AuxPlatforms, gpsFile)
	r.ImageTime = auxilary.NewImageTime(r.AuxPlatforms)
	r.ImageTime.Store(timeFile)

	return err
}

// 数据校验和测试
func (r *Registrator) AuxPrint() {
	var fcPos84 geojson.FeatureCollection
	var fcPos84Interp geojson.FeatureCollection
	for _, p := range r.AuxPlatforms {
		lat, lon, _ := calculator.ECEFGeocentricToGeodetic(p.W84PosX, p.W84PosY, p.W84PosZ)
		point := orb.Point{lon, lat}
		fcPos84.Features = append(fcPos84.Features, geojson.NewFeature(point))

		tp := float64(p.UTCTimeSec) + float64(auxilary.ReferenceTime2000) + float64(p.Microsecond)/1e6
		interp := r.GPSs.Lagrange(tp)
		lat, lon, _ = calculator.ECEFGeocentricToGeodetic(interp.X84, interp.Y84, interp.Z84)
		point = orb.Point{lon, lat}
		fcPos84Interp.Features = append(fcPos84Interp.Features, geojson.NewFeature(point))
	}

	data, _ := json.Marshal(fcPos84)
	f, _ := os.Create(filepath.Join(config.GCONFIG.Log.LogDir, fmt.Sprintf("%s_aux_pos_84.geojson", r.Params.DataId)))
	defer f.Close()
	f.Write(data)

	data, _ = json.Marshal(fcPos84Interp)
	f, _ = os.Create(filepath.Join(config.GCONFIG.Log.LogDir, fmt.Sprintf("%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. 四元数、成像时刻、GPS 等需要修改为插值获取
func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.Point) {
	log.Info("using attitude quaternion to calculate image boundary...")
	line0Start := r.calculateLatLonH(scene, 0, 0, 0)
	line0End := r.calculateLatLonH(scene, 0, scene.Width, 0)
	lineNStart := r.calculateLatLonH(scene, scene.Height, 0, 0)
	lineNEnd := r.calculateLatLonH(scene, scene.Height, scene.Width, 0)

	// ------------------ 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

	// 计算RPC
	rpc := NewRPC(r, scene, strings.Replace(scene.Tiff, ".tiff", ".rpb", 1))
	if err := rpc.RPC(); err != nil {
		log.Error("calculate RPC failed: ", err)
	}

	return
}

func (r *Registrator) SceneInAuxIndex(scene *Scene) (int, int) {
	startPosInAux := r.sceneOffsetInAuxIndex(scene, 0)
	endPosInAux := r.sceneOffsetInAuxIndex(scene, scene.Height)
	return startPosInAux, endPosInAux
}

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

	idx := (scene.Y + offset) / auxForImageRow
	if idx >= len(r.AuxPlatforms) {
		idx = len(r.AuxPlatforms) - 1
	}
	return idx
}

// row, col 相对于图像景左上角, H 为地面目标点高度
func (r *Registrator) calculateLatLonH(scene *Scene, row, col, H int) calculator.IntersectionPoint {
	// 内插值获取图像行时刻
	ucam := col
	cross := 16
	if scene.Type == "MSS" {
		cross = 4
		ucam = 4 * col // 统一使用相机PAN像元宽度进行计算
	}

	imgrow := row + scene.Y
	imgtime, _ := r.ImageTime.Interp(imgrow, cross)
	nanosecond := (imgtime - math.Floor(imgtime)) * 1e9
	sattime := time.Unix(int64(imgtime), int64(nanosecond)).UTC()

	// 球面线性插值得到姿态四元数
	qECI := r.AttQuaternion.Slerp(imgtime)
	// 拉格朗日插值得到卫星GPS坐标
	p84 := r.GPSs.Lagrange(imgtime)
	// 计算目标点在WGS84坐标系下的坐标
	cECI := calculator.Quaternion{W: qECI.Q0, X: qECI.Q1, Y: qECI.Q2, Z: qECI.Q3}
	groudPoint84, _ := calculator.Camera2GroundPoint(cECI,
		[]float64{p84.X84, p84.Y84, p84.Z84},
		sattime, ucam, H)

	return groudPoint84
}