# -*- coding: utf-8 -*-

#!/usr/bin/python
# -*- coding: utf-8 -*

import paho.mqtt.client as mqtt
import json
import time
import db_operate
from queue import LifoQueue
from mysqlhelper import MySqLHelper
from linkListUtil import Node, LinkedList
from shapelyUtil import ShapelyUtil
from queue import Queue
import threading


def gettime():
    time1=time.strftime("%Y-%m-%d %H:%M:%S",time.localtime())
    return time1

# 服务器地址
host = '7.65.0.207' #'10.5.226.22    7.65.0.207'
# 通信端口 默认端口1883
port = 1883


username = 'eadpoint'
password = '321123'

merged_list = {}
objs = LinkedList()
currentObjs = []
removeObjIds = []
removeObjs = []
#[[12146938.804545141,3106558.9023983314],[12147505.698887747,3106620.0104321464],[12147188.527927307,3108004.3420571982],[12146593.188072586,3107932.8914925163]]
#经度:121.342248, 纬度:30.814109 经度:121.335855, 纬度:30.843758 经度:121.374132, 纬度:30.849655, 经度:121.38213, 纬度:30.819001
shapeUtil = ShapelyUtil([[12134224.8,3081410.9],[12133585.5,3084375.8],[12137413.2,3084965.5],[12138213,3081900.1]]) 

arr_topic = ['uav_hw_radar']
send_topic = ['hw_uavAddObj','hw_uavAddTrack','hw_uavRemoveObj']
# 创建数据队列
data_queue = Queue()

db = MySqLHelper()

# 连接后事件
def on_connect(client, userdata, flags, respons_code):
    if respons_code == 0:
        # 连接成功
        print('Connection Succeed!')
    else:
        # 连接失败并显示错误代码
        print('Connect Error status {0}'.format(respons_code))
    # 订阅信息
    #client.subscribe(topic)
    for x in arr_topic:
        client.subscribe(x)

# 发送文件
def send_file(client, topic, filename):
    try:
        with open(filename, 'r') as file:
            for line in file:
                radarData = json.loads(line)
                #client.publish(topic, payload=json.dumps(radarData), qos=2, retain=False)
                client.publish(topic, line)
                print(f"Sent: {radarData}")
    except Exception as e:
        print(f"发生了异常: {e}")

# 接收到数据后事件
def on_message(client, userdata, msg):
    global dddd
    # 打印订阅消息主题
    #print(msg.payload)
    try:
        jsondata=json.loads(msg.payload)
        print(jsondata)
        if jsondata['drone'] is None:
            print('has no object data')
        else :
            for x in jsondata['drone']:
                x['deviceTime'] = time.strftime("%Y-%m-%d %H:%M:%S",time.localtime(x['time']))
                x['recvtime'] = int(time.time())
                x['lng'] = float(x['lng'])
                x['lat'] = float(x['lat'])
                x['height'] = float(x['height'])
                x['velocityH'] = float(x['velocityH'])
                x['headH'] = float(x['headH'])
                x['direction'] = x['headH']
                x['isInside'] = 1 if shapeUtil.isInPolygon_(x['lng'],x['lat']) else 0
                item_ = int(x['batchNum'])
                x['object_id'] = item_
                node = objs.find_by_value(x['object_id'])
                if node is None:
                    objs.insert_value_to_head(x['object_id'], [x])
                    node = objs.find_by_value(x['object_id'])
                    if x['isInside'] == 1:
                        client.publish(send_topic[0], json.dumps(x))
                        data_queue.put(node.track)
                else :
                    obj0 = node.track[0]
                    x['direction'] = shapeUtil.angle(obj0['lat'], obj0['lng'], float(x['lat']), float(x['lng']))
                    if x['isInside'] == 1:
                        client.publish(send_topic[1], json.dumps(x))
                    else :
                        client.publish(send_topic[2],x['object_id'])
                        objs.delete_by_value(x['object_id'], node.track)
                        data_queue.put(node.track)
                    node.track.append(x)
    except Exception as e:
        print(f"异常: {e}")
        
def monitor_list(linked_list: LinkedList, client: mqtt.Client):
    p = linked_list.head
    countUav = 0
    while True:
        if p is None:
            #print(f"当前区域内无人机数量：{countUav}: ")
            p = linked_list.head
            countUav = 0
            continue
        try:
            item = p.item
            track = p.track
            p = p.next
            if abs(track[-1]['recvtime'] - int(time.time())) > 5 :
                client.publish(send_topic[2],item)
                track[-1]['isInside'] = -1
                linked_list.delete_by_value(item, track)
                data_queue.put(track)
            #else:
                #if track[-1]['isInside'] == 1 and len(track)%20 == 1:
                    #print(f"更新状态:{item}")
                    #data_queue.put(track)
            countUav = countUav+1 if track[-1]['isInside'] == 1 else countUav
        except Exception as e:
            print(f"监控异常: {e}")

def queueListen(data_queue):
    while True:
        data = data_queue.get()
        if data is None:
            continue
        #print(f"无人机： {data[-1]['object_id']}  状态：   {data[-1]['isInside']}")
        print('------------------------------------')
        print(data)
        db_operate.uav_hw_dt_save(data[-1]['object_id'],data)

def main():
    db_operate.uav_hw_old_dt_clean()
    #队列监听
    db_thread = threading.Thread(target=queueListen, args=(data_queue,))
    db_thread.start()

    client = mqtt.Client()
    # 注册事件
    client.on_connect = on_connect
    client.on_message = on_message
    # 设置账号密码（如果需要的话）
    client.username_pw_set(username, password=password)
    # 连接到服务器
    client.connect(host, port=port, keepalive=60)
    list_thread = threading.Thread(target=monitor_list, args=(objs, client))
    list_thread.start()
    # 守护连接状态
    client.loop_forever()

if __name__ == '__main__':
    #print(time.strftime("%Y-%m-%d %H:%M:%S",time.localtime(1712900732)))
    main()