using o0.Geometry;
using System;
using System.Collections.Generic;
using System.Linq;
using UnityEngine;


namespace o0.Bow
{
    public class o09AxisAfterXiaMenFromDll//卡尔曼滤波优化地磁计向量版
    {
        public IMU._9AxisPreProcessor Attitude;
        public IMU.HardwareVariance GyrHardwareVariance;
        public IMU.HardwareVariance AccHardwareVariance;
        public IMU.HardwareVariance MagHardwareVariance;

        public static List<UnityEngine.Quaternion> QuaTest = new List<UnityEngine.Quaternion>();
        public o09AxisAfterXiaMenFromDll(Vector<int> GyrByteIndex = default, Vector<int> AccByteIndex = default, Vector<int> MagByteIndex = default)
        {
            Attitude = new IMU._9AxisPreProcessor(GyrByteIndex, AccByteIndex, MagByteIndex);
            GyrHardwareVariance = new IMU.HardwareVariance();
            AccHardwareVariance = new IMU.HardwareVariance();
            MagHardwareVariance = new IMU.HardwareVariance();

            QuaTest.Add(UnityEngine.Quaternion.identity);
            QuaTest.Add(UnityEngine.Quaternion.identity);
        }

        static public Vector<double> AccIdentity = new Vector<double>(0, -1, 0);
        static public Vector<double> MagIdentity = new Vector<double>(-1, 2, 0).Normalized;
        public class State
        {
            public double TimeGap;
            public Vector<double> Acc = AccIdentity;
            public Vector<double> AccSmooth = AccIdentity;

            public Vector<double> Gyr;
            public Vector<double> Mag = MagIdentity;
            public Vector<double> MagSmooth = MagIdentity;

            public double GapMS;

            public Geometry.Quaternion Qua = Geometry.Quaternion.Identity;
            public Geometry.Quaternion QuaSmooth = Geometry.Quaternion.Identity;
            public double Variance = 1;
            public double GyrVariance = 1;
            public double AccVariance = 1;
            public double MagVariance = 1;
            public Geometry.Quaternion QuaAccMag = Geometry.Quaternion.Identity;
            public int QuaAccMagCount = 0;
            public double AccMagVariance = 1;
            public double TotalVariance = 1;
        }


        public List<State> States = new List<State>();
        public int StatesMaxCount = 1000;


        public Geometry.Quaternion Update(IEnumerable<byte> gyrByte, IEnumerable<byte> accByte, IEnumerable<byte> magByte,
            byte min, byte sec, byte ms1, byte ms2)
        {
            var (Gyr, Acc, Mag, TimeGap) = Attitude.Update(gyrByte, accByte, magByte, min, sec, ms1, ms2);
            if((Gyr, Acc, Mag, TimeGap) == default)
                return Geometry.Quaternion.Identity;


            Vector<double> Buffer = default;
            Buffer = GyrHardwareVariance.Update(Attitude.LastGyr);
            if (Buffer != default)
                Debug.Log("GyrHardwareVariance: " + Buffer.Length);
            Buffer = AccHardwareVariance.Update(Acc);
            if (Buffer != default)
                Debug.Log("AccHardwareVariance: " + Buffer.Length);
            Buffer = MagHardwareVariance.Update(Mag);
            if (Buffer != default)
                Debug.Log("MagHardwareVariance: " + Buffer.Length);

            // var GyrOperator = Geometry.Quaternion.Euler(Gyr * TimeGap);
            // TestVector.Update9AxisRotation(GyrOperator.ToUnityQuaternion(), 0);
            // TestVector.SetAcc(Acc.ToUnityVector(), 0);
            // TestVector.SetMag(Mag.ToUnityVector(), 0);


            var Last = States.LastOrDefault() ?? new State();
            States.Add(new State());
            if (States.Count > StatesMaxCount)
                States.RemoveAt(0);
            var state = States.Last();
            state.Acc = Acc;


            //Debug.Log(Gyr.magnitude);

            state.Gyr = Gyr;
            state.Mag = Mag;/**/
            state.TimeGap = TimeGap;
            if (States.Count <= 1)
                return Geometry.Quaternion.Identity;
            return Process9Axis(Last, state);
        }
        int ShakeFrame;
        int AccVarianceInput;
        /// //////////////////向前追溯多少帧//向后多少帧计算抖动
        public void OnShot(int TrackBack, int ShakeFrame, int AccVarianceInput)
        {
            this.AccVarianceInput = AccVarianceInput;
            TrackBack = Math.Min(TrackBack, States.Count);
            var startI = States.Count - TrackBack;
            State Last = default;
            foreach (var i in TrackBack.Range())
            {
                var state = States[startI + i];

                if (Last != default)
                    Process9Axis(Last, state);
                Last = state;
            }

            this.ShakeFrame = ShakeFrame;
            Debug.Log("OnShot");/**/
        }
        //public double diff = 0.001;
        public double diff = 0.0001;

        public void MagSmooth(State Last, State state)
        {
            var Acc = state.Acc;
            var Gyr = state.Gyr;
            var Mag = state.Mag;
            double TimeGap = state.TimeGap;
            double GyrVariance = Last.MagVariance + Math.Pow((Gyr * TimeGap).Length, 2);
            double AccVariance = AccVarianceInput != default ? AccVarianceInput : Math.Pow((Gyr * TimeGap).Length * 1, 2) + Math.Pow(Math.Abs(Acc.Length - 1) / 1 * 30, 2);
            double MagVariance = 25;

            state.AccSmooth = Last.AccSmooth + (state.Acc - Last.AccSmooth) * GyrVariance / (AccVariance + GyrVariance);
            state.AccVariance = (GyrVariance + AccVariance) / GyrVariance / AccVariance;
            state.MagSmooth = Last.MagSmooth + (state.Mag - Last.MagSmooth) * GyrVariance / (MagVariance + GyrVariance);
            state.MagVariance = (GyrVariance + MagVariance) / GyrVariance / MagVariance;

            // TestVector.SetAcc(state.AccSmooth.ToUnityVector(), 1);
            // TestVector.SetMag(state.MagSmooth.ToUnityVector(), 1);
        }
        public Geometry.Quaternion Process9Axis(State Last, State state)
        {
            MagSmooth(Last, state);
            //var Acc = state.AccSmooth;
            var Acc = state.Acc;
            var Gyr = state.Gyr;
            var Mag = state.MagSmooth;
            double TimeGap = state.TimeGap;

            o0UIRawImageTester.UpdateAllOffset();


            var LastQuaternion = Last.Qua;



            var GyrOperator = Geometry.Quaternion.Euler(Gyr * TimeGap);
            var quaGyr = LastQuaternion * GyrOperator;


            //TestVector.Update9AxisRotation(GyrOperator, 1);
            //TestVector.SetAcc(Acc / 10, 1);
            //TestVector.SetMag(Mag, 1);
            // var accTest = Geometry.Quaternion.FromToRotation(Last.Acc, Acc).Inversed;
            // TestVector.Set9AxisRotation(Last.QuaSmooth.ToUnityQuaternion(), 2);
            // var magTest = Geometry.Quaternion.FromToRotation(Last.Mag, Mag).Inversed;
            // TestVector.Update9AxisRotation(GyrOperator.ToUnityQuaternion(), 3);
            //TestVector.Set9AxisRotation(quaGyr.ToUnityQuaternion(), 3);
            //TestVector.Set9AxisRotation(Last.Qua, 3);

            double AccLengthToAngle = 5;//1倍引力差相当于多少度方差
            // double MagLengthToAngle = 5;//1倍磁力差相当于多少度方差

            double GyrVariance = Last.Variance + Math.Pow((Gyr * TimeGap).Length * 0.3, 3) + diff;// 指数4 = 方差2 * 欧拉角旋转误差2     移动导致累计误差

            //double GyrVariance = Last.Variance + Math.Pow((Gyr * TimeGap).magnitude * 0.3, 3) + 0.1;// 指数4 = 方差2 * 欧拉角旋转误差2     移动导致累计误差
            //    Debug.Log("GyrVariance==" + GyrVariance);
            double AccAngleDiff = state.Acc.Angle(Last.Acc);
            if (double.IsNaN(AccAngleDiff))
            {
                AccAngleDiff = 0;
            }

            double AccVariance = AccVarianceInput != default ? AccVarianceInput : Math.Max((Gyr * TimeGap).Length, AccAngleDiff) * 1 + Math.Pow(Math.Abs(state.Acc.Length - 1) / 1 * AccLengthToAngle, 4);
            double MagVariance = 3;// + Math.Pow(Math.Abs(state.MagSmooth.Length - 1) / 1 * MagLengthToAngle, 4);/**/



            if (double.IsInfinity(GyrVariance))
            {
                Debug.Log("GyrVariance IsInfinity: " + state.GyrVariance);
                GyrVariance = InitVariance;
            }
            if (double.IsNaN(GyrVariance))
            {
                Debug.Log("GyrVariance IsNaN: " + state.GyrVariance);
                GyrVariance = InitVariance;
            }
            if (double.IsNaN(AccVariance))
            {
                //Debug.Log("AccVariance IsNaN: " + state.AccVariance + " " + AccVarianceInput);
                //Debug.Log("AccVariance IsNaN: " + Math.Max((Gyr * TimeGap).Length, state.Acc.Angle(Last.Acc)) * 1);
                Debug.Log("AccVariance IsNaN: " + (Gyr * TimeGap).Length  + AccAngleDiff);
                AccVariance = InitVariance;
            }
            if (double.IsNaN(MagVariance))
            {
                Debug.Log("MagVariance IsNaN: " + state.MagVariance);
                MagVariance = InitVariance;
            }

            state.Variance = GyrVariance;
//state.MagVariance = Math.Min(Last.MagVariance + GyrVariance, 10000);
            //state.AccVariance = Math.Min(Last.AccVariance + GyrVariance, 10000);


            if (double.IsNaN(state.Variance))
            {
                Debug.Log("Variance IsNaN: " + state.Variance);
                state.Variance = InitVariance;
            }

            /*
            state.Qua = quaGyr;
            state.Qua = Geometry.Quaternion.FormQuaternion(state.Qua, MagIdentity, Mag, (float)(state.MagVariance / (state.MagVariance + MagVariance)));
            state.MagVariance = state.MagVariance * MagVariance / (state.MagVariance + MagVariance);
            state.Qua = Geometry.Quaternion.FormQuaternion(state.Qua, AccIdentity, Acc, (float)(state.AccVariance / (state.AccVariance + AccVariance)));
            state.AccVariance = state.AccVariance * AccVariance / (state.AccVariance + AccVariance);/**/

            //var quaAccMag = Geometry.Quaternion.FormQuaternion(AccIdentity, MagIdentity, Acc, Mag, (float)(MagVariance / (AccVariance + MagVariance)));
            var quaAccMag = Geometry.Quaternion.FormQuaternion(AccIdentity, MagIdentity, Acc, Mag, (float)(AccVariance / (AccVariance + MagVariance)));
            //var quaAccMag = Geometry.Quaternion.FormQuaternion(AccIdentity, MagIdentity, state.Acc, state.Mag, 0.5f);
            var quaMinRate = GyrVariance / (GyrVariance + Math.Max(AccVariance, MagVariance));
            var quaMaxRate = GyrVariance / (GyrVariance + Math.Min(AccVariance, MagVariance));
            Geometry.Quaternion quaFirst = Geometry.Quaternion.SLerp(quaGyr, quaAccMag, (float)quaMinRate);//运算到这里如果视角校准有漂移，说明需要重新校准陀螺仪//不是代码问题
            //Geometry.Quaternion quaFirst = UnityEngine.Quaternion.Slerp(quaGyr.ToUnityQuaternion(), quaAccMag.ToUnityQuaternion(), (float)quaMinRate).Too0Quaternion();
            if (double.IsNaN(quaFirst.x) || double.IsNaN(quaFirst.y) || double.IsNaN(quaFirst.z) || double.IsNaN(quaFirst.w))
            //if (double.IsNaN(quaFirst.w))
            {
                Debug.Log("quaFirst IsNaN: " + quaFirst.ToJson());
                quaFirst = Last.Qua;
            }

            var quaSecondRate = (quaMaxRate - quaMinRate) / (1 - quaMinRate);

            //state.Qua = AccVariance < MagVariance ? Geometry.Quaternion.FormQuaternion(quaFirst, AccIdentity, Acc, (float)quaSecondRate) : Geometry.Quaternion.FormQuaternion(quaFirst, MagIdentity, Mag, (float)quaSecondRate);/**/
            state.Qua = quaFirst;



            ///////////////////////////////////////////////////////////////

            if (double.IsNaN(state.Qua.x) || double.IsNaN(state.Qua.y) || double.IsNaN(state.Qua.z) || double.IsNaN(state.Qua.w))
            //if (double.IsNaN(state.Qua.w))
            {
                Debug.Log("quaFirst IsNaN: " + state.Qua.ToJson());
                state.Qua = Last.Qua;/**/
            }
            state.QuaSmooth = Geometry.Quaternion.SLerp(Last.QuaSmooth, state.Qua, 1f);//Last.QuaSmooth - state.Qua    0 - 1
            //state.QuaSmooth = state.Qua;

            //QuaTest[0] = o0Project.o0.FormQuaternion(QuaTest[0] * GyrOperator, AccIdentity, state.AccSmooth, 1);
            //QuaTest[0] = Geometry.Quaternion.FormQuaternion(AccIdentity, MagIdentity, state.AccSmooth, state.MagSmooth, (float)(AccVariance / (AccVariance + MagVariance))).ToUnityQuaternion();
            //QuaTest[1] = state.QuaAccMag.ToUnityQuaternion();
            //QuaTest[1] = o0Project.o0.FormQuaternion(QuaTest[1] * GyrOperator, MagIdentity, state.MagSmooth, 1);
            //Debug.Log(o09AxisCS.QuaTest[0]);

            if (ShakeFrame > 0)
            {
                --ShakeFrame;
                if (ShakeFrame == 0)
                    AccVarianceInput = default;
            }
            return state.QuaSmooth;
        }

        public double InitVariance = 1;
        public void Init()
        {
            States.Last().AccVariance = 1000;
            States.Last().GyrVariance = 1000;
            States.Last().MagVariance = 1000;
            States.Last().AccMagVariance = 1000;
            States.Last().TotalVariance = 1000;
        }
        public Geometry.Quaternion SetIdentity()
        {
            //UnityEngine.Quaternion qua = default;

            //int averageCount = Math.Min(States.Count, 5);
            int averageCount = Math.Min(States.Count, 50);
            Vector<double> aveAcc = Vector<double>.Zero;
            Vector<double> aveMag = Vector<double>.Zero;
            for (var i = States.Count - averageCount; i < States.Count; ++i)
            {
                aveAcc += States[i].AccSmooth;
                aveMag += States[i].MagSmooth;
            }
            aveAcc /= averageCount;
            aveMag /= averageCount;
            //AccIdentity = AccOld;
            //MagIdentity = MagOld;
            AccIdentity = aveAcc;
            MagIdentity = aveMag;
            //qua = o0Project.o0.FormQuaternion(Quaternion.identity, Vector3.down,AccIdentity, 1);
            //AccIdentity=qua*AccIdentity;
            //MagIdentity = qua*MagIdentity;
            States.Last().Qua = Geometry.Quaternion.Identity;
            States.Last().QuaSmooth = Geometry.Quaternion.Identity;
            //States.Last().Qua = qua*States.Last().Qua;//Quaternion.identity;
            States.Last().Variance = InitVariance;
            States.Last().AccVariance = InitVariance;
            States.Last().GyrVariance = InitVariance;
            States.Last().MagVariance = InitVariance;
            States.Last().QuaAccMag = Geometry.Quaternion.Identity;
            States.Last().QuaAccMagCount = 0;
            States.Last().AccMagVariance = InitVariance;
            States.Last().TotalVariance = InitVariance;


            return States.Last().Qua;
        }

        public State getLastState()
        {
            return this.States.Last();
        }

    }

}