import 'dart:async';
import 'dart:core';
import 'dart:math';

import 'package:flutter/material.dart';
import 'package:get/get.dart';
import 'package:roslibdart/roslibdart.dart';
import '../../service/base.dart';

class PlumRealDataController extends GetxController {
  var isGenerate = false.obs; //是否生成
  var angle = 0.0.obs; //方向弧度
  var isDirect = false.obs; //是否为方向设置
  var checkValue = "".obs; //checkPile -桩点坐标,checkDirection-方向设置
  var checkName = "".obs;
  var centerXY = Offset.zero.obs; //中心点
  var space = 5.0.obs; //间距 m
  var genLenth = 0.obs; //半径
  var isPileId = false.obs;
  var direction = 0.0.obs; //角度
  var centerOffset = Offset.zero.obs;
  var linePoint = Offset.zero.obs;
  var isUp = false.obs;
  var plumList = [].obs;
  var shouldPaint = true.obs;
  late Service service;
  late Ros ros;
  @override
  void onInit() async {
    super.onInit();
    ros = BaseService().getRos();
    // ros.connect();
    // service = Service(
    //     name: '/smash_point_list_service',
    //     ros: ros,
    //     type: "nav2_smash_behavior/srv/SmashPointList");
    // var json = {'data': []};
    // service.call(json).then((value) {
    //   print('ros$value');
    // });
  }

  updateLinePoint(Offset offset) {
    linePoint.value = offset;
    update();
  }

  // 监听 plumList 变量的变化
  void listenToPlumList() {
    plumList.listen((list) {
      var points = [];
      for (var i = 0; i < list.length; i++) {
        Offset item = list[i];
        points.add({"x": item.dx, "y": item.dy, "z": 0});
      }
      service
          .call({"points": points})
          .then((value) => {print("----$value")})
          .catchError((e) => {print(e)});
    }, onError: (err) {
      // 错误处理
    });
  }
}

class RealDataController extends GetxController {
  final time = DateTime.now().obs;
  final tid = 100.obs;
  final name = '桩点名称'.obs;
  final sid = '10.222'.obs;
  final times = 10.obs;
late final isClick = false.obs;

  late final lineDis = 110.0.obs;
  late final distance = 460.0.obs;
  var isHooked = false.obs;
  late Topic topic;
  late Ros ros;

  double g = 9.8; // 重力加速度
  double t = 0; // 时间
  @override
  void onInit() async {
    super.onInit();
    ros = BaseService().getRos();
    // ros.connect();
    // topic = Topic(
    //   ros: ros,
    //   name: '/your_topic',
    //   type: 'std_msgs/String',
    // );
    // // 订阅者来接收 ROS 主题的消息
    // topic.subscribe((message) async {
    //   print('Received message: $message');
    // });

    // ActionClient action = ActionClient(
    //     ros: ros,
    //     actionName: '/virtual_odom',
    //     serverName: 'virtual_odom_publisher_behavior/action/PublishVirtualOdom',
    //     goalName: "/target_pose",
    //     goalType: 'geometry_msgs/PoseStamped');
    // await action.init();
    // action.feedbacker.subscription!.listen((message) {
    //   String g = message['status']['goal_id']['id'];
    //   action.goals[g]!.stream.listen((data) {
    //     // 在这里处理 status 的变化
    //     print('Status changed: ${data['status']}');
    //   });
    // });
    // Map message = {
    //   'target_pose': {
    //     'header': {'frame_id': 'map'},
    //     'pose': {
    //       'position': {'x': 10.0, 'y': 10.0, 'z': 0.0},
    //       'orientation': {'x': 0.0, 'y': 0.0, 'z': 0.0, 'w': 1.0}
    //     }
    //   }
    // };

    // action.send(message);

    // 定时器每秒更新时间
    Timer.periodic(const Duration(milliseconds: 100), (_) {
      time.value = DateTime.now();
      if (!isHooked.value && lineDis < 560 && distance >= 460) {
        lineDis.value += 10; // 每秒增加10
      } else if (lineDis > 110 && distance <= 460) {
        isHooked.value = true;
        distance.value -= 10;
        lineDis.value -= 10;
      } else if (distance.value < 460) {
        isHooked.value = false;
        t += 1; // 每秒增加1秒
        distance.value = 0.5 * g * t * t;
        if (distance.value >= 460) {
          distance.value = 460;
          t = 0;
        }
        lineDis.value = 110;
      }
    });
  }

  @override
  void dispose() async {
    super.dispose();
    await ros.close();
  }
}