using System;
using System.Collections.Generic;
using TrajectoryPlanningVisualization;

namespace TrajectoryPlanningVisualizationVerificationHost;

internal static class SampleSnapshotFactory
{
    private static readonly DateTimeOffset Origin = DateTimeOffset.Parse("2026-08-06T00:00:00+00:00");

    public static PlanningVisualizationStaticSnapshot CreateStaticSnapshot()
    {
        return new PlanningVisualizationStaticSnapshot(
            "合成轨迹规划观察",
            new VisualizationBounds(0d, 12d, 0d, 8d),
            new VisualizationOccupancyGrid(new VisualizationBounds(0d, 12d, 0d, 8d), 2d, 4, 6,
                new byte[] { 0b00100001, 0b00000100, 0b00000010 }),
            new[]
            {
                new VisualizationPolyline("coarse-path", "粗路径", "coarse", VisualizationLineStyle.Dashed,
                    Points((0d, 1d), (3d, 1.2d), (6d, 1.85d), (8d, 4.2d), (11d, 6d))),
                new VisualizationPolyline("local-g2-path", "完整 Local G2 路径", "local-g2", VisualizationLineStyle.Solid,
                    Points((0d, 1d), (3d, 1d), (6d, 2d), (8d, 4d), (11d, 6d)))
            },
            new[]
            {
                new VisualizationMarker("smooth-start", "smooth-start", "平滑路径起点", new VisualizationPoint(0d, 1d)),
                new VisualizationMarker("gear-1", "gear-switch", "换向 1", new VisualizationPoint(6d, 2d)),
                new VisualizationMarker("gear-1-end", "gear-switch-end", "换向点 1 / s_end", new VisualizationPoint(6d, 2d)),
                new VisualizationMarker("final-goal", "final-goal", "终点 / s_end", new VisualizationPoint(11d, 6d))
            },
            new[]
            {
                new VisualizationDirectionSegment(0, "forward", false, true, Points((0d, 1d), (3d, 1d), (6d, 2d))),
                new VisualizationDirectionSegment(1, "reverse", true, false, Points((6d, 2d), (8d, 4d), (11d, 6d)))
            },
            new[]
            {
                new VisualizationConfigurationGroup("调度", new[]
                {
                    new VisualizationValue("网页刷新率", "RefreshRateHz", "10", "Hz", "normal"),
                    new VisualizationValue("历史容量", "HistoryCycleLimit", "60", "cycles", "normal")
                }),
                new VisualizationConfigurationGroup("观察安全边界", new[]
                {
                    new VisualizationValue("观察模式", "OBSERVE_ONLY", "true", "", "notice")
                })
            });
    }

    public static PlanningVisualizationDynamicSnapshot CreateDynamicSnapshot(long sequence)
    {
        double offset = (sequence - 1L) * 0.05d;
        return new PlanningVisualizationDynamicSnapshot(
            sequence,
            Origin.AddMilliseconds(sequence * 100L),
            "合成数据运行中",
            0,
            "forward",
            new VisualizationPose(2d + offset, 1d, 0d),
            new[]
            {
                new VisualizationPolyline("previous", "上一轮轨迹", "previous", VisualizationLineStyle.Dashed, Points((1d, 1d), (2.5d, 1d), (4d, 1.3d))),
                new VisualizationPolyline("current", "当前轨迹", "current", VisualizationLineStyle.Solid, Points((2d + offset, 1d), (3.8d + offset, 1.2d), (5.8d + offset, 1.9d)))
            },
            new[]
            {
                new VisualizationMarker("vehicle", "vehicle", "车辆", new VisualizationPoint(2d + offset, 1d)),
                new VisualizationMarker("plan-start", "plan-start", "计划起点", new VisualizationPoint(2d + offset, 1d)),
                new VisualizationMarker("gear-switch-end", "gear-switch-end", "换向点 1 / s_end", new VisualizationPoint(6d, 2d))
            },
            CreateCharts(offset),
            new[]
            {
                new VisualizationValue("规划耗时", "PlanningElapsedMilliseconds", "4.2", "ms", "normal"),
                new VisualizationValue("轨迹年龄", "TrajectoryAge", "0.1", "s", "normal")
            },
            new VisualizationCycleSummary(sequence, Origin.AddMilliseconds(sequence * 100L), "成功", true, 4.2d, 0,
                "forward", "rolling", "horizon", 1.2d, 0d, ""));
    }

    private static IReadOnlyList<VisualizationChart> CreateCharts(double offset)
    {
        return new[]
        {
            Chart("ls", "横向偏移", "ReferenceS (m)", "l (m)", Points((0d, .05d), (2d, .08d), (4d, .02d)),
                new[] { new VisualizationChartAnnotation("ls-s-end", "s-end", "s_end", 4d) }),
            Chart("st", "时空轨迹", "t (s)", "PathS (m)", Points((0d, 0d), (1d, 1.2d), (2d, 3.0d)),
                new[] { new VisualizationChartAnnotation("st-s-end", "s-end", "s_end", 2d) }),
            Chart("curvature-s", "曲率—距离", "s (m)", "κ (m⁻¹)", Points((0d, .01d), (2d, .04d), (4d, .02d))),
            Chart("curvature-t", "曲率—时间", "t (s)", "κ (m⁻¹)", Points((0d, .01d), (1d, .04d), (2d, .02d))),
            Chart("velocity-t", "速度", "t (s)", "v (m/s)", Points((0d, 0d), (1d, 1d), (2d, 1.2d + offset))),
            Chart("acceleration-t", "加速度", "t (s)", "a (m/s²)", Points((0d, .8d), (1d, .2d), (2d, 0d))),
            Chart("jerk-t", "加加速度", "t (s)", "j (m/s³)", Points((0d, -.6d), (1d, -.2d))),
            Chart("yaw-rate-t", "横摆角速度", "t (s)", "ω (rad/s)", Points((0d, 0d), (1d, .08d), (2d, .04d)))
        };
    }

    private static VisualizationChart Chart(string id, string title, string xAxis, string yAxis,
        IReadOnlyList<VisualizationPoint> points,
        IReadOnlyList<VisualizationChartAnnotation> annotations = null)
    {
        return new VisualizationChart(id, title, xAxis, yAxis,
            new[] { new VisualizationSeries(id + "-current", "当前轨迹", VisualizationLineStyle.Solid, points) },
            "", annotations ?? Array.Empty<VisualizationChartAnnotation>());
    }

    private static IReadOnlyList<VisualizationPoint> Points(params (double x, double y)[] values)
    {
        var points = new List<VisualizationPoint>(values.Length);
        foreach ((double x, double y) in values)
        {
            points.Add(new VisualizationPoint(x, y));
        }

        return points;
    }
}