#include "detector/CollisionDetector.h"
#include "vehicle/ControllableVehicles.h"
#include "spatial/AirportBounds.h"
#include <gtest/gtest.h>
#include <gmock/gmock.h>
#include "utils/Logger.h"
#include <chrono>

// Mock ControllableVehicles 类
class MockControllableVehicles : public ControllableVehicles {
public:
    MockControllableVehicles() : ControllableVehicles("") {}  // 使用空字符串，避免加载实际配置
    MOCK_METHOD(bool, isControllable, (const std::string& vehicleNo), (const));
};

// Mock AirportBounds 类
class MockAirportBounds : public AirportBounds {
public:
    MockAirportBounds() : AirportBounds("") {
        // 设置更大的测试边界，以包含所有测试数据
        airportBounds_ = Bounds(0, 0, 4000, 2000);  // 4000x2000 的测试区域
        Logger::info("MockAirportBounds initialized with bounds: ", 
            "x=", airportBounds_.x, ", y=", airportBounds_.y,
            ", width=", airportBounds_.width, ", height=", airportBounds_.height);
    }
    
    // 覆盖原有方法，返回测试用的配置
    AreaType getAreaType(const Vector2D& position) const override { 
        return AreaType::RUNWAY;  // 简化测试，总是返回跑道区域
    }
    
    const AreaConfig& getAreaConfig(AreaType type) const override {
        static const AreaConfig config{50.0, 100.0, 15.0};
        return config;
    }
    
    const Bounds& getAirportBounds() const override {
        return airportBounds_;
    }
};

class CollisionDetectorTest : public ::testing::Test {
protected:
    void SetUp() override {
        // 创建 Mock 对象
        airportBounds_ = std::make_unique<MockAirportBounds>();
        mockControllableVehicles_ = std::make_unique<MockControllableVehicles>();
        
        // 创建碰撞检测器
        detector_ = std::make_unique<CollisionDetector>(*airportBounds_, *mockControllableVehicles_);
    }

    std::unique_ptr<MockAirportBounds> airportBounds_;
    std::unique_ptr<MockControllableVehicles> mockControllableVehicles_;
    std::unique_ptr<CollisionDetector> detector_;
};

// 测试可控车辆与航空器的碰撞检测
TEST_F(CollisionDetectorTest, DetectControllableVehicleAircraftCollision) {
    // 设置 Mock 期望 - 在创建数据之前设置
    EXPECT_CALL(*mockControllableVehicles_, isControllable("VEH001"))
        .WillRepeatedly(testing::Return(true));
    Logger::info("Set mock expectation: VEH001 is controllable");

    // 设置测试数据
    Aircraft aircraft;
    aircraft.flightNo = "TEST001";
    aircraft.position = {100, 100};
    aircraft.speed = 10;
    aircraft.heading = 90;
    Logger::info("Created aircraft: flightNo=", aircraft.flightNo,
        ", position=(", aircraft.position.x, ", ", aircraft.position.y, ")");

    Vehicle vehicle;
    vehicle.vehicleNo = "VEH001";
    vehicle.position = {120, 100};  // 距离航空器20米
    vehicle.speed = 5;
    vehicle.heading = 270;
    Logger::info("Created vehicle: vehicleNo=", vehicle.vehicleNo,
        ", position=(", vehicle.position.x, ", ", vehicle.position.y, ")");

    // 更新交通数据
    detector_->updateTraffic({aircraft}, {vehicle});
    Logger::info("Updated traffic data");

    // 执行碰撞检测
    auto risks = detector_->detectCollisions();
    Logger::info("Collision detection completed, found ", risks.size(), " risks");

    // 验证结果
    ASSERT_EQ(risks.size(), 1);  // 应该检测到一个碰撞风险
    if (!risks.empty()) {
        EXPECT_EQ(risks[0].id1, "TEST001");  // 航空器ID
        EXPECT_EQ(risks[0].id2, "VEH001");   // 车辆ID
        EXPECT_EQ(risks[0].distance, 20);     // 距离应该是20米
        EXPECT_EQ(risks[0].level, RiskLevel::EMERGENCY);  // 20米距离应该是严重风险
    }
}

// 测试可控车辆与其他车辆的碰撞检测
TEST_F(CollisionDetectorTest, DetectControllableVehicleOtherVehicleCollision) {
    // 设置 Mock 期望
    EXPECT_CALL(*mockControllableVehicles_, isControllable("VEH001"))
        .WillRepeatedly(testing::Return(true));
    EXPECT_CALL(*mockControllableVehicles_, isControllable("VEH002"))
        .WillRepeatedly(testing::Return(false));

    // 设置测试数据
    Vehicle controlVehicle;
    controlVehicle.vehicleNo = "VEH001";
    controlVehicle.position = {100, 100};
    controlVehicle.speed = 5;
    controlVehicle.heading = 90;

    Vehicle otherVehicle;
    otherVehicle.vehicleNo = "VEH002";
    otherVehicle.position = {120, 100};  // 距离可控车辆20米
    otherVehicle.speed = 5;
    otherVehicle.heading = 270;

    // 更新交通数据
    detector_->updateTraffic({}, {controlVehicle, otherVehicle});

    // 执行碰撞检测
    auto risks = detector_->detectCollisions();

    // 验证结果
    ASSERT_EQ(risks.size(), 1);  // 应该检测到一个碰撞风险
    if (!risks.empty()) {
        EXPECT_EQ(risks[0].id1, "VEH001");  // 可控车辆ID
        EXPECT_EQ(risks[0].id2, "VEH002");  // 其他车辆ID
        EXPECT_EQ(risks[0].distance, 20);    // 距离应该是20米
        EXPECT_EQ(risks[0].level, RiskLevel::CRITICAL);  // 20米距离应该是严重风险
    }
}

// 测试非可控车辆的碰撞检测（不应该产生碰撞风险）
TEST_F(CollisionDetectorTest, NonControllableVehicleCollision) {
    // 设置测试数据
    Vehicle vehicle1;
    vehicle1.vehicleNo = "VEH001";
    vehicle1.position = {100, 100};
    vehicle1.speed = 5;
    vehicle1.heading = 90;

    Vehicle vehicle2;
    vehicle2.vehicleNo = "VEH002";
    vehicle2.position = {120, 100};  // 距离20米
    vehicle2.speed = 5;
    vehicle2.heading = 270;

    // 设置 Mock 期望
    EXPECT_CALL(*mockControllableVehicles_, isControllable(testing::_))
        .WillRepeatedly(testing::Return(false));

    // 更新交通数据
    detector_->updateTraffic({}, {vehicle1, vehicle2});

    // 执行碰撞检测
    auto risks = detector_->detectCollisions();

    // 验证结果
    EXPECT_EQ(risks.size(), 0);  // 非可控车辆之间的碰撞不应该被检测
}

// 测试多个可控车辆之间的碰撞检测
TEST_F(CollisionDetectorTest, MultipleControllableVehiclesCollision) {
    // 设置 Mock 期望 - 所有车辆都是可控的
    ON_CALL(*mockControllableVehicles_, isControllable(testing::_))
        .WillByDefault(testing::Return(true));
    EXPECT_CALL(*mockControllableVehicles_, isControllable(testing::_))
        .Times(testing::AtLeast(3));  // 至少调用3次，因为有3辆车
    Logger::info("Set mock expectation: all vehicles are controllable");

    // 设置测试数据
    std::vector<Vehicle> vehicles;
    
    // VEH001 在 (100, 100)
    Vehicle v1;
    v1.vehicleNo = "VEH001";
    v1.position = {100.0, 100.0};
    v1.speed = 5;
    v1.heading = 90;
    vehicles.push_back(v1);
    
    // VEH002 在 (120, 100)，与 VEH001 相距 20 米
    Vehicle v2;
    v2.vehicleNo = "VEH002";
    v2.position = {120.0, 100.0};
    v2.speed = 5;
    v2.heading = 90;
    vehicles.push_back(v2);
    
    // VEH003 在 (200, 100)，与其他车辆距离超过阈值
    Vehicle v3;
    v3.vehicleNo = "VEH003";
    v3.position = {200.0, 100.0};
    v3.speed = 5;
    v3.heading = 90;
    vehicles.push_back(v3);

    // 更新交通数据
    detector_->updateTraffic({}, vehicles);

    // 执行碰撞检测
    auto risks = detector_->detectCollisions();

    // 验证结果
    EXPECT_EQ(risks.size(), 1);  // 应该只检测到1个碰撞风险（VEH001和VEH002之间）
    
    if (risks.size() == 1) {
        // 验证碰撞风险的详细信息
        EXPECT_TRUE((risks[0].id1 == "VEH001" && risks[0].id2 == "VEH002") ||
                   (risks[0].id1 == "VEH002" && risks[0].id2 == "VEH001"));
        EXPECT_EQ(risks[0].distance, 20.0);
        EXPECT_EQ(risks[0].level, RiskLevel::CRITICAL);  // 20米应该是危险级别
    }
}

// 性能测试：模拟真实机场场景
TEST_F(CollisionDetectorTest, PerformanceTest) {
    // 设置 Mock 期望 - 默认车辆不可控
    EXPECT_CALL(*mockControllableVehicles_, isControllable(testing::_))
        .WillRepeatedly(testing::Return(false));
    
    // 设置3辆可控车辆
    std::vector<std::string> controlVehicleNos = {
        "VEH001",  // 滑行道上的可控车辆
        "VEH002",  // 停机位的可控车辆
        "VEH003"   // 服务区的可控车辆
    };
    
    for (const auto& vehicleNo : controlVehicleNos) {
        EXPECT_CALL(*mockControllableVehicles_, isControllable(vehicleNo))
            .WillRepeatedly(testing::Return(true));
    }
    Logger::info("Set mock expectations for controllable vehicles");

    // 创建测试数据
    std::vector<Aircraft> aircraft;
    std::vector<Vehicle> vehicles;
    
    // 跑道区域：5架航空器
    for (int i = 0; i < 5; ++i) {
        Aircraft a;
        a.flightNo = "RW" + std::to_string(i + 1);
        a.position = {1800.0 + i * 500, 30.0};  // 跑道上等间距分布
        a.speed = 30;  // 较快速度
        a.heading = 90;
        aircraft.push_back(a);
    }
    
    // 滑行道区域：5架航空器
    for (int i = 0; i < 5; ++i) {
        Aircraft a;
        a.flightNo = "TW" + std::to_string(i + 1);
        a.position = {1800.0 + i * 500, 90.0};  // 滑行道上等间距分布
        a.speed = 10;  // 中等速度
        a.heading = 90;
        aircraft.push_back(a);
    }
    
    // 停机位区域：100架航空器，180辆车辆
    for (int i = 0; i < 100; ++i) {
        Aircraft a;
        a.flightNo = "GT" + std::to_string(i + 1);
        a.position = {
            750.0 + (i % 10) * 150,  // 10列
            500.0 + (i / 10) * 100   // 10行
        };
        a.speed = 0;  // 静止
        a.heading = 180;
        aircraft.push_back(a);
    }

    for (int i = 0; i < 180; ++i) {
        Vehicle v;
        v.vehicleNo = "GV" + std::to_string(i + 1);
        v.position = {
            750.0 + (i % 12) * 125,  // 12列
            500.0 + (i / 12) * 83    // 15行
        };
        v.speed = 5;  // 低速
        v.heading = (i % 4) * 90;  // 4个方向
        vehicles.push_back(v);
    }
    
    // 服务区：40架航空器，120辆车辆
    for (int i = 0; i < 40; ++i) {
        Aircraft a;
        a.flightNo = "SA" + std::to_string(i + 1);
        a.position = {
            1000.0 + (i % 8) * 250,  // 8列
            500.0 + (i / 8) * 200    // 5行
        };
        a.speed = 0;  // 静止
        a.heading = 180;
        aircraft.push_back(a);
    }
    
    for (int i = 0; i < 120; ++i) {
        Vehicle v;
        v.vehicleNo = "SV" + std::to_string(i + 1);
        v.position = {
            1000.0 + (i % 10) * 200,  // 10列
            500.0 + (i / 10) * 100    // 12行
        };
        v.speed = 8;  // 中等速度
        v.heading = (i % 8) * 45;  // 8个方向
        vehicles.push_back(v);
    }

    // 添加3辆可控车辆
    // 1. 滑行道上的可控车辆
    Vehicle taxiwayVehicle;
    taxiwayVehicle.vehicleNo = "VEH001";
    taxiwayVehicle.position = {1800.0, 90.0};  // 在滑行道上
    taxiwayVehicle.speed = 10;
    taxiwayVehicle.heading = 90;
    vehicles.push_back(taxiwayVehicle);
    
    // 2. 停机位的可控车辆
    Vehicle gateVehicle;
    gateVehicle.vehicleNo = "VEH002";
    gateVehicle.position = {750.0, 500.0};  // 在停机位区域
    gateVehicle.speed = 5;
    gateVehicle.heading = 180;
    vehicles.push_back(gateVehicle);
    
    // 3. 服务区的可控车辆
    Vehicle serviceVehicle;
    serviceVehicle.vehicleNo = "VEH003";
    serviceVehicle.position = {1000.0, 500.0};  // 在服务区
    serviceVehicle.speed = 8;
    serviceVehicle.heading = 270;
    vehicles.push_back(serviceVehicle);

    // 更新交通数据
    detector_->updateTraffic(aircraft, vehicles);
    Logger::info("Updated traffic data with ", aircraft.size(), " aircraft and ", 
            vehicles.size(), " vehicles (including 3 controllable vehicles)");

    // 执行碰撞检测并记录时间
    auto start = std::chrono::high_resolution_clock::now();
    
    auto risks = detector_->detectCollisions();
    
    auto end = std::chrono::high_resolution_clock::now();
    auto duration = std::chrono::duration_cast<std::chrono::microseconds>(end - start);
    Logger::info("Collision detection completed in ", duration.count(), " microseconds");
    Logger::info("Found ", risks.size(), " risks");

    // 验证结果
    ASSERT_GT(risks.size(), 0);  // 应该检测到一些碰撞风险
    
    // 验证性能要求
    EXPECT_LT(duration.count(), 100000);  // 期望处理时间小于100ms
}