import 'dart:async';
import 'package:grpc/grpc.dart';
import 'package:trackoffical_app/logger.dart';
import 'package:trackoffical_app/service/api.dart';
import 'package:trackoffical_app/service/app.dart';
import 'package:trackoffical_app/service/game/game_model.dart';
import 'package:trackoffical_app/utils.dart';
import 'package:simple_kalman/simple_kalman.dart';
import '../../model/game_map.dart';
import '../../model/m_position.dart';
import 'plug.dart';
import 'package:get/get.dart';
import 'package:trackoffical_app/pb.dart' as pb;

class PlugLocation extends Plug {
  StreamSubscription<MPosition>? _locationSubscription;
  final GameModel _model = Get.find();
  final GameMap _gameMap;
  final kalmanLat = SimpleKalman(errorMeasure: 360, errorEstimate: 150, q: 0.9);
  final kalmanLon = SimpleKalman(errorMeasure: 360, errorEstimate: 150, q: 0.9);
  final _toUpload = <MPosition>[];


  PlugLocation({
    required GameMap gameMap,
    required List<pb.GameGpsInfo> lastInfo,
  })  : _gameMap = gameMap
  {
    if(lastInfo.isNotEmpty){
      for(var one in lastInfo){
        var p = MPosition();
        p.latitude = one.latitude;
        p.longitude = one.longitude;
        p.directionRadian = one.directionRadian;
        p.timestamp = one.gpsTime.toModel();

        _addOnePosition(p);
      }
    }
  }

  final ApiService _api = Get.find();
  var _lastPositionTime = DateTime(2000);

  final _app = App.to;

  @override
  Future<void> init() async {
    // await setLocationSettings(
    //   askForGooglePlayServices: false,
    //   askForPermission: true,
    //   useGooglePlayServices: false,
    //   accuracy: LocationAccuracy.high,
    //   interval: 500,
    //   askForGPS: true
    // );
    //
    // final locationStream = onLocationChanged();
    final locationStream = _app.locationStream;
    _app.locationStart(500.milliseconds, 0);
    _locationSubscription?.cancel();
    _locationSubscription = locationStream.listen((event) {
      onRcvPosition(event);

      // final lat = event.latitude;
      // final lon = event.longitude;
      // if (lat != null && lon != null) {
      //   final p = MPosition(latitude: lat, longitude: lon);
      //   p.timestamp = _app.now;
      //   onRcvPosition(p);
      // }
    });

    final lastPosition = _model.myPosition.value;
    if (lastPosition != null) {
      _gameMap
          .worldToPixel(lastPosition)
          .then((value) => _model.myPositionOnMap.value = value);
    }

    loopUploadPosition();
  }

  void _addOnePosition(MPosition p){

    if (_model.myPositionHistory.isNotEmpty) {
      final lastP = _model.myPositionHistory.last;
      final dis = p.distance(lastP);
      _model.myPositionHistoryLen.value += dis;
    }
    _model.myPositionHistory.add(p);
  }

  void onRcvPosition(MPosition p) {
    p.directionRadian = -_model.compassRadiansFused.value;

    // // 卡尔曼
    // if(_isFirstP){
    //   for(var i = 0; i<10; i++){
    //     p.latitude = kalmanLat.filtered(p.latitude);
    //     p.longitude = kalmanLon.filtered(p.longitude);
    //   }
    //   _isFirstP=false;
    // }
    //
    // p.latitude = kalmanLat.filtered(p.latitude);
    // p.longitude = kalmanLon.filtered(p.longitude);
    // info('${p.latitude} ${p.longitude}');

    _model.myPosition.value = p;
    _model.myPositionHistoryTmp.add(p);
    if(_model.myPositionHistoryTmp.length>=20){
      _model.myPositionHistoryTmp.removeAt(0);
    }
    _toUpload.add(p);
    _gameMap
        .worldToPixel(p)
        .then((value) => _model.myPositionOnMap.value = value);


    // final pTest = MPosition(            latitude: 36.649713,
    //   longitude:117.052860,);

    _gameMap.mapPackage?.isInHotZone(p).then((value) =>
       _model.zone.value=value
    );

    if (_model.isStarted && (!_model.isFinish)) {
      final now = DateTime.now();
      if (now.difference(_lastPositionTime) > 1.seconds) {
        _addOnePosition(p);
        _model.gameSrcState.value.pbGameSave.gameGpsInfos.add(p.toPb2());
        _lastPositionTime = now;
      }
    }
  }

  Future<void> loopUploadPosition() async {
    while (isActive) {
      await Future.delayed(1.seconds);
      await uploadPosition();
    }
  }

  Future<void> uploadPosition() async {
    final gameId = _model.gameSrcState.value.pbGameData.gameId;
    final data = <MPosition>[];
    final distanceMeter = _model.myPositionHistoryLen.value.m;
    final paceSecondKm = _model.paceSecondKm;

    if(_toUpload.isNotEmpty){
      data.addAll(_toUpload);

      try {
        await _api.gameGpsUpload(
            gameId, data, distanceMeter.round(), paceSecondKm.value.inSeconds);

        _toUpload.clear();
      } catch (e) {
        warn('GameId[$gameId]上传位置失败： $e');
      }
    }
  }

  Future<void> _makeSureUploadAll() async {
    while (true) {
      try {
        await uploadPosition();
        return;
      } on GrpcError catch (e) {
        if (e.code != StatusCode.unavailable) {
          return;
        }
        error(e);
      } catch (e) {
        error(e);
        return;
      }
      await Future.delayed(100.milliseconds);
    }
  }

  @override
  Future<void> close() async {
    await _makeSureUploadAll();
    super.close();
    _app.locationStop();
    _locationSubscription?.cancel();
    _locationSubscription = null;
    debug('[位置插件]已关闭');
  }
}