using EVP;
using Script.Manaegr;
using UnityEngine;
using UnityEngine.UIElements;
using Button = UnityEngine.UI.Button;

namespace Script
{
    using ModbusManager;
    using System;
    using System.Collections;
    using System.Collections.Generic;
    using System.Threading.Tasks;
    using Unity.VisualScripting;
    using UnityEngine;

    public class CarGearControl : MonoBehaviour
    {
        public GameObject ui3d;
        public GameObject ui2d;


        private VehicleController vehicleController;

        private VehicleStandardInput vehicleStandardInput;

        public int currentGear = 0; // 当前挡位

        //public float[] gearSpeeds = { 0f, 20f, 40f, 60f }; // 每个挡位的最大速度
        public List<float> gearSpeeds; // 每个挡位的最大速度

        public float xx;
        float steerInput, throttleInput, brakeInput, handbrakeInput;

        private CarStatusData carData;

        float minValue = -700f; // 范围的最小值
        float maxValue = 700; // 范围的最大值

        public CarInfoManager carInfoManager;
        private ModbusTcpClient client;
        private int NewValue = -1;


        public GameObject thirdPerson; //第三人称
        public GameObject firstPerson; //第一人称


        public GameObject[] shache;

        public AnimationController ygq;
        public TurnSignalController turnSignalController;

        private bool inputUp = false;
        private int inputUpV = -1;

        public GameObject uiGame;

        public GameObject carMenuUI;

        public GameObject accident; //事故UI
        public GameObject honglvdengUI; //事故UI   public GameObject accident; //事故UI
        private bool ClutchPedalPositionBool;


        public bool mingdi = false;
        public AccidentManager accidentManager;

        public Transform ttt;

        private bool dianhuo = false;

        private Coroutine currentCoroutine = null; // 当前正在运行的协程
        private int lastEndIndex = 0; // 上一次的结束索引
        private int currentEndIndex = 0; // 当前的结束索引

        public bool isShache = false;

        public void LoadData()
        {
            gearSpeeds = new List<float>();
            int originalCount = 21;
            int targetCount = 100;
            int interval = (targetCount - 1) / (originalCount - 1);

            for (int i = 1; i <= originalCount; i++)
            {
                float startValue = i;
                gearSpeeds.Add(startValue);

                if (i < originalCount)
                {
                    float endValue = i + 1;
                    for (int j = 1; j < interval; j++)
                    {
                        float interpolatedValue = startValue + (endValue - startValue) * j / interval;
                        gearSpeeds.Add(interpolatedValue);
                    }
                }
            }

            gearSpeeds[0] = 0;
            gearSpeeds[1] = 0;
            gearSpeeds[2] = 0;
            gearSpeeds[3] = 0;
            gearSpeeds[4] = 0;
            gearSpeeds[5] = 0;
            gearSpeeds[6] = 0;
            gearSpeeds[7] = 0;
            gearSpeeds[8] = 0;
            gearSpeeds[9] = 0;
            gearSpeeds[10] = 0;
        }


        void Start()
        {
            LoadData();

            vehicleController = GetComponent<VehicleController>();
            vehicleStandardInput = GetComponent<VehicleStandardInput>();

            StartModbus();
            ModBusQueue();
        }

        async Task StartModbus()
        {
            client = new ModbusTcpClient();
            if (await client.ConnectToServer())
            {
                Debug.Log("连接上");
            }
            else
            {
                this.GetComponent<CarGearControl>().enabled = false;
                this.GetComponent<VehicleStandardInput>().enabled = true;
                this.GetComponent<CarInputManager>().enabled = true;
                this.GetComponent<CarInputManager>().Init();
                Debug.Log("断开连接");
            }


            // client.StartModbus();

            while (true)
            {
                await client.SendModbusRequest();

                await Task.Delay(TimeSpan.FromSeconds(.1));
            }
        }


        public void HHHHHH()
        {
            client.SendModbusRequest12();
        }

        void OnDestroy()
        {
            client.CloseConnection();
        }

        async Task ModBusQueue()
        {
            while (true)
            {
                try
                {
                    // Debug.Log(client.modbusQueue.Count);
                    if (client.modbusQueue.Count > 0)
                    {
                        // Debug.Log(client.modbusQueue.Count);

                        carData = client.modbusQueue.Dequeue();


                        // if (ModbusTcpClient.modbusTcpClient.modbusQueue.Count > 0)
                        // {
                        //     // Debug.Log(ModbusTcpClient.modbusTcpClient.modbusQueue.Count);
                        //
                        //     carData = ModbusTcpClient.modbusTcpClient.modbusQueue.Dequeue();


                        //方向盘
                        vehicleController.steerInput = NormalizeValue(carData.SteeringWheelAngle, minValue, maxValue);


                        //钥匙 00是熄火，1是通电，2是点火
                        switch (carData.KeyStatus)
                        {
                            case 0:
                                uiGame.SetActive(false);
                                break;
                            case 1:
                                break;
                            case 2:
                                if (carData.BrakePedalPosition > 30)
                                {
                                    uiGame.SetActive(true);
                                    currentGear = 0;
                                    dianhuo = true;
                                    ui2d.SetActive(true);
                                }

                                break;
                        }

                        if (!dianhuo)
                            continue;

                        //手刹
                        // vehicleController.throttleInput = carData.HandbrakeStatus == 0 ? 1 : 0;
                        //挡位 00空挡，1前进档，2倒挡，3为P档
                        //当钥匙为点火状态，才能启动车
                        if (carData.IgnitionSwitch == 1)
                        {
                            switch (carData.GearPosition)
                            {
                                case 0:
                                    vehicleController.throttleInput = 0;
                                    currentGear = 0;
                                    break;
                                case 1: //1前进档
                                    if (carData.HandbrakeStatus == 0)
                                    {
                                        //if (carData.AcceleratorPedalPosition > 20 && carData.AcceleratorPedalPosition <= 50)
                                        //{
                                        //    vehicleController.throttleInput = 1;
                                        //    currentGear = 1;
                                        //}
                                        //else if (carData.AcceleratorPedalPosition > 50 && carData.AcceleratorPedalPosition <= 80)
                                        //{
                                        //    vehicleController.throttleInput = 1;
                                        //    currentGear = 2;
                                        //}
                                        //else if (carData.AcceleratorPedalPosition > 80 && carData.AcceleratorPedalPosition <= 100)
                                        //{
                                        //    vehicleController.throttleInput = 1;
                                        //    currentGear = 3;
                                        //}
                                        //else
                                        //{
                                        //    vehicleController.throttleInput = 0;
                                        //    currentGear = 0;
                                        //}


                                        if (carData.AcceleratorPedalPosition < 10)
                                        {
                                            vehicleController.throttleInput = 0;
                                            currentGear = 0;
                                        }
                                        else
                                        {
                                            vehicleController.throttleInput = 1;
                                            currentGear = carData.AcceleratorPedalPosition;
                                            currentEndIndex = currentGear;

                                            if (currentEndIndex != lastEndIndex)
                                            {
                                                float totalDuration = currentEndIndex < lastEndIndex ? 5.0f : 2.0f;
                                                StartRetrieveData(lastEndIndex, currentEndIndex, totalDuration);
                                                lastEndIndex = currentEndIndex;
                                            }
                                        }

                                        //当转向没有打灯就弹窗
                                        if (carData.SteeringWheelAngle > 200)
                                        {
                                            if (turnSignalController.turnSignalState != TurnSignalState.右转向)
                                            {
                                                accidentManager.PlayAnimationSequence("MsgWinAnimOpen", "MsgWinAnimClose");
                                                accidentManager.uis.transform.Find("UI/转向").gameObject.SetActive(true);
                                            }
                                        }
                                        else if (carData.SteeringWheelAngle < -200)
                                        {
                                            if (turnSignalController.turnSignalState != TurnSignalState.左转向)
                                            {
                                                accidentManager.PlayAnimationSequence("MsgWinAnimOpen", "MsgWinAnimClose");
                                                accidentManager.uis.transform.Find("UI/转向").gameObject.SetActive(true);
                                            }
                                        }
                                    }
                                    else
                                    {
                                        vehicleController.throttleInput = 0;
                                    }

                                    break;
                                case 2: //2倒挡
                                    if (carData.HandbrakeStatus == 0)
                                    {
                                        if (carData.AcceleratorPedalPosition > 20)
                                        {
                                            vehicleController.throttleInput = -0.5f;
                                        }
                                        else
                                        {
                                            vehicleController.throttleInput = 0;
                                        }
                                    }
                                    else
                                    {
                                        vehicleController.throttleInput = 0;
                                    }

                                    break;
                                case 3:
                                    break;
                            }
                        }

                        //转向灯 00是未开转向灯，1是左转向灯，2是右转向灯 
                        //当钥匙转为通电才能启动转向灯 0熄火，1通电，2启动
                        // if (carData.IgnitionSwitch == 1)
                        // {
                        //     switch (carData.TurnSignalStatus)
                        //     {
                        //         case 0:
                        //             carInfoManager.StopBlinking();
                        //             break;
                        //         case 1:
                        //             carInfoManager.LeftStartBlinking();
                        //             break;
                        //         case 2:
                        //             carInfoManager.RightStartBlinking();
                        //             break;
                        //     }
                        // }


                        //上1,右2,下3，左4
                        if (NewValue != carData.ButtonData)
                        {
                            NewValue = carData.ButtonData;
                            CarMenuButton(NewValue);
                        }
                        // else
                        // {
                        //     continue;  
                        // }

                        //雨刮器
                        if (carData.WiperStatus == 2)
                        {
                            ygq.PlayAnimation("donghua");
                        }
                        else
                        {
                            ygq.StopAnimationLoop();
                        }


                        if (mingdi)
                        {
                            if (carData.HornStatus == 1)
                            {
                                mingdi = false;
                                accidentManager.Tr(ttt, true);
                            }
                        }

                        //转向灯和双闪
                        if (carData.ButtonData == 1)
                        {
                            if (!inputUp)
                            {
                                inputUp = true;
                                inputUpV = carData.TurnSignalStatus;
                            }
                            else
                            {
                                inputUp = false;
                                inputUpV = -1;
                                turnSignalController.rightTurnSignalGame.SetActive(false);
                                turnSignalController.leftTurnSignalGame.SetActive(false);
                                turnSignalController.SetSignal(0);
                            }
                        }

                        if (inputUpV == carData.TurnSignalStatus)
                        {
                            turnSignalController.SetSignal(3);
                        }
                        else
                        {
                            inputUpV = -1;
                            switch (carData.TurnSignalStatus)
                            {
                                case 0:
                                    turnSignalController.SetSignal(0);
                                    break;
                                case 1:
                                    turnSignalController.SetSignal(1);
                                    break;
                                case 2:
                                    turnSignalController.SetSignal(2);
                                    break;
                            }
                        }


                        // 灯光
                        switch (carData.LightStatus)
                        {
                            case 0:
                                turnSignalController.CloseLight();
                                break;
                            case 1:
                                turnSignalController.OpenLight();
                                break;
                            case 2:

                                break;
                        }


                        // if (honglvdengUI.activeInHierarchy)
                        // {
                        //     if (carData.AcceleratorPedalPosition > 90)
                        //     {
                        //         honglvdengUI.transform.Find("重置").GetComponent<Button>().onClick.Invoke();
                        //     }
                        // }


                        // if (accident.activeInHierarchy)
                        // {
                        //     if (carData.AcceleratorPedalPosition > 90)
                        //     {
                        //         accident.transform.Find("重置").GetComponent<Button>().onClick.Invoke();
                        //     }
                        // }
                        // else
                        // {

                        //踩离合弹出菜单UI
                        if (carData.ClutchPedalPosition > 30)
                        {
                            if (!ClutchPedalPositionBool)
                            {
                                ClutchPedalPositionBool = true;
                                carMenuUI.SetActive(true);
                            }
                        }
                        else if (carData.ClutchPedalPosition <= 0)
                        {
                            ClutchPedalPositionBool = false;
                        }

                        if (carMenuUI.activeInHierarchy)
                        {
                            if (carData.ButtonData == 4)
                            {
                                carMenuUI.GetComponent<CarMenuManager>().Back();
                            }
                            else if (carData.ButtonData == 2)
                            {
                                carMenuUI.GetComponent<CarMenuManager>().Next();
                            }

                            if (carData.AcceleratorPedalPosition > 30)
                            {
                                carMenuUI.GetComponent<CarMenuManager>().Click();
                            }
                        }
                        // }

                        //刹车
                        if (carData.BrakePedalPosition > 30)
                        {
                            if (shache[0].activeInHierarchy)
                                continue;

                            isShache = true;
                            for (int i = 0; i < shache.Length; i++)
                            {
                                shache[i].SetActive(true);
                            }

                            vehicleController.throttleInput = 0;
                            currentGear = 0;
                        }
                        else
                        {
                            isShache = false;
                            if (!shache[0].activeInHierarchy)
                                continue;
                            for (int i = 0; i < shache.Length; i++)
                            {
                                shache[i].SetActive(false);
                            }
                        }
                    }
                }
                catch (Exception e)
                {
                    // Console.WriteLine(e);
                    // throw;
                }

                await Task.Delay(TimeSpan.FromSeconds(.1));
            }
        }

        public void StartRetrieveData(int startIndex, int endIndex, float totalDuration)
        {
            if (currentCoroutine != null)
            {
                StopCoroutine(currentCoroutine);
            }

            // 跳过前三个元素
            startIndex = Mathf.Max(startIndex, 3);

            currentCoroutine = StartCoroutine(RetrieveData(startIndex, endIndex, totalDuration));
        }

        IEnumerator RetrieveData(int startIndex, int endIndex, float totalDuration)
        {
            // 确定遍历方向
            int step = startIndex < endIndex ? 1 : -1;
            int count = Mathf.Abs(endIndex - startIndex) + 1;
            float delay = totalDuration / count;

            for (int i = startIndex; step > 0 ? i <= endIndex : i >= endIndex; i += step)
            {
                yield return new WaitForSeconds(delay);
            }

            currentCoroutine = null;
        }

        void CarMenuButton(int bt)
        {
            if (bt == 3)
            {
                if (thirdPerson.activeInHierarchy)
                {
                    thirdPerson.SetActive(false);
                    firstPerson.SetActive(true);

                    ui3d.SetActive(true);
                    ui2d.SetActive(false);
                }
                else
                {
                    thirdPerson.SetActive(true);
                    firstPerson.SetActive(false);


                    ui3d.SetActive(false);
                    ui2d.SetActive(true);
                }
            }
        }

        void Update()
        {
            // 检测并更新挡位
            CheckAndUpdateGear();

            // 根据当前挡位设置车辆速度
            SetVehicleSpeed(gearSpeeds[currentGear]);

            //vehicleController.steerInput = 0;

            // vehicleController.brakeInput = 0;
            // vehicleController.handbrakeInput = 0;
            //Debug.Log($"{steerInput}--{throttleInput}--{brakeInput}--{handbrakeInput}");

            // vehicleStandardInput.SetThrottleValue(xx);

            // SetSpeedBasedOnValue(1);


            if (Input.GetKeyDown(KeyCode.F12))
            {
                client.SendModbusRequest();
            }
        }

        void CheckAndUpdateGear()
        {
            if (Input.GetKeyDown(KeyCode.Alpha1)) currentGear = 1;
            if (Input.GetKeyDown(KeyCode.Alpha2)) currentGear = 2;
            if (Input.GetKeyDown(KeyCode.Alpha3)) currentGear = 3;
            if (Input.GetKeyDown(KeyCode.Alpha0)) currentGear = 0; // 假设0为空挡
        }

        void SetVehicleSpeed(float maxSpeed)
        {
            // 在这里，你需要根据你的车辆控制系统来调整速度。
            // 以下是一个假设的方法，你可能需要根据EVP5的API来修改它。
            vehicleController.maxSpeedForward = maxSpeed;
            //vehicleController.throttleInput = 1;
        }

        public float NormalizeValue(float originalValue, float minValue, float maxValue)
        {
            // 确保原始值在范围内
            float clampedValue = Math.Max(minValue, Math.Min(originalValue, maxValue));

            // 计算归一化值
            float normalizedValue = (2 * (clampedValue - minValue) / (maxValue - minValue)) - 1;

            return normalizedValue;
        }
    }
}