import 'dart:async';
import 'dart:io';
import 'package:flutter/material.dart';

import 'dart:ffi';
import 'package:flutter_map/flutter_map.dart';
import 'package:latlong2/latlong.dart';

import 'package:ju_rc_app/lib/boxes.dart';
import 'package:ju_rc_app/lib/sensors.dart';
import 'package:ju_rc_app/lib/serial.dart';

// c-structs
base class GnssLocData extends Struct {
  @Uint8()
  external int type;
  @Uint8()
  external int command;

  @Uint8()
  external int isValid;

  @Double()
  external double lat;
  @Double()
  external double lng;
}

base class SpeedLocData extends Struct {
  @Uint8()
  external int type;
  @Uint8()
  external int command;

  @Uint8()
  external int isValid;

  @Double()
  external double speed;
}

base class CourseLocData extends Struct {
  @Uint8()
  external int type;
  @Uint8()
  external int command;

  @Uint8()
  external int isValid;

  @Double()
  external double course;
}

base class AltLocData extends Struct {
  @Uint8()
  external int type;
  @Uint8()
  external int command;

  @Uint8()
  external int isValid;

  @Double()
  external double alt;
}

base class SatLocData extends Struct {
  @Uint8()
  external int type;
  @Uint8()
  external int command;

  @Uint8()
  external int isValid;

  @Uint32()
  external int n;
}

base class HdopLocData extends Struct {
  @Uint8()
  external int type;
  @Uint8()
  external int command;

  @Uint8()
  external int isValid;

  @Double()
  external double hdop;
}

// c-structs end

class Maps extends JuBox {
  const Maps({super.key});

  @override
  State<StatefulWidget> createState() => _MapsState();
}

class _MapsState extends State<Maps> with TickerProviderStateMixin {
  USerial serial = getSerial();
  late Timer timer;

  double _lat = 51.1667, _long = 10.4500;
  int _state = 0;
  bool _wasVaild = false;
  final _mapController = MapController();
  bool available = true;

  @override
  void initState() {
    super.initState();
    SensorReader.listen(serialListen);
    timer = Timer.periodic(const Duration(seconds: 1), (_) async {
      if (available) serial.sprintln("<rfSystemSensor>2300", system: true);
    });
  }

  @override
  void dispose() {
    SensorReader.removeListen(serialListen);
    timer.cancel();
    super.dispose();
  }

  void serialListen(int type, int command, Pointer<ArrayCStruct> ptr) {
    if (type == 0x23 && command == 0xff) {
      setState(() {
        available = false;
      });
      return;
    }
    if (type != 0x23 || command != 0x00) return;
    var loc = ptr as Pointer<GnssLocData>;
    setState(() {
      _lat = loc.ref.lat;
      _long = loc.ref.lng;
      _state = loc.ref.isValid;
      //_mapController.move(LatLng(_lat, _long), _wasVaild ? 17 : 6);
      _animatedMapMove(
          _mapController, this, LatLng(_lat, _long), _wasVaild ? 17 : 6);
      if (_state & 1 > 0) _wasVaild = true;
    });
  }

  @override
  Widget build(BuildContext context) => !available
      ? GestureDetector(
          onTap: () {
            if (!available) {
              available = true;
            }
          },
          child: const Center(
              child: Column(
                  mainAxisAlignment: MainAxisAlignment.center,
                  crossAxisAlignment: CrossAxisAlignment.center,
                  children: [
                Text("GNSS is not available!"),
                Icon(Icons.block)
              ])))
      : FlutterMap(
          options: MapOptions(
              center: LatLng(_lat, _long),
              zoom: _wasVaild ? 17 : 6,
              maxZoom: _wasVaild ? 17 : 6,
              minZoom: _wasVaild ? 17 : 6,
              interactiveFlags: InteractiveFlag.none,
              onTap: (TapPosition pos, LatLng ll) {
                Navigator.push(
                  context,
                  MaterialPageRoute(
                      builder: (context) => const SerialDetailPage()),
                );
              }),
          mapController: _mapController,
          children: [
            TileLayer(
              urlTemplate: 'https://tile.openstreetmap.de/{z}/{x}/{y}.png',
              userAgentPackageName: 'de.jusax.ju_rc_app',
            ),
            MarkerLayer(
              markers: [
                Marker(
                  point: LatLng(_lat, _long),
                  width: 100,
                  height: 100,
                  builder: (context) => Icon(
                    switch (_state) {
                      3 => Icons.location_on,
                      2 => Icons.location_off,
                      1 => Icons.location_on_outlined,
                      int() => Icons.location_off_outlined,
                    },
                    color: Theme.of(context).colorScheme.primary,
                  ),
                ),
              ],
            ),
          ],
        );
}

class SerialDetailPage extends StatefulWidget {
  const SerialDetailPage({super.key});

  @override
  State<StatefulWidget> createState() => _SerialDetailPageState();
}

class _SerialDetailPageState extends State<SerialDetailPage>
    with TickerProviderStateMixin {
  USerial serial = getSerial();
  late Timer timer;
  final _mapController = MapController();

  double _lat = 51.1667, _long = 10.4500;
  int _state = 0;

  double _mps = -1, _course = -1, _alt = -1, _hdop = -1;
  bool _mpsState = false,
      _courseState = false,
      _altState = false,
      _satNState = false,
      _hdopState = false;
  int _satN = -1;
  bool _follow = true;
  bool available = true;

  @override
  void initState() {
    super.initState();
    timer = Timer.periodic(const Duration(seconds: 2), (_) async {
      if(!available) return;
      serial.sprintln("<rfSystemSensor>2303", system: true);
      sleep(const Duration(milliseconds: 200));
      serial.sprintln("<rfSystemSensor>2304", system: true);
      sleep(const Duration(milliseconds: 200));
      serial.sprintln("<rfSystemSensor>2305", system: true);
      sleep(const Duration(milliseconds: 200));
      serial.sprintln("<rfSystemSensor>2306", system: true);
      sleep(const Duration(milliseconds: 200));
      serial.sprintln("<rfSystemSensor>2307", system: true);
    });
    SensorReader.listen(serialListen);
  }

  @override
  void dispose() {
    SensorReader.removeListen(serialListen);
    timer.cancel();
    super.dispose();
  }

  void serialListen(int type, int command, Pointer<ArrayCStruct> ptr) {
    if (type != 0x23) return;
    command = 0xff;
    switch (command) {
      case 0:
        {
          var loc = ptr as Pointer<GnssLocData>;
          setState(() {
            _lat = loc.ref.lat;
            _long = loc.ref.lng;
            _state = loc.ref.isValid;
            if (_follow) {
              _animatedMapMove(_mapController, this, LatLng(_lat, _long),
                  _mapController.zoom,
                  currentZoom: true);
            }
          });
        }
        break;
      case 3:
        {
          var loc = ptr as Pointer<SpeedLocData>;
          setState(() {
            _mps = loc.ref.speed;
            _mpsState = loc.ref.isValid == 3;
          });
        }
        break;
      case 4:
        {
          var loc = ptr as Pointer<CourseLocData>;
          setState(() {
            _course = loc.ref.course;
            _courseState = loc.ref.isValid == 3;
          });
        }
        break;
      case 5:
        {
          var loc = ptr as Pointer<AltLocData>;
          setState(() {
            _alt = loc.ref.alt;
            _altState = loc.ref.isValid == 3;
          });
        }
        break;
      case 6:
        {
          var loc = ptr as Pointer<SatLocData>;
          setState(() {
            _satN = loc.ref.n;
            _satNState = loc.ref.isValid == 3;
          });
        }
        break;
      case 7:
        {
          var loc = ptr as Pointer<HdopLocData>;
          setState(() {
            _hdop = loc.ref.hdop;
            _hdopState = loc.ref.isValid == 3;
          });
        }
        break;
      case 0xff:
        {
          setState(() {
            available = false;
          });
        }
        break;
    }
  }

  int shade() {
    return MediaQuery.of(context).platformBrightness == Brightness.light
        ? 100
        : 800;
  }

  @override
  Widget build(BuildContext context) => Scaffold(
      appBar: AppBar(
        backgroundColor: Theme.of(context).colorScheme.inversePrimary,
        title: const Text(
          "Maps",
          style: TextStyle(
            fontSize: 16,
          ),
        ),
        toolbarHeight: 40,
      ),
      floatingActionButton: FloatingActionButton(
        onPressed: () {
          setState(() {
            if (!_follow) _mapController.move(LatLng(_lat, _long), 17);
            _follow = !_follow;
          });
        },
        child: Icon(_follow ? Icons.near_me : Icons.near_me_outlined),
      ),
      body: !available
          ? const Center(
              child: Column(
                  mainAxisAlignment: MainAxisAlignment.center,
                  crossAxisAlignment: CrossAxisAlignment.center,
                  children: [
                  Text("GNSS is not available!"),
                  Icon(Icons.block)
                ]))
          : Column(children: [
              Row(
                mainAxisAlignment: MainAxisAlignment.center,
                children: [
                  Text(
                    "Speed: ${_mps.toStringAsPrecision(3)}m/s",
                    style: TextStyle(
                        backgroundColor: _mpsState
                            ? Colors.green[shade()]
                            : Colors.red[shade()]),
                  ),
                  const VerticalDivider(width: 5),
                  Text("Course: ${_course.toStringAsFixed(0)}°",
                      style: TextStyle(
                          backgroundColor: _courseState
                              ? Colors.green[shade()]
                              : Colors.red[shade()])),
                  const VerticalDivider(width: 5),
                  Text("Alt: ${_alt.toStringAsPrecision(4)}m",
                      style: TextStyle(
                          backgroundColor: _altState
                              ? Colors.green[shade()]
                              : Colors.red[shade()])),
                  const VerticalDivider(width: 5),
                  Text("Sats: $_satN",
                      style: TextStyle(
                          backgroundColor: _satNState
                              ? Colors.green[shade()]
                              : Colors.red[shade()])),
                  const VerticalDivider(width: 5),
                  Text("Hdop: ${_hdop.toStringAsPrecision(2)}",
                      style: TextStyle(
                          backgroundColor: _hdopState
                              ? Colors.green[shade()]
                              : Colors.red[shade()])),
                ],
              ),
              Expanded(
                  child: FlutterMap(
                mapController: _mapController,
                options: MapOptions(
                    center: const LatLng(51.1667, 10.4500),
                    zoom: 6,
                    maxZoom: 18,
                    interactiveFlags: InteractiveFlag.drag |
                        InteractiveFlag.flingAnimation |
                        InteractiveFlag.pinchMove |
                        InteractiveFlag.pinchZoom |
                        InteractiveFlag.doubleTapZoom,
                    onPositionChanged: (MapPosition pos, bool user) {
                      if (user) {
                        setState(() {
                          _follow = false;
                        });
                      }
                    }),
                children: [
                  TileLayer(
                    urlTemplate:
                        'https://tile.openstreetmap.de/{z}/{x}/{y}.png',
                    //urlTemplate: 'https://sgx.geodatenzentrum.de/wmts_basemapde/tile/1.0.0/de_basemapde_web_raster_farbe/default/GLOBAL_WEBMERCATOR/{z}/{y}/{x}.png',
                    userAgentPackageName: 'de.jusax.ju_rc_app',
                  ),
                  MarkerLayer(
                    markers: [
                      Marker(
                          point: LatLng(_lat, _long),
                          width: 100,
                          height: 100,
                          builder: (context) => Transform.rotate(
                                angle: _course *
                                    (pi / 180), // Convert degrees to radians
                                child: Icon(
                                  switch (_state) {
                                    3 => Icons.navigation,
                                    2 => Icons.location_off,
                                    1 => Icons.navigation_outlined,
                                    int() => Icons.location_off_outlined,
                                  },
                                  color: Theme.of(context).colorScheme.primary,
                                ),
                              )),
                    ],
                  ),
                ],
              ))
            ]));
}

// animated Map from Map lib provider

void _animatedMapMove(MapController mapController, TickerProvider ticker,
    LatLng destLocation, double destZoom,
    {bool currentZoom = false}) {
  const startedId = 'AnimatedMapController#MoveStarted';
  const inProgressId = 'AnimatedMapController#MoveInProgress';
  const finishedId = 'AnimatedMapController#MoveFinished';
  // Create some tweens. These serve to split up the transition from one location to another.
  // In our case, we want to split the transition be<tween> our current map center and the destination.
  final camera = mapController;
  final latTween =
      Tween<double>(begin: camera.center.latitude, end: destLocation.latitude);
  final lngTween = Tween<double>(
      begin: camera.center.longitude, end: destLocation.longitude);
  final zoomTween = Tween<double>(begin: camera.zoom, end: destZoom);

  // Create a animation controller that has a duration and a TickerProvider.
  final controller = AnimationController(
      duration: const Duration(milliseconds: 500), vsync: ticker);
  // The animation determines what path the animation will take. You can try different Curves values, although I found
  // fastOutSlowIn to be my favorite.
  final Animation<double> animation =
      CurvedAnimation(parent: controller, curve: Curves.fastOutSlowIn);

  // Note this method of encoding the target destination is a workaround.
  // When proper animated movement is supported (see #1263) we should be able
  // to detect an appropriate animated movement event which contains the
  // target zoom/center.
  final startIdWithTarget =
      '$startedId#${destLocation.latitude},${destLocation.longitude},$destZoom';
  bool hasTriggeredMove = false;

  controller.addListener(() {
    final String id;
    if (animation.value == 1.0) {
      id = finishedId;
    } else if (!hasTriggeredMove) {
      id = startIdWithTarget;
    } else {
      id = inProgressId;
    }
    hasTriggeredMove |= mapController.move(
      LatLng(latTween.evaluate(animation), lngTween.evaluate(animation)),
      currentZoom ? mapController.zoom : zoomTween.evaluate(animation),
      id: id,
    );
  });

  animation.addStatusListener((status) {
    if (status == AnimationStatus.completed) {
      controller.dispose();
    } else if (status == AnimationStatus.dismissed) {
      controller.dispose();
    }
  });

  controller.forward();
}