import 'dart:async';
import 'dart:math';
import 'dart:ui';
import 'package:cpnav/pages/aim_point/aimpoint_page.dart';
import 'package:get/get.dart';
import 'package:gnss/gnss.dart';
import 'package:scence_map/controllers/controller.dart';
import 'package:scence_map/record_entity.dart';

import '../models/pilePoint/coord_trans.dart';
import '../pages/aim_point/aimpointController.dart';

class GnssController extends GetxController {
  late final Gnss gnss;
  late ScenceMapController mapController;
  late AimPointerController aimcontroller;

  LocationData? locationData;
  late Pos3D pilerCenter;
  late DeviceItem device;
  var locationUpdate = 0.obs;
  // late final PilerPointCalculate pilerCenterPoint;
  //三个定义
  var maindrilldistance = 2.0.obs; //主天线与车心距离
  var auxdrilldistance = 2.0.obs; //副天线与车心距离
  var offsetangle = 0.0.obs; //主副连线与车身夹角
  late final CoordTrans coordTrans;
  RecordEntity? lastPilePoint;
  var _dx = 0.0;
  var _dy = 0.0;
  Timer? timer;
  checkDistance() {
    if (DateTime.now().millisecondsSinceEpoch -
                aimcontroller.lastManualTapTime <
            30000 ||
        DateTime.now().millisecondsSinceEpoch - aimcontroller.lastCloseTapTime <
            30000) {
      return;
    }

    Offset pilerCenterPoint = Offset(device.x, device.y);
    if (aimcontroller.selectedPilePoint == null) {
      return;
    }
    var offset = Offset(
        aimcontroller.selectedPilePoint!.x, aimcontroller.selectedPilePoint!.y);
    if (mapController.calculateDistance(pilerCenterPoint, offset) < 1.9) {
      if (!aimcontroller.isCardVisible.value) {
        print("距离小于1m");
        aimcontroller.isCardVisible.value = true;
      } else {
        return null;
      }
    } else {
      if (!aimcontroller.isCardVisible.value) {
        print("距离大于1m");
        return null;
      } else {
        aimcontroller.isCardVisible.value = false;
      }
    }
  }

  @override
  void onInit() async {
    super.onInit();
    mapController = Get.find<ScenceMapController>();

    aimcontroller = Get.find<AimPointerController>();
    device = DeviceItem(
        name: 'GNSS',
        TID: 1001,
        type: 2,
        height: 3.0,
        width: 3.0,
        lat: 3790621.123,
        lon: 577052.547,
        image: ['assets/images/pilerCar.png']);
    mapController.addDevice(device);
    // pilerCenterPoint = PilerPointCalculate(
    //   maindrilldistance.value,
    //   auxdrilldistance.value,
    //   offsetangle.value,
    // );
    // 调用 pilerPos3D 方法

    // pilerCenter = Pos3D(4196544.959, 517639.709, 0.0);

    // 插入定时器测试代码
    timer = Timer.periodic(Duration(seconds: 1), (Timer timer) {
      if (lastPilePoint != aimcontroller.selectedPilePoint) {
        lastPilePoint = aimcontroller.selectedPilePoint;
        if (aimcontroller.selectedPilePoint != null) {
          var dx = device.x - aimcontroller.selectedPilePoint!.x;
          var dy = device.y - aimcontroller.selectedPilePoint!.y;
          var distance = sqrt(dx * dx + dy * dy);
          if (distance > 2) {
            dx = (aimcontroller.selectedPilePoint!.x - device.x) /
                (distance / 2);
            dy = (aimcontroller.selectedPilePoint!.y - device.y) /
                (distance / 2);
            device.x = aimcontroller.selectedPilePoint!.x + dx;
            device.y = aimcontroller.selectedPilePoint!.y + dy;
          }
          _dx = -dx / 10;
          _dy = -dy / 10;

        }
      }

      // if ((aimcontroller.selectedPilePoint!.x - device.x).abs() > _dx.abs()) {
      device.x += _dx;
      device.y += _dy;
      // } else {
      //   device.x = aimcontroller.selectedPilePoint!.x;
      //   device.y = aimcontroller.selectedPilePoint!.y;
      // }

      // device.x += 0.05;
      // device.y += 0.05;
      device.rotation = device.rotation + pi / 180; // 确保旋转角度在0-360度之间
      device.update.value++;
      checkDistance();
    });

    gnss = Gnss(port: "/dev/ttysWK2", baudrate: 115200);
    // gnss = Gnss(port: "COM1", baudrate: 115200);
    gnss.start();
    gnss.locationStream.listen((location) {
      locationData = location;
      // print(locationData);
      // var xyh = coordTrans.d2p(CoordBLH(
      //     B: location.latitude, L: location.longitude, H: location.altitude));
      // pilerCenter = pilerCenterPoint.pilerPos3D(xyh, location.heading,
      //     location.pitch, location.baseLength, offsetangle.value);
      // print(
      //     'X: ${pilerCenter.X}, Y: ${pilerCenter.Y}, Rotation: ${pilerCenter.rotation}');
      // CheckDistance();
      locationUpdate.value++;
    });

    coordTrans = CoordTrans(TransOptions(L0: 108.5, elevation: 0));
  }

  @override
  void dispose() {
    gnss.dispose();
    super.dispose();
    timer?.cancel();
  }
}

class Pos3D {
  double X;
  double Y;
  double rotation;

  Pos3D(this.X, this.Y, this.rotation);
}

// class PilerPointCalculate {
//   final double mainDrillDistance; //主天线与钻头距离

//   final double auxDrillDistance; //副天线与钻头距离
//   final double offsetangle;
//   PilerPointCalculate(
//     this.mainDrillDistance,
//     this.auxDrillDistance,
//     this.offsetangle,
//   );
//   // 计算副天线的坐标
//   Offset auxPointCalculate(
//       CoordXYH mainPoint, double baseLength, double pitch, double heading) {
//     // 将角度转换为弧度
//     double pitchRad = pitch * pi / 180;
//     double headingRad = (270 - heading) * pi / 180; //(270-)

//     // 计算水平投影距离
//     double dXY = baseLength * cos(pitchRad);

//     // 计算副天线的坐标
//     double x2 = mainPoint.X + dXY * cos(headingRad);
//     double y2 = mainPoint.Y + dXY * sin(headingRad);
//     return Offset(x2, y2);
//   }

//   // 计算交点
//   List findIntersections(CoordXYH mainPoint, Offset auxPoint) {
//     // 计算第二个点 b 的坐标
//     // Offset auxPoint = _auxPointCalculate(mainPoint, baseLength, pitch, heading);

//     double dx = auxPoint.dx - mainPoint.X;
//     double dy = auxPoint.dy - mainPoint.Y;
//     double d = sqrt(dx * dx + dy * dy);

//     if (d > mainDrillDistance + auxDrillDistance ||
//         d < (mainDrillDistance - auxDrillDistance).abs()) {
//       // 圆不相交
//       return [];
//     }

//     double a_ = (mainDrillDistance * mainDrillDistance -
//             auxDrillDistance * auxDrillDistance +
//             d * d) /
//         (2 * d);
//     double h = sqrt(mainDrillDistance * mainDrillDistance - a_ * a_);

//     double x2 = mainPoint.X + a_ * (dx / d);
//     double y2 = mainPoint.Y + a_ * (dy / d);

//     double rx = -dy * (h / d);
//     double ry = dx * (h / d);

//     Offset intersection1 = Offset(x2 + rx, y2 + ry);
//     Offset intersection2 = Offset(x2 - rx, y2 - ry);

//     return [intersection1, intersection2];
//   }

//   // 计算车心
//   Pos3D pilerPos3D(CoordXYH mainPoint, double heading, double pitch,
//       double baseLength, double offsetangle) {
//     // 找到两个可能的车心点
//     Offset auxPoint = auxPointCalculate(mainPoint, baseLength, pitch, heading);
//     List intersections = findIntersections(mainPoint, auxPoint);

//     if (intersections.isEmpty) {
//       throw Exception('无法找到车心点，圆不相交');
//     }

//     // 以主点为起点连线到副点作为横轴
//     double dx = auxPoint.dx - mainPoint.X;
//     double dy = auxPoint.dy - mainPoint.Y;

//     // 横轴逆时针旋转90度为纵轴
//     double verticalX = -dy;
//     double verticalY = dx;

//     // 选择位于纵轴正半轴的点作为最终的车心坐标
//     Offset intersection = (intersections[1].dx - mainPoint.X) * verticalX +
//                 (intersections[1].dy - mainPoint.Y) * verticalY >
//             0
//         ? intersections[1]
//         : intersections[0];

//     double rotation = (atan2(dy, dx) * 180 / pi) + 90 + offsetangle;

//     return Pos3D(intersection.dx, intersection.dy, rotation);
//   }
// }