"use strict";

const fs = require("fs");
const { parseOsm } = require("./osm");

const EARTH_RADIUS = 6371008.8;
const CURB_OFFSET_METERS = 5.2;
const MAST_REACH_METERS = 4.5;
// This layout is serialized with the anchors so Blender's static structure and
// Cesium's dynamic overlay cannot independently drift in size or handedness.
// Lateral offsets use the approach travel direction: positive is the driver's
// right. The countdown board therefore sits at +1.15m from the signal head.
const SIGNAL_LAYOUT = Object.freeze({
  poleHeightMeters: 6.7,
  poleRadiusMeters: 0.13,
  armWidthMeters: 0.21,
  // The mast arm and the signal head share this centre elevation.
  mastHeightMeters: 6.25,
  headCenterHeightMeters: 6.25,
  headWidthMeters: 0.68,
  headDepthMeters: 0.30,
  headBodyHeightMeters: 1.62,
  lensRadiusMeters: 0.22,
  lensDepthMeters: 0.07,
  lensFaceOffsetMeters: 0.18,
  lensVerticalOffsetsMeters: [0.49, -0.01, -0.51],
  countdownLateralMeters: 1.15,
  countdownFaceOffsetMeters: 0.05,
  countdownWidthMeters: 0.82,
  countdownDepthMeters: 0.14,
  countdownHeightMeters: 0.56,
  // The countdown board is fixed on the mast arm, not hung below it.
  countdownVerticalOffsetMeters: 0.0,
});

function buildTrafficSignals(stopLines, intersections, controls = []) {
  const centers = (intersections.features || []).map((feature, index) => {
    const point = polygonCenter(feature.geometry);
    return { id: `intersection-${index + 1}`, point, radius: polygonRadius(feature.geometry, point) };
  }).filter((entry) => entry.point);
  const candidates = [];
  for (const feature of stopLines.features || []) {
    const center = polygonCenter(feature.geometry);
    if (!center) continue;
    const intersection = nearestCenter(center, centers);
    if (!intersection || metersBetween(center, intersection.point) > 32) continue;
    const axis = roadAxis(feature.geometry, center, intersection.point);
    if (!axis) continue;
    // A vehicle signal belongs beyond the junction, facing back toward the
    // approaching stop line. Use the far edge of the intersection, never the
    // near-side stop-line area where it would read as a pedestrian signal.
    const right = [axis[1], -axis[0]];
    const farSide = moveMeters(intersection.point, axis, intersection.radius + 3.2);
    // The pole is on the far-side sidewalk, not at the stop line or inside
    // the intersection. Its mast then reaches back above the approach lanes.
    const point = moveMeters(farSide, right, CURB_OFFSET_METERS);
    candidates.push({
      intersectionId: intersection.id,
      center,
      axis,
      point,
      headingDegrees: normalizeDegrees(Math.atan2(axis[0], axis[1]) * 180 / Math.PI),
    });
  }
  const signals = [];
  for (const control of controls) {
    const controlPoint = [Number(control.longitude), Number(control.latitude)];
    if (!controlPoint.every(Number.isFinite)) continue;
    // A traffic-signal node on a through road is not a controlled vehicle
    // junction. Its connected motor-road arms are the source of truth.
    if (!Array.isArray(control.arms) || control.arms.length < 3) continue;
    const intersection = nearestCenter(controlPoint, centers);
    if (!intersection || metersBetween(controlPoint, intersection.point) > 32) continue;
    const arms = matchOsmArms(candidates.filter((candidate) => candidate.intersectionId === intersection.id), controlPoint, control.arms);
    const groups = phaseGroups(arms);
    for (const [index, candidate] of arms.entries()) {
      signals.push({
        id: `signal-${signals.length + 1}`,
        controlId: String(control.id || ""),
        intersectionId: intersection.id,
        phaseGroup: groups[index],
        longitude: candidate.point[0],
        latitude: candidate.point[1],
        stopLongitude: candidate.center[0],
        stopLatitude: candidate.center[1],
        headingDegrees: candidate.headingDegrees,
        mastReachMeters: MAST_REACH_METERS,
        pose: buildSignalPose(candidate.point, candidate.axis, MAST_REACH_METERS),
      });
    }
  }
  return { version: 3, layout: SIGNAL_LAYOUT, signals };
}

function uniqueApproachArms(candidates, controlPoint) {
  const sorted = candidates.map((candidate) => ({
    ...candidate,
    armHeading: normalizeDegrees(headingBetween(controlPoint, candidate.center)),
    controlDistance: metersBetween(controlPoint, candidate.center),
  })).sort((a, b) => a.armHeading - b.armHeading || a.controlDistance - b.controlDistance);
  const arms = [];
  for (const candidate of sorted) {
    const duplicate = arms.find((arm) => angularDistance(arm.armHeading, candidate.armHeading) <= 25);
    if (!duplicate) arms.push(candidate);
  }
  return arms;
}

function matchOsmArms(candidates, controlPoint, osmArms) {
  const withHeadings = candidates.map((candidate) => ({
    ...candidate,
    armHeading: normalizeDegrees(headingBetween(controlPoint, candidate.center)),
  }));
  if (!Array.isArray(osmArms) || !osmArms.length) return uniqueApproachArms(withHeadings, controlPoint);
  const remaining = withHeadings.slice();
  const matched = [];
  for (const osmArm of osmArms) {
    let bestIndex = -1;
    let bestDistance = Infinity;
    for (let index = 0; index < remaining.length; index += 1) {
      const distance = angularDistance(remaining[index].armHeading, osmArm.headingDegrees);
      if (distance < bestDistance) { bestDistance = distance; bestIndex = index; }
    }
    if (bestIndex >= 0 && bestDistance <= 45) {
      matched.push(remaining.splice(bestIndex, 1)[0]);
    } else {
      matched.push(fallbackCandidate(controlPoint, osmArm));
    }
  }
  return matched;
}

function fallbackCandidate(controlPoint, osmArm) {
  const outward = headingVector(osmArm.headingDegrees);
  const axis = [-outward[0], -outward[1]];
  const stopDistance = 8.0;
  const stop = moveMeters(controlPoint, outward, stopDistance);
  const farSide = moveMeters(controlPoint, axis, 3.2);
  return {
    center: stop,
    axis,
    point: moveMeters(farSide, [axis[1], -axis[0]], CURB_OFFSET_METERS),
    headingDegrees: normalizeDegrees(Math.atan2(axis[0], axis[1]) * 180 / Math.PI),
    fallback: true,
  };
}

function phaseGroups(arms) {
  const groups = Array(arms.length).fill(1);
  if (arms.length < 2) return groups;
  let main = [0, 1];
  let bestOpposition = -1;
  for (let left = 0; left < arms.length; left += 1) {
    for (let right = left + 1; right < arms.length; right += 1) {
      const opposition = angularDistance(arms[left].armHeading, arms[right].armHeading);
      if (opposition > bestOpposition) {
        bestOpposition = opposition;
        main = [left, right];
      }
    }
  }
  groups[main[0]] = 0;
  groups[main[1]] = 0;
  return groups;
}

function buildSignalPose(pole, axis, mastReach) {
  const lateral = [axis[1], -axis[0]];
  const face = [-axis[0], -axis[1]];
  const head = moveMeters(pole, lateral, -mastReach);
  const faceHeadingDegrees = Math.atan2(face[0], face[1]) * 180 / Math.PI;
  const position = (point, height) => ({ longitude: point[0], latitude: point[1], height });
  const lensPoint = moveMeters(head, face, SIGNAL_LAYOUT.lensFaceOffsetMeters);
  const board = moveMeters(
    moveMeters(head, lateral, SIGNAL_LAYOUT.countdownLateralMeters),
    face, SIGNAL_LAYOUT.countdownFaceOffsetMeters,
  );
  return {
    pole: position(pole, 0),
    arm: {
      from: position(pole, SIGNAL_LAYOUT.mastHeightMeters),
      to: position(head, SIGNAL_LAYOUT.mastHeightMeters),
    },
    head: { ...position(head, SIGNAL_LAYOUT.headCenterHeightMeters), faceHeadingDegrees },
    lenses: ["red", "yellow", "green"].map((state, index) => ({
      state,
      ...position(lensPoint, SIGNAL_LAYOUT.headCenterHeightMeters + SIGNAL_LAYOUT.lensVerticalOffsetsMeters[index]),
    })),
    countdown: { ...position(board, SIGNAL_LAYOUT.mastHeightMeters), faceHeadingDegrees },
  };
}

function readTrafficSignals(stopLinePath, intersectionPath, osmPath) {
  const controls = osmPath ? parseOsm(fs.readFileSync(osmPath, "utf8")).trafficSignalControls : [];
  return buildTrafficSignals(JSON.parse(fs.readFileSync(stopLinePath, "utf8")), JSON.parse(fs.readFileSync(intersectionPath, "utf8")), controls);
}

function polygonCenter(geometry) {
  const ring = geometry?.type === "Polygon" ? geometry.coordinates?.[0] : null;
  if (!ring || ring.length < 4) return null;
  const points = ring.slice(0, -1);
  return [points.reduce((sum, point) => sum + point[0], 0) / points.length, points.reduce((sum, point) => sum + point[1], 0) / points.length];
}

function polygonRadius(geometry, center) {
  const ring = geometry?.type === "Polygon" ? geometry.coordinates?.[0] : null;
  if (!ring || !center) return 0;
  return Math.max(...ring.slice(0, -1).map((point) => metersBetween(center, point)), 0);
}

function roadAxis(geometry, center, target) {
  const ring = geometry?.coordinates?.[0];
  if (!ring || ring.length < 3) return null;
  let longest = null;
  for (let i = 0; i < ring.length - 1; i += 1) {
    const dx = (ring[i + 1][0] - ring[i][0]) * Math.cos(center[1] * Math.PI / 180);
    const dy = ring[i + 1][1] - ring[i][1];
    const length = Math.hypot(dx, dy);
    if (!longest || length > longest.length) longest = { dx, dy, length };
  }
  if (!longest?.length) return null;
  let axis = [-longest.dy / longest.length, longest.dx / longest.length];
  const toward = [(target[0] - center[0]) * Math.cos(center[1] * Math.PI / 180), target[1] - center[1]];
  if (axis[0] * toward[0] + axis[1] * toward[1] < 0) axis = [-axis[0], -axis[1]];
  return axis;
}

function nearestCenter(point, centers) {
  return centers.map((entry) => ({ ...entry, distance: metersBetween(point, entry.point) })).sort((a, b) => a.distance - b.distance)[0] || null;
}

function metersBetween(a, b) {
  const lat = (a[1] + b[1]) / 2 * Math.PI / 180;
  return Math.hypot((a[0] - b[0]) * Math.cos(lat), a[1] - b[1]) * Math.PI / 180 * EARTH_RADIUS;
}

function moveMeters(point, vector, meters) {
  const scale = 180 / Math.PI / EARTH_RADIUS;
  return [point[0] + vector[0] * meters * scale / Math.cos(point[1] * Math.PI / 180), point[1] + vector[1] * meters * scale];
}

function headingBetween(from, to) {
  const latitude = (from[1] + to[1]) / 2 * Math.PI / 180;
  return Math.atan2((to[0] - from[0]) * Math.cos(latitude), to[1] - from[1]) * 180 / Math.PI;
}

function headingVector(headingDegrees) {
  const radians = headingDegrees * Math.PI / 180;
  return [Math.sin(radians), Math.cos(radians)];
}

function normalizeDegrees(value) {
  return ((value % 360) + 360) % 360;
}

function angularDistance(a, b) {
  return Math.abs(((a - b + 540) % 360) - 180);
}

module.exports = { SIGNAL_LAYOUT, buildTrafficSignals, readTrafficSignals };