//
// Created by huli on 2020/9/16.
//

#include "predict_with_network.h"
#include "../system/system_executor.h"
#include "../system/system_communication.h"

Predict_with_network::Predict_with_network()
{

}

Predict_with_network::~Predict_with_network()
{
	for (auto iter = m_locate_sift_request_msg_map.begin(); iter != m_locate_sift_request_msg_map.end(); ++iter)
	{
		delete(iter->second);
	}
	m_locate_sift_request_msg_map.clear();
	for (auto iter = m_locate_sift_response_msg_map.begin(); iter != m_locate_sift_response_msg_map.end(); ++iter)
	{
		delete(iter->second);
	}
	m_locate_sift_response_msg_map.clear();
}




//预测, 发送socket通信, 在服务器上进行点云算法
//data_in:输入数据,大小为  输入点数*3
//data_out:输出数据,大小为  输入点数*类别数
Error_manager Predict_with_network::predict_for_send(int data_id, float* data_in)
{
	if ( data_in == NULL )
	{
	    return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
	    					"  POINTER IS NULL ");
	}
	Error_manager t_error;
	std::unique_lock<std::mutex> t_lock(m_message_lock);
	//查重, 把原有的清空就好了.
	if ( m_locate_sift_request_msg_map.find(data_id) != m_locate_sift_request_msg_map.end() )
	{
	    delete(m_locate_sift_request_msg_map[data_id]);
		m_locate_sift_request_msg_map.erase(data_id);
	}
	if ( m_locate_sift_response_msg_map.find(data_id) != m_locate_sift_response_msg_map.end() )
	{
		delete(m_locate_sift_response_msg_map[data_id]);
		m_locate_sift_response_msg_map.erase(data_id);
	}


	//封装一条消息,
	message::Locate_sift_request_msg* tp_locate_sift_request_msg = new message::Locate_sift_request_msg;
	tp_locate_sift_request_msg->mutable_base_info()->set_msg_type(message::Message_type::eLocate_sift_request_msg);
	tp_locate_sift_request_msg->mutable_base_info()->set_timeout_ms(5000);
	tp_locate_sift_request_msg->mutable_base_info()->set_sender(message::Communicator::eMeasurer);
	tp_locate_sift_request_msg->mutable_base_info()->set_receiver(message::Communicator::eMeasurer_sift_server);

	int t_terminal_id = System_executor::get_instance_references().get_terminal_id();

	tp_locate_sift_request_msg->set_command_key("");
	tp_locate_sift_request_msg->set_terminal_id(t_terminal_id);
	tp_locate_sift_request_msg->set_lidar_id(data_id);

	for (int i = 0; i < PREDICT_CLOUD_SIZE; ++i)
	{
		message::Cloud_coordinate* tp_cloud_coordinate = tp_locate_sift_request_msg->add_cloud_coordinates();
		tp_cloud_coordinate->set_x(data_in[i*3+0]);
		tp_cloud_coordinate->set_y(data_in[i*3+1]);
		tp_cloud_coordinate->set_z(data_in[i*3+2]);
	}
	//发送消息
	std::string t_msg = tp_locate_sift_request_msg->SerializeAsString();
	t_error = System_communication::get_instance_references().encapsulate_msg(t_msg);
	if ( t_error != Error_code::SUCCESS )
	{
		delete(tp_locate_sift_request_msg);
		return t_error;
	}
	else
	{
		//将发送消息保存到map
		//内存的权限转交给map
		m_locate_sift_request_msg_map[data_id] = tp_locate_sift_request_msg;
	}

	return Error_code::SUCCESS;
}


//预测, 接受预测结果, 算法时间较长, 请在外部循环接受. (方便中途放弃)
//data_in:输入数据,大小为  输入点数*3
//data_out:输出数据,大小为  输入点数*类别数
//return:返回成功表示数据已经获取到了, 返回 NODATA 表示没有收到数据
Error_manager Predict_with_network::predict_for_receive(int data_id, int* data_out)
{
	if ( data_out == NULL )
	{
		return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
							 "  POINTER IS NULL ");
	}
	//查询指定的id
	std::unique_lock<std::mutex> t_lock(m_message_lock);
	if ( m_locate_sift_response_msg_map.find(data_id) != m_locate_sift_response_msg_map.end() )
	{
		if ( m_locate_sift_response_msg_map[data_id]->error_manager().error_code() == 0 )
		{
		    int t_cloud_size = m_locate_sift_response_msg_map[data_id]->cloud_type_size();
		    if ( t_cloud_size == PREDICT_CLOUD_SIZE	 )
		    {
				for (int i = 0; i < PREDICT_CLOUD_SIZE; ++i)
				{
					data_out[i] = m_locate_sift_response_msg_map[data_id]->cloud_type(i).type();
				}
				return Error_code::SUCCESS;
		    }
			else
			{
				std::string t_string = m_locate_sift_response_msg_map[data_id]->error_manager().error_description();
				return Error_manager(
				(Error_code)(m_locate_sift_response_msg_map[data_id]->error_manager().error_code()),
				(Error_level)(m_locate_sift_response_msg_map[data_id]->error_manager().error_level()),
				t_string);
			}
		}
		else
		{
			return Error_manager(LOCATER_SIFT_PREDICT_FAILED,MINOR_ERROR,"pointSIFT predict ERROR");
		}
	}
	else
	{
		return Error_manager(Error_code::NODATA, Error_level::NEGLIGIBLE_ERROR,
							" fun error ");
	}


	return Error_code::SUCCESS;
}

//签收预测的答复消息, 给通信模块调用, 将收到的预测答复消息, 存入 m_locate_sift_response_msg_map
Error_manager Predict_with_network::execute_for_predict(std::string& message_string)
{
	message::Locate_sift_response_msg* tp_locate_sift_response_msg = new message::Locate_sift_response_msg;
	//针对消息类型, 对消息进行二次解析
	if (tp_locate_sift_response_msg->ParseFromString(message_string) )
	{
		std::unique_lock<std::mutex> t_lock(m_message_lock);
		//对比请求和答复消息, 一致性
		int index = tp_locate_sift_response_msg->lidar_id();
		if ( m_locate_sift_request_msg_map.find(index) != m_locate_sift_request_msg_map.end())
		{
		    if ( m_locate_sift_request_msg_map[index]->command_key() == tp_locate_sift_response_msg->command_key() &&
			m_locate_sift_request_msg_map[index]->terminal_id() == tp_locate_sift_response_msg->terminal_id() &&
			m_locate_sift_request_msg_map[index]->lidar_id() == tp_locate_sift_response_msg->lidar_id() )
		    {
		        //校验成功, 直接存入 m_locate_sift_response_msg_map
		        if ( m_locate_sift_response_msg_map.find(index) != m_locate_sift_response_msg_map.end() )
		        {
		            delete(m_locate_sift_response_msg_map[index]);
		        }
		        //内存的权限转交给map
				m_locate_sift_response_msg_map[index] = tp_locate_sift_response_msg;

				return Error_code::SUCCESS;
		    }
		}
		else
		{
			delete(tp_locate_sift_response_msg);
			return Error_manager(Error_code::INVALID_MESSAGE, Error_level::MINOR_ERROR,
								 " Predict_with_network::execute_for_predict error ");
		}
	}
	else
	{
		delete(tp_locate_sift_response_msg);
		return Error_manager(Error_code::PARSE_FAILED, Error_level::MINOR_ERROR,
							 " Predict_with_network::execute_for_predict error ");
	}
	return Error_code::SUCCESS;
}