/**
 * Object class for ObjectEffector
 * $Id$
 * $HeadURL$
 * $Author$
 */
#include "object_effector.h"

#include "main_handler.h"
#include "EffectorFiringStrategy/abstract_firing_strategy.h"
#include "EffectorFiringStrategy/firing_strategy_factory.h"

#include <LtsUtilsCore/qpoint3d.h>

namespace AreaEffectSimulation
{

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

ObjectEffector::ObjectEffector(MainHandler *mainHandler, QObject *parent)
    : QObject(parent)
    , m_mainHandler(mainHandler)
    , m_logger(getLogger(QStringLiteral("ObjectEffector")))
{
}

bool ObjectEffector::init(int participantId)
{
  m_participantId = participantId;

  return true;
}

AesEffectorState ObjectEffector::currentEffectorState()
{
  if (!m_effectorStateMachine)
    return AesEffectorState::EsNotReadyToFire;
  return m_effectorStateMachine->getCurrentState();
}

MainHandler *ObjectEffector::mainHandler() const
{
  return m_mainHandler;
}

int ObjectEffector::aesItemId() const
{
  return m_aesItemId;
}

int ObjectEffector::participantId() const
{
  return m_participantId;
}

QVector<TrajectoryPoint> ObjectEffector::intendendTrajectory() const
{
  return m_intendendTrajectory;
}

EffectorData ObjectEffector::effectorData() const
{
  return m_effectorData;
}

void ObjectEffector::assignAesItemRequest(int aesItemId)
{
  DEBUG_LOG(m_logger) << "assignAesItemRequest aesItemId=" << aesItemId;
  m_aesItemId = aesItemId;
  // Statemachine mit new anlegen
  if (m_effectorStateMachine)
  {
    delete m_effectorStateMachine;
    m_effectorStateMachine = nullptr;
  }
  m_effectorStateMachine = new EffectorStateMachine(AreaEffectSimulation::AesEffectorState::EsNotReadyToFire, this);

  connect(m_effectorStateMachine, &EffectorStateMachine::signalNotReadyToFire, this, [this]() { emit signalNotReadyToFire(m_participantId, m_aesItemId); });

  connect(m_effectorStateMachine, &EffectorStateMachine::signalReadyToFire, this, [this]() { emit signalReadyToFire(m_participantId, m_aesItemId); });

  connect(m_effectorStateMachine, &EffectorStateMachine::signalReceivedOrder, this, [this]() { emit signalReceivedOrder(m_participantId, m_aesItemId); });

  connect(m_effectorStateMachine, &EffectorStateMachine::signalReportedFired, this, [this]() { emit signalReportedFired(m_participantId, m_aesItemId); });

  connect(m_effectorStateMachine, &EffectorStateMachine::signalFired, this, &ObjectEffector::onEffectorFired);

  connect(m_effectorStateMachine, &EffectorStateMachine::signalNotReadyToFire, this, &ObjectEffector::sendEffectorToDds);
  connect(m_effectorStateMachine, &EffectorStateMachine::signalReadyToFire, this, &ObjectEffector::sendEffectorToDds);
  connect(m_effectorStateMachine, &EffectorStateMachine::signalReceivedOrder, this, &ObjectEffector::sendEffectorToDds);
  connect(m_effectorStateMachine, &EffectorStateMachine::signalReportedFired, this, &ObjectEffector::sendEffectorToDds);
  connect(m_effectorStateMachine, &EffectorStateMachine::signalFired, this, &ObjectEffector::sendEffectorToDds);
  connect(m_effectorStateMachine, &EffectorStateMachine::logMessage, this, &ObjectEffector::logMessage);

  m_effectorStateMachine->init();

  // Zuweisung im Objekt veranlassen
  // ggf. Trajektorie berechnen
  // publish Trajectory
}

void ObjectEffector::deleteAssignmentAesItem()
{
  DEBUG_LOG(m_logger) << "deleteAssignmentAesItem";
  if (m_effectorStateMachine)
  {
    delete m_effectorStateMachine;
    m_effectorStateMachine = nullptr;
  }
  m_aesItemId = 0;
}

bool ObjectEffector::reportFireReadinessRequest() // Feuerbereitschaft melden
{
  if (!m_effectorStateMachine)
    return false;
  return m_effectorStateMachine->reportFireReadiness();
}

void ObjectEffector::fireOrderRequest() // Feuerbefehl erhalten
{
  DEBUG_LOG(m_logger) << "fireOrderRequest";
  if (!m_effectorStateMachine)
    return;

  m_effectorStateMachine->fireOrder();
}

void ObjectEffector::fireRequest() // Feuern
{
  DEBUG_LOG(m_logger) << "fireRequest";
  if (!m_effectorStateMachine)
    return;
  m_effectorStateMachine->fire();
}

bool ObjectEffector::reportFiredRequest() // Abgefeuert melden
{
  DEBUG_LOG(m_logger) << "reportFiredRequest";
  if (!m_effectorStateMachine)
    return false;
  return m_effectorStateMachine->reportFired();
}

void ObjectEffector::reportEmptyChargeRequest(bool emptyCharge) // Munition leer
{
  DEBUG_LOG(m_logger) << "reportEmptyChargeRequest";
  if (!m_effectorStateMachine)
    return;
  m_effectorStateMachine->setEmptyCharge(emptyCharge);
}

bool ObjectEffector::overrideReadynessTimerMinMax(int newMillisecondsMin, int newMillisecondsMax)
{
  if (!m_effectorStateMachine)
    return false;
  return m_effectorStateMachine->overrideReportFireReadinessMinMax(newMillisecondsMin, newMillisecondsMax);
}

void ObjectEffector::resetReadynessTimer()
{
  if (m_effectorStateMachine)
    m_effectorStateMachine->resetReportFireReadinessMinMax();
}

void ObjectEffector::sendEffectorToDds()
{
  // Effector Effector;
  DEBUG_LOG(m_logger) << "sendEffectorToDds NewState= " << m_effectorStateMachine->getCurrentStateStr() << ", participantId=" << m_participantId
                      << ", aesItemId=" << m_aesItemId;
  AreaEffectSimulation::Effector effector;
  effector.id(m_participantId);
  effector.effectorState(m_effectorStateMachine->getCurrentState());
  effector.aesItemId(m_aesItemId);
  effector.participantId(m_participantId);
  m_mainHandler->dds()->dts()->publish(effector);
}

void ObjectEffector::onEffectorFired()
{
  DEBUG_LOG(m_logger) << "onEffectorFired";

  if (m_firingStrategy == nullptr)
  {
    ERROR_LOG(m_logger) << "Not possible to fire. No firing strategy specified.";
    return;
  }

  const bool bDoFiringSuccess = m_firingStrategy->doFiring();
  if (!bDoFiringSuccess)
  {
    ERROR_LOG(m_logger) << "doFiring failed"
                        << ", participantId=" << m_participantId
                        << ", aesItemId=" << m_aesItemId
                        << ", intendendTrajectory().size()=" << this->intendendTrajectory().size();
  }
}

// Anhand der EX-L39 Streuungsdaten wird eine Trajektorie für diesen
// Schuss berechnet.
// Input: SAA-Format, relativ zum Geschoss in metern und die Zeit relativ zur Abschusszeit
void ObjectEffector::setIndendedTrajectory(const std::vector<Core::RelativePositionRelativeTime> &geometryRelativeToLaunchOrigin)
{
  DEBUG_LOG(m_logger) << "setTrajectory #points=" << geometryRelativeToLaunchOrigin.size();
  m_intendendTrajectory.clear();
  for (const Core::RelativePositionRelativeTime &geoPosRelTime : geometryRelativeToLaunchOrigin)
  {
    double t = geoPosRelTime.relativeTime();
    double x = geoPosRelTime.offsetX();
    double y = geoPosRelTime.offsetY();
    double z = geoPosRelTime.offsetZ();
    m_intendendTrajectory.push_back({LtsUtils::QPoint3D(x, y, z), t});
  }
}

void ObjectEffector::setEffectorData(const EffectorData &effectorData)
{
  DEBUG_LOG(m_logger) << "setEffectorData" << ", effectorData.properties() = '" << effectorData.properties() << "'";

  m_effectorData = effectorData;
  setIndendedTrajectory(effectorData.trajectoryRelative());
  delete m_firingStrategy;
  m_firingStrategy = FiringStrategyFactory::createFiringStrategy(this);
  connect(m_firingStrategy, &AbstractFiringStrategy::signalFired,
          this, &ObjectEffector::signalFired);
  reportFireReadinessRequest();
}

void ObjectEffector::logMessage(QString message)
{
  DEBUG_LOG(m_logger) << "EffectorStateMachine logMessage=" << message << ", aesItemId=" << m_aesItemId << ", m_participantId=" << m_participantId;
}

} // namespace AreaEffectSimulation