package com.aros.apron.tools;

import android.os.Handler;

import androidx.annotation.NonNull;

import com.aros.apron.entity.Movement;
import com.google.gson.Gson;

import dji.sdk.keyvalue.key.CameraKey;
import dji.sdk.keyvalue.key.FlightControllerKey;
import dji.sdk.keyvalue.key.GimbalKey;
import dji.sdk.keyvalue.key.KeyTools;
import dji.sdk.keyvalue.value.camera.CameraFocusMode;
import dji.sdk.keyvalue.value.common.CameraLensType;
import dji.sdk.keyvalue.value.common.ComponentIndexType;
import dji.sdk.keyvalue.value.common.EmptyMsg;
import dji.sdk.keyvalue.value.flightcontroller.FlightCoordinateSystem;
import dji.sdk.keyvalue.value.flightcontroller.GoHomeState;
import dji.sdk.keyvalue.value.flightcontroller.RemoteControllerFlightMode;
import dji.sdk.keyvalue.value.flightcontroller.RollPitchControlMode;
import dji.sdk.keyvalue.value.flightcontroller.VerticalControlMode;
import dji.sdk.keyvalue.value.flightcontroller.VirtualStickFlightControlParam;
import dji.sdk.keyvalue.value.flightcontroller.YawControlMode;
import dji.sdk.keyvalue.value.gimbal.GimbalAngleRotation;
import dji.sdk.keyvalue.value.gimbal.GimbalAngleRotationMode;
import dji.sdk.keyvalue.value.gimbal.GimbalMode;
import dji.sdk.keyvalue.value.gimbal.GimbalResetType;
import dji.v5.common.callback.CommonCallbacks;
import dji.v5.common.error.IDJIError;
import dji.v5.manager.KeyManager;
import dji.v5.manager.aircraft.virtualstick.VirtualStickManager;


public class DroneHelper {


    private String TAG = "DroneHelper";
    private static final int GIMBAL_FORWARD = 0;
    private static final int GIMBAL_DOWN = 1;


    private DroneHelper() {
    }

    private static class DroneHelperHolder {
        private static final DroneHelper INSTANCE = new DroneHelper();
    }

    public static DroneHelper getInstance() {
        return DroneHelperHolder.INSTANCE;
    }

    private boolean isExitInProgress = false; // 新增标志

    // DroneHelper.java
    private int exitVirtualStickRetryCount = 0;
    private static final int MAX_EXIT_RETRY = 10;

    public void exitVirtualStickMode() {
        exitVirtualStickMode(null);
    }

    public void exitVirtualStickMode(CommonCallbacks.CompletionCallback callback) {
        if (isExitInProgress) {
            LogUtil.log(TAG, "释放操作已在进行中，跳过重复调用");
            return;
        }
        isExitInProgress = true;
        exitVirtualStickWithRetry(callback);
    }

    private void exitVirtualStickWithRetry(CommonCallbacks.CompletionCallback callback) {
        VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
            @Override
            public void onSuccess() {
                exitVirtualStickRetryCount = 0;
                isExitInProgress = false; // 重置标志
                LogUtil.log(TAG, "控制权已取消");
                if (callback != null) {
                    callback.onSuccess();
                }
            }

            @Override
            public void onFailure(@NonNull IDJIError error) {
                LogUtil.log(TAG, "取消控制权失败:" + error.toString());
                if (exitVirtualStickRetryCount < MAX_EXIT_RETRY) {
                    exitVirtualStickRetryCount++;
                    LogUtil.log(TAG, "重试释放控制权 (" + exitVirtualStickRetryCount + "/" + MAX_EXIT_RETRY + ")");
                    new Handler().postDelayed(new Runnable() {
                        @Override
                        public void run() {
                            if (isExitInProgress) { // 检查标志
                                exitVirtualStickWithRetry(callback);
                            }
                        }
                    }, 1000);
                } else {
                    LogUtil.log(TAG, "多次尝试释放控制权失败，放弃");
                    exitVirtualStickRetryCount = 0;
                    isExitInProgress = false; // 重置标志
                    if (callback != null) {
                        callback.onFailure(error);
                    }
                }
            }

        });
    }

    private int enableVirtualStickTimes;
    private boolean virtualStickEnable;

    public boolean isVirtualStickEnable() {
        return virtualStickEnable;
    }

    public void setVirtualStickEnable(boolean virtualStickEnable) {
        this.virtualStickEnable = virtualStickEnable;
    }

    public void setVerticalModeToVelocity() {

        RemoteControllerFlightMode remoteControllerFlightMode = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyRemoteControllerFlightMode));
        if (remoteControllerFlightMode != null && remoteControllerFlightMode == RemoteControllerFlightMode.P) {

            VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
            VirtualStickManager.getInstance().enableVirtualStick(new CommonCallbacks.CompletionCallback() {
                @Override
                public void onSuccess() {
                    Movement.getInstance().setVirtualStickEnableReason(2);
                    LogUtil.log(TAG, "第" + enableVirtualStickTimes + "次获取控制权成功");
                    virtualStickEnable = true;
                    enableVirtualStickTimes = 0;
                    VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
                }

                @Override
                public void onFailure(@NonNull IDJIError error) {
                    if (!virtualStickEnable) {
                        if (enableVirtualStickTimes < 5) {
                            new Handler().postDelayed(new Runnable() {
                                @Override
                                public void run() {
                                    LogUtil.log(TAG, "第" + enableVirtualStickTimes + "次获取控制权失败" + new Gson().toJson(error));
                                    enableVirtualStickTimes++;
                                    setVerticalModeToVelocity();
                                }
                            }, 1000);
                        }
                    } else {
                        LogUtil.log(TAG, "视觉降落获取控制权失败" + new Gson().toJson(error));
                    }
                }
            });
        } else {
            LogUtil.log(TAG, "视觉降落控制权获取失败:不在P挡");
        }


    }

    public void setCameraFocusMode() {
        Boolean cameraConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey.
                KeyConnection, ComponentIndexType.PORT_1));
        if (cameraConnect != null && cameraConnect) {
            KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyCameraFocusMode, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_WIDE), CameraFocusMode.AFC, new CommonCallbacks.CompletionCallback() {
                @Override
                public void onSuccess() {
                    LogUtil.log(TAG, "设置对焦模式自动对焦");
                }

                @Override
                public void onFailure(@NonNull IDJIError idjiError) {
                    LogUtil.log(TAG, "设置对焦模式自动对焦失败:" + new Gson().toJson(idjiError));

                }
            });
        } else {
            LogUtil.log(TAG, "相机未连接");
        }
    }

    private int setGimbalPitchDegreeFailTimes = 0;
    private boolean isGimbalPitchDegree = false;

    public void setGimbalPitchdown() {
        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
                KeyConnection, ComponentIndexType.PORT_1));
        if (isConnect != null && isConnect) {
            GimbalAngleRotation rotation = new GimbalAngleRotation();
            rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
            rotation.setYaw(0.0);
            rotation.setRoll(0.0);
            rotation.setPitch(-90.0);
            KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
                        @Override
                        public void onSuccess(EmptyMsg emptyMsg) {
                            LogUtil.log(TAG, "云台朝下");
                        }

                        @Override
                        public void onFailure(@NonNull IDJIError error) {
                            LogUtil.log(TAG, "fail:" + error.toString());
                        }
                    }
            );
        } else {
            LogUtil.log(TAG, "云台未连接");
        }
    }

    public void setGimbalPitchDegree() {
        //通知拓挂载云台朝下
//        PayloadWidgetManager.getInstance().sendMsgToLeftPayload("#TPPG2wPTZ0A76");
        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
                KeyConnection, ComponentIndexType.PORT_1));
        if (isConnect != null && isConnect) {
            GimbalAngleRotation rotation = new GimbalAngleRotation();
            rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
            rotation.setYaw(0.0);
            rotation.setRoll(0.0);
            rotation.setPitch(-90.0);
            KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
                        @Override
                        public void onSuccess(EmptyMsg emptyMsg) {
                            LogUtil.log(TAG, "云台朝下");
                            isGimbalPitchDegree = true;
                            setGimbalPitchDegreeFailTimes = 0;
                        }

                        @Override
                        public void onFailure(@NonNull IDJIError error) {
                            LogUtil.log(TAG, "fail:" + error.toString());
                            retryGimbalPitchDegree();

                        }
                    }
            );
        } else {
            LogUtil.log(TAG, "云台未连接");
            retryGimbalPitchDegree();
        }
    }

    private void retryGimbalPitchDegree() {
        if (!isGimbalPitchDegree) {
            new Handler().postDelayed(new Runnable() {
                @Override
                public void run() {
                    if (setGimbalPitchDegreeFailTimes < 10) {
                        setGimbalPitchDegreeFailTimes++;
                        setGimbalPitchDegree();
                    }
                }
            }, 1500);
        }
    }

    public void moveVxVyYawrateHeight(double mPitch, double mRoll, double mYaw, double mThrottle) {
        VirtualStickFlightControlParam virtualStickFlightControlParam = new VirtualStickFlightControlParam();
        virtualStickFlightControlParam.setVerticalControlMode(VerticalControlMode.VELOCITY);
        virtualStickFlightControlParam.setRollPitchControlMode(RollPitchControlMode.VELOCITY);
        virtualStickFlightControlParam.setYawControlMode(YawControlMode.ANGULAR_VELOCITY);
        virtualStickFlightControlParam.setRollPitchCoordinateSystem(FlightCoordinateSystem.BODY);
        virtualStickFlightControlParam.setPitch(mPitch);
        virtualStickFlightControlParam.setRoll(mRoll);//前后
        virtualStickFlightControlParam.setYaw(mYaw);
        virtualStickFlightControlParam.setVerticalThrottle(mThrottle);//上下
        sendMovementCommand(virtualStickFlightControlParam);
    }

    public boolean shouldExecute = true;

    public void sendMovementCommand(VirtualStickFlightControlParam param) {
//        if (shouldExecute) {
        VirtualStickManager.getInstance().sendVirtualStickAdvancedParam(param);
//        }
//        shouldExecute = !shouldExecute;
    }

    //设置备降点
    public void setAlternateLandingPoint() {
        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
        if (isConnect != null && isConnect) {
            GoHomeState goHomeState = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyGoHomeStatus));
            if (goHomeState != null) {
                if (goHomeState.value() == 0) {
                    KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyStopGoHome), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
                        @Override
                        public void onSuccess(EmptyMsg emptyMsg) {
                        }

                        @Override
                        public void onFailure(@NonNull IDJIError error) {
                        }
                    });
                }
            }
        } else {
            LogUtil.log(TAG, "设置备降点失败,无人机未连接");
        }

    }
}