using Newtonsoft.Json;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Threading.Tasks;
using UnityEngine;

public partial class AMR : MonoBehaviour
{
    [SerializeField] private float defaultSpeed = 1f;
    [SerializeField] private int trajectoryResolution = 50;
    [SerializeField] private Material lineMaterial;
    [SerializeField] private Material nodeMaterial;
    [SerializeField] private string mqttBroker = "10.70.21.5";
    [SerializeField] private int mqttPort = 1885;
    [SerializeField] private string mqttUsername = "robotics";
    [SerializeField] private string mqttPassword = "robotics";
    [SerializeField] private string agvId = "tls";
    [SerializeField] private string mqttClientId = "tls";
    [SerializeField] private float visualizationUpdateInterval = 0.1f;
    [SerializeField] private float checkPalletRadius = 2f; // Bán kính kiểm tra pallet
    [SerializeField] private float checkPalletMaxDistance = -1.5f; // Khoảng cách kiểm tra pallet
    [SerializeField] private LayerMask checkPalletTargetMask = 1; // LayerMask kiểm tra pallet
    [SerializeField] private bool isDebuggingPalletCheck = false; // Bật/tắt hiển thị vùng kiểm tra pallet

    private MqttClientManager mqttClientManager;
    private PathVisualizer pathVisualizer;
    private PathMover pathMover;
    private ActionExecutor actionExecutor;
    private VisualizationSender visualizationSender;
    private ActionStateSender actionStateSender;
    private OrderProcessor orderProcessor;
    private AnimationControllerAPM animationController;
    private readonly ConcurrentQueue<string> jsonQueue = new();
    private readonly ConcurrentQueue<string> instantActionQueue = new();
    private Vector3 lastPosition;
    private Quaternion lastRotation;
    private Vector3 velocity;
    private float angularVelocity;
    private float lastVisualizationTime;
    private string currentMapId = "";
    private readonly string instantActionsTopic = "instantActions";
    private readonly string orderTopic = "order";
    private readonly string visualizationTopic = "visualization";
    private readonly string stateTopic = "state";
    private float lastEulerY;

    async void Start()
    {
        animationController = GetComponent<AnimationControllerAPM>();
        if (animationController == null)
        {
            Debug.LogError("AnimationControllerAPM không được tìm thấy trên GameObject!");
        }

        pathVisualizer = new PathVisualizer(lineMaterial, nodeMaterial, transform, trajectoryResolution);

        mqttClientManager = new MqttClientManager(
            mqttBroker, mqttPort, mqttUsername, mqttPassword, mqttClientId,
            orderTopic, instantActionsTopic, jsonQueue, instantActionQueue);

        // Khởi tạo orderProcessor và pathMover trước
        orderProcessor = new OrderProcessor(pathVisualizer, null, transform, currentMapId, agvId);

        pathMover = new PathMover(transform, this, defaultSpeed, trajectoryResolution, null); // Tạm thời để actionExecutor là null

        // Khởi tạo actionStateSender với đầy đủ tham số
        actionStateSender = new ActionStateSender(
            mqttClientManager, orderProcessor, animationController, stateTopic,
            instantActionsTopic, agvId, currentMapId, pathMover);

        // Khởi tạo actionExecutor với moveSpeed từ defaultSpeed
        actionExecutor = new ActionExecutor(
            this, animationController, actionStateSender, transform,
            0.5f, checkPalletRadius, checkPalletMaxDistance, checkPalletTargetMask, isDebuggingPalletCheck);

        // Cập nhật pathMover với actionExecutor
        pathMover = new PathMover(transform, this, defaultSpeed, trajectoryResolution, actionExecutor);

        // Khởi tạo orderProcessor với pathMover đã cập nhật
        orderProcessor = new OrderProcessor(pathVisualizer, pathMover, transform, currentMapId, agvId);

        visualizationSender = new VisualizationSender(
            mqttClientManager, transform, orderProcessor, visualizationTopic, stateTopic,
            agvId, currentMapId, pathMover);

        await mqttClientManager.InitializeAsync();
        lastPosition = transform.position;
        lastRotation = transform.rotation;
        lastEulerY = transform.eulerAngles.y;
        lastVisualizationTime = Time.time;
        //await SendSampleOrdersToTopic();
    }

    async void OnDestroy()
    {
        await mqttClientManager.StopAsync();
        pathVisualizer.ClearPath();
    }

    void Update()
    {
        while (instantActionQueue.TryDequeue(out string instantJson))
        {
            actionStateSender.ProcessInstantActionJson(instantJson);
        }

        int maxOrders = 2;
        int orderCount = 0;

        while (orderCount < maxOrders && jsonQueue.TryDequeue(out string json))
        {
            try
            {
                var order = JsonConvert.DeserializeObject<OrderData>(json);
                if (order.SerialNumber == agvId)
                {
                    orderProcessor.ProcessOrderJson(json);
                    orderCount++;
                }
                else
                {
                    Debug.LogWarning($"Bỏ qua JSON order vì serialNumber ({order.SerialNumber}) không khớp với agvId ({agvId}).");
                }
            }
            catch (Exception ex)
            {
                Debug.LogError($"Lỗi khi kiểm tra serialNumber trong JSON order: {ex.Message}");
            }
        }

        float currentEulerY = transform.eulerAngles.y;
        // Chỉ cập nhật theta khi pathMover đang di chuyển và góc thay đổi đáng kể
        if (pathMover.IsMoving && Mathf.Abs(currentEulerY - lastEulerY) > 0.01f)
        {
            pathMover.UpdateVdaThetaFromUnity(currentEulerY);
            lastEulerY = currentEulerY;
        }

        UpdateVelocity();
        visualizationSender.SetVelocity(velocity, angularVelocity);

        if (Time.time - lastVisualizationTime >= visualizationUpdateInterval)
        {
            visualizationSender.SendVisualization();
            visualizationSender.SendState();
            lastVisualizationTime = Time.time;
        }

        currentMapId = orderProcessor.CurrentMapId;
    }

    private void UpdateVelocity()
    {
        if (!pathMover.IsMoving)
        {
            velocity = Vector3.zero;
            angularVelocity = 0f;
            return;
        }

        Vector3 deltaPosition = transform.position - lastPosition;
        velocity = deltaPosition / Time.deltaTime;

        float deltaAngle = Quaternion.Angle(transform.rotation, lastRotation);
        angularVelocity = (-deltaAngle * Mathf.Deg2Rad) / Time.deltaTime;
        if (Quaternion.Dot(transform.rotation, lastRotation) < 0)
        {
            angularVelocity = -angularVelocity;
        }

        lastPosition = transform.position;
        lastRotation = transform.rotation;
    }

    // Thêm OnDrawGizmos để vẽ vùng kiểm tra pallet
    private void OnDrawGizmos()
    {
        if (!isDebuggingPalletCheck) return;

        Vector3 origin = transform.position;
        Vector3 direction = transform.right;
        Vector3 endPoint = origin + direction * checkPalletMaxDistance;

        // Vẽ đường từ robot đến điểm kiểm tra
        Gizmos.color = Color.green;
        Gizmos.DrawLine(origin, endPoint);

        // Vẽ hình cầu tại điểm kiểm tra
        Gizmos.color = new Color(0, 1, 0, 0.5f); // Màu xanh lục với độ trong suốt
        Gizmos.DrawWireSphere(endPoint, checkPalletRadius);
    }
    private async Task SendSampleOrdersToTopic()
    {
        try
        {
//            string jsonOrders = @"[
//  {
//    ""headerId"": 1,
//    ""timestamp"": ""2025-07-03T14:40:18.707Z"",
//    ""version"": ""0.0.1"",
//    ""manufacturer"": ""phenikaaX"",
//    ""serialNumber"": ""APM-S"",
//    ""orderId"": ""67c76871-c756-4bfe-933c-65c29f83c22d"",
//    ""orderUpdateId"": 1,
//    ""zoneSetId"": ""gara"",
//    ""nodes"": [
//      {
//        ""nodeId"": ""a2710a90-42c2-49ca-abb7-08dda49d01ac"",
//        ""sequenceId"": 0,
//        ""nodeDescription"": ""n0"",
//        ""released"": true,
//        ""nodePosition"": {
//          ""x"": 23.120894220924182,
//          ""y"": 19.3204986573568,
//          ""theta"": -0.031443178442470264,
//          ""allowedDeviationXY"": 1,
//          ""allowedDeviationTheta"": 1,
//          ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
//          ""mapDescription"": """"
//        },
//        ""actions"": []
//      },
//      {
//        ""nodeId"": ""1cbe292a-95e2-44f7-abb8-08dda49d01ac"",
//        ""sequenceId"": 1,
//        ""nodeDescription"": """",
//        ""released"": true,
//        ""nodePosition"": {
//          ""x"": 26.18364637390153,
//          ""y"": 19.224164245033677,
//          ""theta"": -0.031443178442470264,
//          ""allowedDeviationXY"": 0,
//          ""allowedDeviationTheta"": 0,
//          ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
//          ""mapDescription"": """"
//        },
//        ""actions"": []
//      },
//      {
//        ""nodeId"": ""72f63ac5-92fc-4978-ab8b-08dda49d01ac"",
//        ""sequenceId"": 2,
//        ""nodeDescription"": """",
//        ""released"": true,
//        ""nodePosition"": {
//          ""x"": 27.711539097215724,
//          ""y"": 20.862285299929987,
//          ""theta"": 1.5702905359806254,
//          ""allowedDeviationXY"": 0,
//          ""allowedDeviationTheta"": 0,
//          ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
//          ""mapDescription"": """"
//        },
//        ""actions"": []
//      },
//      {
//        ""nodeId"": ""aba8dcff-db79-46c6-ab85-08dda49d01ac"",
//        ""sequenceId"": 3,
//        ""nodeDescription"": """",
//        ""released"": true,
//        ""nodePosition"": {
//          ""x"": 27.675320297804873,
//          ""y"": 23.709082933622714,
//          ""theta"": 1.583518286718516,
//          ""allowedDeviationXY"": 0,
//          ""allowedDeviationTheta"": 0,
//          ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
//          ""mapDescription"": """"
//        },
//        ""actions"": []
//      },
//      {
//        ""nodeId"": ""394bdd00-b812-46b1-ab84-08dda49d01ac"",
//        ""sequenceId"": 4,
//        ""nodeDescription"": """",
//        ""released"": true,
//        ""nodePosition"": {
//          ""x"": 25.107417704282078,
//          ""y"": 22.174309893941782,
//          ""theta"": -0.02063558076795747,
//          ""allowedDeviationXY"": 0,
//          ""allowedDeviationTheta"": 0,
//          ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
//          ""mapDescription"": """"
//        },
//        ""actions"": [
//          {
//            ""actionType"": ""startInPallet"",
//            ""actionId"": ""e9f94ea7-a9af-40a9-b9e4-d70af9d0ed0e"",
//            ""actionDescription"": ""\u0110i v\u00E0o l\u1EA5y pallet"",
//            ""blockingType"": ""NONE"",
//            ""actionParameters"": [
//              {
//                ""key"": ""X"",
//                ""value"": ""23.313155705432614""
//              },
//              {
//                ""key"": ""Y"",
//                ""value"": ""22.211340788741143""
//              },
//              {
//                ""key"": ""Theta"",
//                ""value"": ""-0.02063558076795747""
//              }
//            ]
//          },
//          {
//            ""actionType"": ""pick"",
//            ""actionId"": ""bdacd8f0-5c21-40ea-a11e-1cd708ca8655"",
//            ""actionDescription"": ""N\u00E2ng Pallet"",
//            ""blockingType"": ""NONE"",
//            ""actionParameters"": []
//          }
//        ]
//      }
//    ],
//    ""edges"": [
//      {
//        ""edgeId"": ""e98fb3ad-0891-4c83-313b-08dda49d01b1"",
//        ""sequenceId"": 0,
//        ""edgeDescription"": ""n0 - "",
//        ""released"": true,
//        ""startNodeId"": ""a2710a90-42c2-49ca-abb7-08dda49d01ac"",
//        ""endNodeId"": ""1cbe292a-95e2-44f7-abb8-08dda49d01ac"",
//        ""maxSpeed"": 0.5,
//        ""maxHeight"": 0,
//        ""minHeight"": 0,
//        ""orientation"": 0,
//        ""orientationType"": """",
//        ""direction"": ""Both"",
//        ""rotationAllowed"": true,
//        ""maxRotationSpeed"": 0,
//        ""length"": 0,
//        ""trajectory"": {
//          ""degree"": 1,
//          ""knotVector"": [
//            0,
//            0,
//            1,
//            1
//          ],
//          ""controlPoints"": [
//            {
//              ""x"": 23.120894220924182,
//              ""y"": 19.3204986573568,
//              ""weight"": 1
//            },
//            {
//              ""x"": 26.18364637390153,
//              ""y"": 19.224164245033677,
//              ""weight"": 1
//            }
//          ]
//        },
//        ""actions"": []
//      },
//      {
//        ""edgeId"": ""51e945e2-33d5-447a-313c-08dda49d01b1"",
//        ""sequenceId"": 1,
//        ""edgeDescription"": "" - "",
//        ""released"": true,
//        ""startNodeId"": ""1cbe292a-95e2-44f7-abb8-08dda49d01ac"",
//        ""endNodeId"": ""72f63ac5-92fc-4978-ab8b-08dda49d01ac"",
//        ""maxSpeed"": 0.3,
//        ""maxHeight"": 0,
//        ""minHeight"": 0,
//        ""orientation"": 0,
//        ""orientationType"": """",
//        ""direction"": ""Both"",
//        ""rotationAllowed"": true,
//        ""maxRotationSpeed"": 0,
//        ""length"": 0,
//        ""trajectory"": {
//          ""degree"": 2,
//          ""knotVector"": [
//            0,
//            0,
//            0,
//            1,
//            1,
//            1
//          ],
//          ""controlPoints"": [
//            {
//              ""x"": 26.18364637390153,
//              ""y"": 19.224164245033677,
//              ""weight"": 1
//            },
//            {
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//              ""weight"": 1
//            },
//            {
//              ""x"": 27.711539097215724,
//              ""y"": 20.862285299929987,
//              ""weight"": 1
//            }
//          ]
//        },
//        ""actions"": []
//      },
//      {
//        ""edgeId"": ""2e0fac38-e11f-44f4-311d-08dda49d01b1"",
//        ""sequenceId"": 2,
//        ""edgeDescription"": "" - "",
//        ""released"": true,
//        ""startNodeId"": ""72f63ac5-92fc-4978-ab8b-08dda49d01ac"",
//        ""endNodeId"": ""aba8dcff-db79-46c6-ab85-08dda49d01ac"",
//        ""maxSpeed"": 0.5,
//        ""maxHeight"": 0,
//        ""minHeight"": 0,
//        ""orientation"": 0,
//        ""orientationType"": """",
//        ""direction"": ""Both"",
//        ""rotationAllowed"": true,
//        ""maxRotationSpeed"": 0,
//        ""length"": 0,
//        ""trajectory"": {
//          ""degree"": 1,
//          ""knotVector"": [
//            0,
//            0,
//            1,
//            1
//          ],
//          ""controlPoints"": [
//            {
//              ""x"": 27.711539097215724,
//              ""y"": 20.862285299929987,
//              ""weight"": 1
//            },
//            {
//              ""x"": 27.675320297804873,
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//              ""weight"": 1
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//        ""actions"": []
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//      {
//        ""edgeId"": ""7ca48903-20ca-4e82-3147-08dda49d01b1"",
//        ""sequenceId"": 3,
//        ""edgeDescription"": "" - "",
//        ""released"": true,
//        ""startNodeId"": ""aba8dcff-db79-46c6-ab85-08dda49d01ac"",
//        ""endNodeId"": ""394bdd00-b812-46b1-ab84-08dda49d01ac"",
//        ""maxSpeed"": 0.3,
//        ""maxHeight"": 0,
//        ""minHeight"": 0,
//        ""orientation"": 0,
//        ""orientationType"": """",
//        ""direction"": ""Both"",
//        ""rotationAllowed"": true,
//        ""maxRotationSpeed"": 0,
//        ""length"": 0,
//        ""trajectory"": {
//          ""degree"": 2,
//          ""knotVector"": [
//            0,
//            0,
//            0,
//            1,
//            1,
//            1
//          ],
//          ""controlPoints"": [
//            {
//              ""x"": 27.675320297804873,
//              ""y"": 23.709082933622714,
//              ""weight"": 1
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//              ""y"": 22.174309893941782,
//              ""weight"": 1
//            }
//          ]
//        },
//        ""actions"": []
//      }
//    ]
//  },
//  {
//    ""headerId"": 1,
//    ""timestamp"": ""2025-07-03T15:01:59.552Z"",
//    ""version"": ""0.0.1"",
//    ""manufacturer"": ""phenikaaX"",
//    ""serialNumber"": ""APM-S"",
//    ""orderId"": ""1ef428b1-0a00-4456-8329-4aba48574e91"",
//    ""orderUpdateId"": 1,
//    ""zoneSetId"": ""gara"",
//    ""nodes"": [
//      {
//        ""nodeId"": ""a9431a42-856f-4d94-aba5-08dda49d01ac"",
//        ""sequenceId"": 0,
//        ""nodeDescription"": ""n2"",
//        ""released"": true,
//        ""nodePosition"": {
//          ""x"": 23.313155705432614,
//          ""y"": 22.211340788741143,
//          ""theta"": -0.02063558076795747,
//          ""allowedDeviationXY"": 1,
//          ""allowedDeviationTheta"": 1,
//          ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
//          ""mapDescription"": """"
//        },
//        ""actions"": []
//      },
//      {
//        ""nodeId"": ""394bdd00-b812-46b1-ab84-08dda49d01ac"",
//        ""sequenceId"": 1,
//        ""nodeDescription"": """",
//        ""released"": true,
//        ""nodePosition"": {
//          ""x"": 25.107417704282078,
//          ""y"": 22.174309893941782,
//          ""theta"": -0.02063558076795747,
//          ""allowedDeviationXY"": 0,
//          ""allowedDeviationTheta"": 0,
//          ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
//          ""mapDescription"": """"
//        },
//        ""actions"": []
//      },
//      {
//        ""nodeId"": ""5663ba7f-2cfb-4293-ab83-08dda49d01ac"",
//        ""sequenceId"": 2,
//        ""nodeDescription"": """",
//        ""released"": true,
//        ""nodePosition"": {
//          ""x"": 29.111232558278754,
//          ""y"": 22.11122426375505,
//          ""theta"": -0.015755076756597753,
//          ""allowedDeviationXY"": 0,
//          ""allowedDeviationTheta"": 0,
//          ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
//          ""mapDescription"": """"
//        },
//        ""actions"": []
//      },
//      {
//        ""nodeId"": ""878e1e1e-3f21-4cde-ab82-08dda49d01ac"",
//        ""sequenceId"": 3,
//        ""nodeDescription"": """",
//        ""released"": true,
//        ""nodePosition"": {
//          ""x"": 33.932659500410224,
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//          ""theta"": 0.01570385155759227,
//          ""allowedDeviationXY"": 0,
//          ""allowedDeviationTheta"": 0,
//          ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
//          ""mapDescription"": """"
//        },
//        ""actions"": []
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//          ""theta"": -0.0019047596012007814,
//          ""allowedDeviationXY"": 0,
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//          ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
//          ""mapDescription"": """"
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//        ""actions"": []
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//          ""theta"": 0.00023958396489856407,
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//          ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
//          ""mapDescription"": """"
//        },
//        ""actions"": []
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//      {
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//        ""nodeDescription"": """",
//        ""released"": true,
//        ""nodePosition"": {
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//          ""theta"": -0.02328239248492912,
//          ""allowedDeviationXY"": 0,
//          ""allowedDeviationTheta"": 0,
//          ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
//          ""mapDescription"": """"
//        },
//        ""actions"": []
//      },
//      {
//        ""nodeId"": ""b94661af-7dfa-4e4c-aba0-08dda49d01ac"",
//        ""sequenceId"": 7,
//        ""nodeDescription"": """",
//        ""released"": true,
//        ""nodePosition"": {
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//          ""theta"": 1.5207868509781195,
//          ""allowedDeviationXY"": 0,
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//          ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
//          ""mapDescription"": """"
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//        ""actions"": []
//      },
//      {
//        ""nodeId"": ""6134c694-c253-4339-aba1-08dda49d01ac"",
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//        ""nodeDescription"": """",
//        ""released"": true,
//        ""nodePosition"": {
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//          ""theta"": 1.5707963267948966,
//          ""allowedDeviationXY"": 0,
//          ""allowedDeviationTheta"": 0,
//          ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
//          ""mapDescription"": """"
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//        ""actions"": []
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//      {
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//        ""nodeDescription"": """",
//        ""released"": true,
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]";
            var orders = JsonConvert.DeserializeObject<List<OrderData>>(jsonOrders);

            for (int i = 0; i < 50000; i++)
            {
                foreach (var order in orders)
                {
                    string json = JsonConvert.SerializeObject(order);
                    await mqttClientManager.PublishAsync("order", json);
                    await Task.Delay(1000); // Độ trễ 1 giây
                }
            }
        }
        catch (Exception ex)
        {
            Debug.LogError($"Lỗi khi gửi JSON mẫu đến topic order: {ex.Message}");
        }
    }

}