using RobotNet10.GlobalPathPlanner.AStar;
using RobotNet10.GlobalPathPlanner.Model;
using System;
using System.IO;

namespace RobotNet10.GlobalPathPlanner.Forklift;

public class ForkliftPathPlanner : IPathPlanner
{
    private List<GlobalNode> Nodes = [];
    private List<GlobalEdge> Edges = [];
    private const double Ratio = 0.1;

    private PathPlannerOptions Options = new()
    {
        LimitDistanceToEdge = 1,
        LimitDistanceToNode = 0.3,
        ResolutionSplit = 0.1,
        ChangeOrientationAngle = 89
    };
    public void SetData(GlobalNode[] nodes, GlobalEdge[] edges)
    {
        Nodes = [.. nodes];
        Edges = [.. edges];
    }

    public void SetOptions(PathPlannerOptions options)
    {
        Options = options;
    }

    private static bool TStructureExisted(List<TStructure> TStructures, GlobalNode node1, GlobalNode node2, GlobalNode node3)
    {
        var TStructureExistedStep1 = TStructures.Where(ts => ts.Node1 == node1 || ts.Node2 == node1 || ts.Node3 == node1).ToList();
        if (TStructureExistedStep1.Count != 0)
        {
            var TStructureExistedStep2 = TStructureExistedStep1.Where(ts => ts.Node1 == node2 || ts.Node2 == node2 || ts.Node3 == node2).ToList();
            if (TStructureExistedStep2.Count != 0)
            {
                var TStructureExistedStep3 = TStructureExistedStep2.Where(ts => ts.Node1 == node3 || ts.Node2 == node3 || ts.Node3 == node3).ToList();
                if (TStructureExistedStep3.Count != 0) return true;
            }
        }
        return false;
    }

    private TStructure[] GetTStructure()
    {
        List<TStructure> TStructures = [];
        foreach (var node in Nodes)
        {
            var inEdges = Edges.Where(edge => edge.StartNodeId == node.Id || edge.EndNodeId == node.Id).ToList();
            if (inEdges.Count < 2) continue;
            List<GlobalNode> inNodes = [];
            foreach (var edge in inEdges)
            {
                var endNode = Nodes.FirstOrDefault(n => n.Id == (node.Id == edge.EndNodeId ? edge.StartNodeId : edge.EndNodeId));
                if (endNode is null) continue;
                inNodes.Add(endNode);
            }
            for (int i = 0; i < inNodes.Count - 1; i++)
            {
                for (int j = i + 1; j < inNodes.Count; j++)
                {
                    if (TStructureExisted(TStructures, node, inNodes[i], inNodes[j])) continue;
                    var edgeT = Edges.FirstOrDefault(e => (e.StartNodeId == inNodes[i].Id && e.EndNodeId == inNodes[j].Id) ||
                                                          (e.EndNodeId == inNodes[i].Id && e.StartNodeId == inNodes[j].Id));
                    var edge1 = inEdges.FirstOrDefault(edge => edge.StartNodeId == inNodes[i].Id || edge.EndNodeId == inNodes[i].Id);
                    var edge2 = inEdges.FirstOrDefault(edge => edge.StartNodeId == inNodes[j].Id || edge.EndNodeId == inNodes[j].Id);
                    if (edgeT is null || edge1 is null || edge2 is null) continue;
                    if (edgeT.Degree == 1 &&
                        edge1.Degree == 1 &&
                        edge2.Degree == 1) continue;

                    TStructures.Add(new()
                    {
                        Node1 = node,
                        Node2 = inNodes[i],
                        Node3 = inNodes[j],
                        Edge12 = edge1,
                        Edge13 = edge2,
                        Edge23 = edgeT,
                    });
                }
            }
        }
        return [.. TStructures];
    }

    private (bool IsSuccess, GlobalNode? intraNode, TStructure? tstructure) IsReverse(GlobalNode currentNode, GlobalNode olderNode, GlobalNode? futureNode, GlobalEdge olderedge, GlobalEdge? futureedge, double startAngle, List<TStructure> tstructures)
    {
        var tstructures1 = tstructures.Where(t => t.Node1.Id == currentNode.Id || t.Node2.Id == currentNode.Id || t.Node3.Id == currentNode.Id).ToList();
        if (tstructures1 is null || tstructures1.Count < 1) return (false, null, null);
        var tstructures2 = tstructures1.Where(t => t.Node1.Id == olderNode.Id || t.Node2.Id == olderNode.Id || t.Node3.Id == olderNode.Id).ToList();
        if (tstructures2 is null || tstructures2.Count < 1) return (false, null, null);
        foreach (var ts in tstructures2)
        {
            var midleReverse = ts.IsDriectionReverse(currentNode, olderNode, Options.ChangeOrientationAngle);
            var intraNode = ts.GetIntraNode(currentNode, olderNode);
            if (intraNode is null) continue;

            if (!ts.IsAccessDirection(olderNode, intraNode) || !ts.IsAccessDirection(intraNode, currentNode)) continue;

            var currentDirection = MathExtensions.GetOrientationStart(olderNode, currentNode, olderedge, startAngle, Ratio, Options.ChangeOrientationAngle);
            var intraEdge = ts.GetEdge(olderNode, intraNode);
            if (intraEdge is null) continue;
            var branchDirection = MathExtensions.GetOrientationStart(olderNode, intraNode, intraEdge, startAngle, Ratio, Options.ChangeOrientationAngle);
            bool firstReverse = branchDirection != currentDirection;

            bool endReverse = false;
            if (futureNode is not null && futureedge is not null)
            {
                startAngle = MathExtensions.GetEndAngle(olderNode, currentNode, olderedge, 1 - Ratio);
                currentDirection = MathExtensions.GetOrientationEnd(currentNode, futureNode, futureedge, startAngle, Ratio, Options.ChangeOrientationAngle);
                intraEdge = ts.GetEdge(currentNode, intraNode);
                if (intraEdge is null) continue;
                startAngle = MathExtensions.GetEndAngle(intraNode, currentNode, intraEdge, 1 - Ratio);
                branchDirection = MathExtensions.GetOrientationEnd(currentNode, futureNode, futureedge, startAngle, Ratio, Options.ChangeOrientationAngle);
                endReverse = branchDirection != currentDirection;
            }

            if (!midleReverse)
            {
                if ((!firstReverse && !endReverse) || (firstReverse && endReverse)) continue;
            }
            else
            {
                if ((firstReverse && !endReverse) || (!firstReverse && endReverse)) continue;
            }
            return (true, intraNode, ts);
        }
        return (false, null, null);
    }

    private List<GlobalNode> GetIntermediateNode(GlobalNode startNode, GlobalNode endNode)
    {
        var edge1s = Edges.Where(e => e.StartNodeId == startNode.Id).ToList();
        var edge2s = Edges.Where(e => e.StartNodeId == endNode.Id).ToList();
        if (edge1s is null || edge2s is null || edge1s.Count < 2 || edge2s.Count < 2) return [];
        List<GlobalNode> node1 = [];
        List<GlobalNode> IntermediateNode = [];
        foreach (var edge1 in edge1s)
        {
            if (edge1.Degree != 1) continue;
            if (edge1.EndNodeId == endNode.Id) continue;
            var interNode = Nodes.FirstOrDefault(n => n.Id == edge1.EndNodeId);
            if (interNode is null) continue;
            node1.Add(interNode);
        }
        if (node1.Count == 0) return [];
        foreach (var edge2 in edge2s)
        {
            if (edge2.Degree != 1) continue;
            if (edge2.EndNodeId == startNode.Id) continue;
            var interNode = Nodes.FirstOrDefault(n => n.Id == edge2.EndNodeId);
            if (interNode is null) continue;
            if (node1.Any(n => n.Id == interNode.Id) && !IntermediateNode.Any(n => n.Id == interNode.Id) && interNode.Id != startNode.Id)
                IntermediateNode.Add(interNode);
        }
        return IntermediateNode;
    }

    private (GlobalNode[] NodesFilter, GlobalEdge[] EdgesFilter) FilterPathPlanning(GlobalNode[] nodes, GlobalEdge[] edges, GlobalEdge? closesEdge)
    {
        if (nodes.Length <= 1 || edges.Length < 1 || nodes.Length - 1 != edges.Length) return ([], []);
        List<GlobalNode> nodeFilter = [nodes[0]];
        for (int i = 1; i < nodes.Length - 1; i++)
        {
            var IntermediateNode = GetIntermediateNode(nodes[i - 1], nodes[i]);
            if (IntermediateNode is null || IntermediateNode.Count == 0)
            {
                nodeFilter.Add(nodes[i]);
                continue;
            }
            if (IntermediateNode.Any(n => n.Id == nodes[i + 1].Id))
            {
                nodeFilter.Add(nodes[i + 1]);
                i++;
            }
            else nodeFilter.Add(nodes[i]);
        }
        if (nodeFilter[^1].Id != nodes[^1].Id)
            nodeFilter.Add(nodes[^1]);
        var edgeFilter = MathExtensions.GetEdgesPlanning([.. nodeFilter], [.. Edges], closesEdge);
        if (nodeFilter.Count - 1 != edgeFilter.Length) return ([], []);
        return ([.. nodeFilter], [.. edgeFilter]);
    }

    private (GlobalNode[] Nodes, GlobalEdge[] Edges) CheckPathWithFinalDirection(GlobalNode[] nodes, GlobalEdge[] edges, double currentAngle, Orientation goalDirection = Orientation.NONE)
    {
        if ((nodes[^1].Orientation == goalDirection && MathExtensions.GetEdgesLength([.. edges], [.. Nodes]) < 10) || goalDirection == Orientation.NONE)
            return FilterPathPlanning([.. nodes], [.. edges], null);

        var edgeplannings = edges.ToList();
        var nodeplannings = nodes.ToList();

        var TStructures = GetTStructure();

        Guid LastReverseDirectionId = Guid.Empty;
        GlobalNode LastNodeReverseDirection = new();
        for (int i = 1; i < nodeplannings.Count; i++)
        {
            if (nodeplannings[i].Orientation == Orientation.FORWARD) continue;
            GlobalNode? futureNode = null;
            GlobalEdge? futureEdge = null;
            if (i < nodeplannings.Count - 1)
            {
                futureNode = nodeplannings[i + 1];
                futureEdge = edgeplannings[i];
            }
            double startAngle = currentAngle;
            if (i >= 2) startAngle = MathExtensions.GetEndAngle(nodeplannings[i - 2], nodeplannings[i - 1], edgeplannings[i - 2], Ratio);
            (var IsSuccess, var intraNode, var tstructure) = IsReverse(nodeplannings[i], nodeplannings[i - 1], futureNode, edgeplannings[i - 1], futureEdge, startAngle, [.. TStructures]);
            if (!IsSuccess || intraNode is null || tstructure is null) continue;
            var edge1 = Edges.FirstOrDefault(e => (e.StartNodeId == nodeplannings[i - 1].Id && e.EndNodeId == intraNode.Id) ||
                                                   e.EndNodeId == nodeplannings[i - 1].Id && e.StartNodeId == intraNode.Id);
            var edge2 = Edges.FirstOrDefault(e => (e.StartNodeId == nodeplannings[i].Id && e.EndNodeId == intraNode.Id) ||
                                                   e.EndNodeId == nodeplannings[i].Id && e.StartNodeId == intraNode.Id);
            if (edge1 is null || edge2 is null) continue;
            edgeplannings.RemoveAt(i - 1);
            edgeplannings.Insert(i - 1, new()
            {
                Id = edge1.Id,
                StartNodeId = nodeplannings[i - 1].Id,
                EndNodeId = intraNode.Id,
                Degree = edge1.Degree,
                ControlPoint1X = edge1.ControlPoint1X,
                ControlPoint1Y = edge1.ControlPoint1Y,
                ControlPoint2X = edge1.ControlPoint2X,
                ControlPoint2Y = edge1.ControlPoint2Y
            });
            edgeplannings.Insert(i, new()
            {
                Id = edge2.Id,
                StartNodeId = intraNode.Id,
                EndNodeId = nodeplannings[i].Id,
                Degree = edge2.Degree,
                ControlPoint1X = edge2.ControlPoint1X,
                ControlPoint1Y = edge2.ControlPoint1Y,
                ControlPoint2X = edge2.ControlPoint2X,
                ControlPoint2Y = edge2.ControlPoint2Y
            });
            nodeplannings.Insert(i, intraNode);
            var directionInPath = MathExtensions.GetOrientations(nodeplannings[0].Orientation, [.. nodeplannings], [.. edgeplannings], Ratio, Options.ChangeOrientationAngle);
            for (int j = 0; j < nodeplannings.Count; j++)
            {
                nodeplannings[j].Orientation = directionInPath[j];
            }
            LastReverseDirectionId = tstructure.Id;
            LastNodeReverseDirection = nodeplannings[i + 1];
            i++;
        }

        if (nodeplannings[^1].Orientation == goalDirection) return FilterPathPlanning([.. nodeplannings], [.. edgeplannings], null);

        for (int i = nodeplannings.Count - 1; i > 0; i--)
        {
            GlobalNode? futureNode = null;
            GlobalEdge? futureEdge = null;
            if (i < nodeplannings.Count - 1)
            {
                futureNode = nodeplannings[i + 1];
                futureEdge = edgeplannings[i];
            }
            double startAngle = currentAngle;
            if (i >= 2) startAngle = MathExtensions.GetEndAngle(nodeplannings[i - 2], nodeplannings[i - 1], edgeplannings[i - 2], Ratio);
            (var IsSuccess, var intraNode, var tstructure) = IsReverse(nodeplannings[i], nodeplannings[i - 1], futureNode, edgeplannings[i - 1], futureEdge, startAngle, [.. TStructures]);
            if (!IsSuccess || intraNode is null || tstructure is null) continue;

            if (nodeplannings[i - 1].Id == LastNodeReverseDirection.Id)
            {
                var edge = Edges.FirstOrDefault(e => (e.StartNodeId == nodeplannings[i - 2].Id && e.EndNodeId == nodeplannings[i].Id) ||
                                                        (e.StartNodeId == nodeplannings[i].Id && e.EndNodeId == nodeplannings[i - 2].Id));
                if (edge is null) continue;
                edgeplannings.Insert(i - 2, new()
                {
                    Id = edge.Id,
                    StartNodeId = nodeplannings[i - 2].Id,
                    EndNodeId = nodeplannings[i].Id,
                    Degree = edge.Degree,
                    ControlPoint1X = edge.ControlPoint1X,
                    ControlPoint1Y = edge.ControlPoint1Y,
                    ControlPoint2X = edge.ControlPoint2X,
                    ControlPoint2Y = edge.ControlPoint2Y
                });
                edgeplannings.RemoveAt(i);
                edgeplannings.RemoveAt(i - 1);
                nodeplannings.RemoveAt(i - 1);
            }
            else if (tstructure.Id != LastReverseDirectionId || i < 2)
            {
                var edge1 = Edges.FirstOrDefault(e => (e.StartNodeId == nodeplannings[i - 1].Id && e.EndNodeId == intraNode.Id) ||
                                                   e.EndNodeId == nodeplannings[i - 1].Id && e.StartNodeId == intraNode.Id);
                var edge2 = Edges.FirstOrDefault(e => (e.StartNodeId == nodeplannings[i].Id && e.EndNodeId == intraNode.Id) ||
                                                       e.EndNodeId == nodeplannings[i].Id && e.StartNodeId == intraNode.Id);
                if (edge1 is null || edge2 is null) continue;
                edgeplannings.RemoveAt(i - 1);
                edgeplannings.Insert(i - 1, new()
                {
                    Id = edge1.Id,
                    StartNodeId = nodeplannings[i - 1].Id,
                    EndNodeId = intraNode.Id,
                    Degree = edge1.Degree,
                    ControlPoint1X = edge1.ControlPoint1X,
                    ControlPoint1Y = edge1.ControlPoint1Y,
                    ControlPoint2X = edge1.ControlPoint2X,
                    ControlPoint2Y = edge1.ControlPoint2Y,
                });
                edgeplannings.Insert(i, new()
                {
                    Id = edge2.Id,
                    StartNodeId = intraNode.Id,
                    EndNodeId = nodeplannings[i].Id,
                    Degree = edge2.Degree,
                    ControlPoint1X = edge2.ControlPoint1X,
                    ControlPoint1Y = edge2.ControlPoint1Y,
                    ControlPoint2X = edge2.ControlPoint2X,
                    ControlPoint2Y = edge2.ControlPoint2Y,
                });
                nodeplannings.Insert(i, intraNode);
            }
            else
            {
                var edge = Edges.FirstOrDefault(e => (e.StartNodeId == nodeplannings[i - 2].Id && e.EndNodeId == nodeplannings[i].Id) ||
                                                        (e.StartNodeId == nodeplannings[i].Id && e.EndNodeId == nodeplannings[i - 2].Id));
                if (edge is null) continue;
                edgeplannings.Insert(i - 2, new()
                {
                    Id = edge.Id,
                    StartNodeId = nodeplannings[i - 2].Id,
                    EndNodeId = nodeplannings[i].Id,
                    Degree = edge.Degree,
                    ControlPoint1X = edge.ControlPoint1X,
                    ControlPoint1Y = edge.ControlPoint1Y,
                    ControlPoint2X = edge.ControlPoint2X,
                    ControlPoint2Y = edge.ControlPoint2Y,
                });
                edgeplannings.RemoveAt(i);
                edgeplannings.RemoveAt(i - 1);
                nodeplannings.RemoveAt(i - 1);
            }
            var directionInPath = MathExtensions.GetOrientations(nodeplannings[0].Orientation, [.. nodeplannings], [.. edgeplannings], Ratio, Options.ChangeOrientationAngle);
            if (directionInPath[^1] == goalDirection)
            {
                for (int j = 0; j < nodeplannings.Count; j++)
                {
                    nodeplannings[j].Orientation = directionInPath[j];
                }
                return FilterPathPlanning([.. nodeplannings], [.. edgeplannings], null);
            }
        }
        throw new Exception("The path to the destination does not satisfy the conditions");
    }

    public (GlobalNode[] Nodes, GlobalEdge[] Edges) PathPlanning(double x, double y, double theta, Guid goalId, CancellationToken? cancellationToken = null)
    {
        var goal = Nodes.FirstOrDefault(n => n.Id == goalId) ?? throw new Exception($"Destination {goalId} does not exist in the map");

        using CancellationTokenSource cancellation = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken ?? CancellationToken.None);
        if (Options.TimeOut != null && Options.TimeOut.HasValue) cancellation.CancelAfter(Options.TimeOut.Value);

        try
        {
            var AStarPathPlanner = new AStarPlanner(Nodes, Edges);
            (var path, var closesEdge) = AStarPathPlanner.Planning(x,
                                                  y,
                                                  new GlobalNode() { Id = goal.Id, Name = goal.Name, X = goal.X, Y = goal.Y },
                                                  Options.LimitDistanceToEdge,
                                                  Options.LimitDistanceToNode,
                                                  cancellation.Token);

            if (path is null || path.Length < 1) throw new Exception($"The path to {goal.Name} - {goal.Id} does not exist from [{x}, {y}, {theta}]");
            if (path.Length == 1) return (path, []);

            var edgeplannings = MathExtensions.GetEdgesPlanning([.. path], [.. Edges], closesEdge);

            Orientation CurrenDirection = MathExtensions.GetOrientationStart(path[0], path[1], edgeplannings[0], theta, Ratio, Options.ChangeOrientationAngle);
            var FinalDirection = MathExtensions.GetOrientations(CurrenDirection, path, edgeplannings, Ratio, Options.ChangeOrientationAngle);
            for (int i = 0; i < path.Length; i++)
            {
                path[i].Orientation = FinalDirection[i];
            }

            return ([.. path], [.. edgeplannings]);
        }
        catch (OperationCanceledException)
        {
            if (cancellationToken is not null && cancellationToken.Value.IsCancellationRequested) throw new OperationCanceledException();
            else throw new TimeoutException();
        }
    }

    public (GlobalNode[] Nodes, GlobalEdge[] Edges) PathPlanningWithStartDirection(double x, double y, double theta, Guid goalId, Orientation startDiretion = Orientation.NONE, CancellationToken? cancellationToken = null)
    {
        throw new NotImplementedException();
    }

    public (GlobalNode[] Nodes, GlobalEdge[] Edges) PathPlanningWithFinalDirection(double x, double y, double theta, Guid goalId, Orientation goalDirection = Orientation.NONE, CancellationToken? cancellationToken = null)
    {
        var basicPath = PathPlanning(x, y, theta, goalId, cancellationToken);
        if (basicPath.Nodes.Length < 1) return basicPath;

        return CheckPathWithFinalDirection(basicPath.Nodes, basicPath.Edges, theta, goalDirection);
    }

    public (GlobalNode[] Nodes, GlobalEdge[] Edges) PathPlanningWithAngle(double x, double y, double theta, Guid goalId, double goalAngle, CancellationToken? cancellationToken = null)
    {
        var basicPath = PathPlanning(x, y, theta, goalId, cancellationToken);
        if (basicPath.Nodes.Length < 1) return basicPath;

        Orientation goalDirection = MathExtensions.GetOrientationEnd(basicPath.Nodes[^1], basicPath.Nodes[^2], basicPath.Edges[^1], goalAngle, Ratio, Options.ChangeOrientationAngle);

        return CheckPathWithFinalDirection(basicPath.Nodes, basicPath.Edges, theta, goalDirection);
    }

    public (GlobalNode[] Nodes, GlobalEdge[] Edges) PathPlanning(Guid startNodeId, double theta, Guid goalId, CancellationToken? cancellationToken = null)
    {
        var goal = Nodes.FirstOrDefault(n => n.Id == goalId) ?? throw new Exception($"Destination {goalId} does not exist in the map");
        var startNode = Nodes.FirstOrDefault(n => n.Id == startNodeId) ?? throw new Exception($"Starting node {startNodeId} does not exist in the map");

        using CancellationTokenSource cancellation = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken ?? CancellationToken.None);
        if (Options.TimeOut != null && Options.TimeOut.HasValue) cancellation.CancelAfter(Options.TimeOut.Value);
        try
        {
            var AStarPathPlanner = new AStarPlanner(Nodes, Edges);
            (var path, var closesEdge) = AStarPathPlanner.Planning(startNode, goal, cancellation.Token);

            if (path is null || path.Length < 1) throw new Exception($"The path to {goal.Name} - {goal.Id} does not exist from [{startNode.Name} - {startNode.Id}]");
            if (path.Length == 1) return (path, []);

            var edgeplannings = MathExtensions.GetEdgesPlanning([.. path], [.. Edges], closesEdge);

            Orientation CurrenDirection = MathExtensions.GetOrientationStart(path[0], path[1], edgeplannings[0], theta, Ratio, Options.ChangeOrientationAngle);
            var FinalDirection = MathExtensions.GetOrientations(CurrenDirection, path, edgeplannings, Ratio, Options.ChangeOrientationAngle);
            for (int i = 0; i < path.Length; i++)
            {
                path[i].Orientation = FinalDirection[i];
            }

            return ([.. path], [.. edgeplannings]);
        }
        catch (OperationCanceledException)
        {
            if (cancellationToken is not null && cancellationToken.Value.IsCancellationRequested) throw new OperationCanceledException();
            else throw new TimeoutException();
        }
    }

    public (GlobalNode[] Nodes, GlobalEdge[] Edges) PathPlanningWithStartDirection(Guid startNodeId, double theta, Guid goalId, Orientation startDiretion = Orientation.NONE, CancellationToken? cancellationToken = null)
    {
        throw new NotImplementedException();
    }

    public (GlobalNode[] Nodes, GlobalEdge[] Edges) PathPlanningWithFinalDirection(Guid startNodeId, double theta, Guid goalId, Orientation goalDirection = Orientation.NONE, CancellationToken? cancellationToken = null)
    {
        var basicPath = PathPlanning(startNodeId, theta, goalId, cancellationToken);
        if (basicPath.Nodes.Length < 1) return basicPath;

        return CheckPathWithFinalDirection(basicPath.Nodes, basicPath.Edges, theta, goalDirection);
    }

    public (GlobalNode[] Nodes, GlobalEdge[] Edges) PathPlanningWithAngle(Guid startNodeId, double theta, Guid goalId, double goalAngle, CancellationToken? cancellationToken = null)
    {
        var basicPath = PathPlanning(startNodeId, theta, goalId, cancellationToken);
        if (basicPath.Nodes.Length < 1) return basicPath;

        Orientation goalDirection = MathExtensions.GetOrientationEnd(basicPath.Nodes[^1], basicPath.Nodes[^2], basicPath.Edges[^1], goalAngle, Ratio, Options.ChangeOrientationAngle);

        return CheckPathWithFinalDirection(basicPath.Nodes, basicPath.Edges, theta, goalDirection);
    }
}