package home;

import java.util.Arrays;

public class TagDell55AA03Parser {
    // Ô¤ÆÚ±¨ÎÄÍ·
    private static final String EXPECTED_HEADER = "55AA03";
    // ×îС³¤¶È£¨¸ù¾ÝÎĵµ£¬ÖÁÉÙÓ¦ÓÐ40¸ö×ֶΣ¬Ã¿¸ö×Ö¶Î2×Ö½Ú£¬¼ÓÉÏ°üÍ·ºÍÀàÐ͹²4×Ö½Ú£©
    private static final int MIN_LENGTH = 84; // (4 + 40*2) * 2×Ö·û = 168×Ö·û£¬µ«Êµ¼Ê¿ÉÄܸü¶à
    
    private static final ThreadLocal<ParseResult> RESULT_CACHE = 
            ThreadLocal.withInitial(ParseResult::new);

    // ½âÎö½á¹ûÀà
    public static class ParseResult {
        public String header;          // Êý¾Ý°üÍ·(55AA)
        public int dataType;           // Êý¾ÝÀàÐÍ(03)
        public int dataLength;         // Êý¾Ý³¤¶È
        public String version;         // °æ±¾ºÅ(XX.XX¸ñʽ)
        public int deviceId;           // É豸±àºÅ(С¶ËÐò)
        public int commFrequency;      // ͨÐÅƵÂÊ(ºÁÃë)
        public int maxAnchors;         // µ¥´ÎͨÐÅ»ùÕ¾Êý
        public int minAnchors;         // С×é±àºÅ/×îÉÙ»ùÕ¾Êý
        public int distanceCalibration;// ¾àÀëУ׼ֵ
        public int deviceType;         // É豸ÀàÐÍ(0:»ùÕ¾, 1:±êÇ©)
        public int anchorActiveRanging;// »ùÕ¾Ö÷¶¯²â¾à
        public int alarmDevice;        // ±¨¾¯É豸
        public int imuIdleTime;        // IMU¾²Ö¹Ê±¼ä
        public int pressureAnchorId;   // Æøѹ»ùÕ¾±àºÅ
        public int peripheralControl;  // ÍâÉè¿ØÖÆ(1:´ò¿ªRTK, 2:¹Ø±ÕRTK)
        public int pairingId;          // Åä¶Ô±àºÅ
        public int uwbStatus;          // UWB¿ª¹Ø״̬(0:¹Ø±Õ)
        public int modbusMode;         // MODBUSģʽ
        public int vibrationDuration;  // Õð¶¯Ê±³¤(Ãë)
        public int[] neighborAnchorIds = new int[10]; // ÁÙ½ü»ùÕ¾ID(10¸ö)
        public int power;              // ¹¦ÂÊ
        public int accelerometerThreshold; // ¼ÓËÙ¼ÆãÐÖµ
        public int idleSleepTime;      // ¾²Ö¹ÐÝÃßʱ¼ä
        public int vibrationEnable;    // Õð¶¯Ê¹ÄÜ
        public int accelerometerEnable;// ¼ÓËÙ¼ÆʹÄÜ
        public int configStatus;       // ±êÇ©Ï·¢ÅäÖÃ״̬
        public int accelerometerDuration; // ¼ÓËÙ¼Æʱ³¤
        public int activationStatus;   // É豸¼¤»î״̬λ(0:δ¼¤»î, 1:¼¤»î)
        public int syncAnchorType;     // ͬ²½»ùÕ¾ÀàÐÍ(0:²»·¢Í¬²½, 1:Ö÷»ùÕ¾, 2:´Ó»ùÕ¾)
        public int speedFilterLimit;   // ËÙ¶ÈÂ˲¨ÏÞÖµ
        public int pressureCalibration;// Æøѹ¸ß¶ÈУ׼ֵ
        
        public void reset() {
            header = "";
            dataType = 0;
            dataLength = 0;
            version = "";
            deviceId = 0;
            commFrequency = 0;
            maxAnchors = 0;
            minAnchors = 0;
            distanceCalibration = 0;
            deviceType = 0;
            anchorActiveRanging = 0;
            alarmDevice = 0;
            imuIdleTime = 0;
            pressureAnchorId = 0;
            peripheralControl = 0;
            pairingId = 0;
            uwbStatus = 0;
            modbusMode = 0;
            vibrationDuration = 0;
            Arrays.fill(neighborAnchorIds, 0);
            power = 0;
            accelerometerThreshold = 0;
            idleSleepTime = 0;
            vibrationEnable = 0;
            accelerometerEnable = 0;
            configStatus = 0;
            accelerometerDuration = 0;
            activationStatus = 0;
            syncAnchorType = 0;
            speedFilterLimit = 0;
            pressureCalibration = 0;
        }
    }

    /**
     * ½âÎö55AA03ЭÒ鱨ÎÄ
     * @param message ½ÓÊÕµ½µÄÊ®Áù½øÖÆ×Ö·û´®
     * @return ½âÎö½á¹û(½âÎöʧ°Ü·µ»Ønull)
     */
    public static ParseResult parse(String message, String ip, int port) {
        if (message == null || message.isEmpty()) {
            return null;
        }

        // ÇåÀíÏûÏ¢£ºÖ»±£ÁôÊý×ÖºÍA-F×Ö·û
        char[] cleanedMessage = cleanMessage(message);

        // ¼ì²é×îС³¤¶È
        if (cleanedMessage == null || cleanedMessage.length < MIN_LENGTH) {
            return null;
        }

        // ¼ì²é±¨ÎÄÍ· (55AA03)
        if (!new String(cleanedMessage, 0, 6).equals(EXPECTED_HEADER)) {
            return null;
        }

        ParseResult result = RESULT_CACHE.get();
        result.reset();

        try {
            // ÉèÖðüÍ·ºÍÊý¾ÝÀàÐÍ
            result.header = new String(cleanedMessage, 0, 4);
            result.dataType = HexUtils.fastHexToByte(cleanedMessage[4], cleanedMessage[5]);
            
            // ½âÎöÊý¾Ý³¤¶È (λÖÃ6-7)
            result.dataLength = HexUtils.fastHexToByte(cleanedMessage[6], cleanedMessage[7]);
            
            // ½âÎö°æ±¾ºÅ (λÖÃ8-11, ÐÎÈçXX.XX)
            int versionPart1 = HexUtils.fastHexToByte(cleanedMessage[8], cleanedMessage[9]);
            int versionPart2 = HexUtils.fastHexToByte(cleanedMessage[10], cleanedMessage[11]);
            result.version = String.format("%d.%02d", versionPart1, versionPart2);
            
            // ½âÎöÉ豸±àºÅ (λÖÃ12-15, µÍλÔÚÇ°)
            result.deviceId = parseLittleEndian(cleanedMessage, 12);
            
            // ½âÎöͨÐÅƵÂÊ (λÖÃ16-19)
            result.commFrequency = parseLittleEndian(cleanedMessage, 16);
            
            // ½âÎöµ¥´ÎͨÐÅ»ùÕ¾Êý (λÖÃ20-23)
            result.maxAnchors = parseLittleEndian(cleanedMessage, 20);
            
            // ½âÎöС×é±àºÅ/×îÉÙ»ùÕ¾Êý (λÖÃ24-27)
            result.minAnchors = parseLittleEndian(cleanedMessage, 24);
            
            // ½âÎö¾àÀëУ׼ֵ (λÖÃ28-31)
            result.distanceCalibration = parseLittleEndian(cleanedMessage, 28);
            
            // ½âÎöÉ豸ÀàÐÍ (λÖÃ32-35, 0:»ùÕ¾, 1:±êÇ©)
            result.deviceType = parseLittleEndian(cleanedMessage, 32);
            
            // ½âÎö»ùÕ¾Ö÷¶¯²â¾à (λÖÃ36-39)
            result.anchorActiveRanging = parseLittleEndian(cleanedMessage, 36);
            
            // ½âÎö±¨¾¯É豸 (λÖÃ40-43)
            result.alarmDevice = parseLittleEndian(cleanedMessage, 40);
            
            // ½âÎöIMU¾²Ö¹Ê±¼ä (λÖÃ44-47)
            result.imuIdleTime = parseLittleEndian(cleanedMessage, 44);
            
            // ½âÎöÆøѹ»ùÕ¾±àºÅ (λÖÃ48-51)
            result.pressureAnchorId = parseLittleEndian(cleanedMessage, 48);
            
            // ½âÎöÍâÉè¿ØÖÆ (λÖÃ52-55, 1:´ò¿ªRTK, 2:¹Ø±ÕRTK)
            result.peripheralControl = parseLittleEndian(cleanedMessage, 52);
            
            // ½âÎöÅä¶Ô±àºÅ (λÖÃ56-59)
            result.pairingId = parseLittleEndian(cleanedMessage, 56);
            
            // ½âÎöUWB¿ª¹Ø״̬ (λÖÃ60-63, 0:¹Ø±Õ)
            result.uwbStatus = parseLittleEndian(cleanedMessage, 60);
            
            // ½âÎöMODBUSģʽ (λÖÃ64-67)
            result.modbusMode = parseLittleEndian(cleanedMessage, 64);
            
            // ½âÎöÕð¶¯Ê±³¤ (λÖÃ68-71, µ¥Î»Ãë)
            result.vibrationDuration = parseLittleEndian(cleanedMessage, 68);
            
            // ½âÎöÁÙ½ü»ùÕ¾ID (λÖÃ72-111, 10¸ö»ùÕ¾)
            for (int i = 0; i < 10; i++) {
                result.neighborAnchorIds[i] = parseLittleEndian(cleanedMessage, 72 + i * 4);
            }
            
            // ½âÎö¹¦ÂÊ (λÖÃ112-115)
            result.power = parseLittleEndian(cleanedMessage, 112);
            
            // ½âÎö¼ÓËÙ¼ÆãÐÖµ (λÖÃ116-119)
            result.accelerometerThreshold = parseLittleEndian(cleanedMessage, 116);
            
            // ½âÎö¾²Ö¹ÐÝÃßʱ¼ä (λÖÃ120-123)
            result.idleSleepTime = parseLittleEndian(cleanedMessage, 120);
            
            // ½âÎöÕð¶¯Ê¹ÄÜ (λÖÃ124-127)
            result.vibrationEnable = parseLittleEndian(cleanedMessage, 124);
            
            // ½âÎö¼ÓËÙ¼ÆʹÄÜ (λÖÃ128-131)
            result.accelerometerEnable = parseLittleEndian(cleanedMessage, 128);
            
            // ½âÎö±êÇ©Ï·¢ÅäÖÃ״̬ (λÖÃ132-135)
            result.configStatus = parseLittleEndian(cleanedMessage, 132);
            
            // ½âÎö¼ÓËÙ¼Æʱ³¤ (λÖÃ136-139)
            result.accelerometerDuration = parseLittleEndian(cleanedMessage, 136);
            
            // ½âÎöÉ豸¼¤»î״̬λ (λÖÃ140-143, 0:δ¼¤»î, 1:¼¤»î)
            result.activationStatus = parseLittleEndian(cleanedMessage, 140);
            
            // ½âÎöͬ²½»ùÕ¾ÀàÐÍ (λÖÃ144-147, 0:²»·¢Í¬²½, 1:Ö÷»ùÕ¾, 2:´Ó»ùÕ¾)
            result.syncAnchorType = parseLittleEndian(cleanedMessage, 144);
            
            // ½âÎöËÙ¶ÈÂ˲¨ÏÞÖµ (λÖÃ148-151)
            result.speedFilterLimit = parseLittleEndian(cleanedMessage, 148);
            
            // ½âÎöÆøѹ¸ß¶ÈУ׼ֵ (λÖÃ152-155)
            result.pressureCalibration = parseLittleEndian(cleanedMessage, 152);
            
        } catch (IndexOutOfBoundsException | NumberFormatException e) {
            System.err.println("Parsing error in packet from " + ip + ":" + port);
            return null;
        }

        return result;
    }

    /**
     * ½âÎöС¶ËÐòµÄ16λÕûÊý(4¸ö×Ö·û)
     */
    private static int parseLittleEndian(char[] message, int startIndex) {
        int lowByte = HexUtils.fastHexToByte(message[startIndex], message[startIndex + 1]);
        int highByte = HexUtils.fastHexToByte(message[startIndex + 2], message[startIndex + 3]);
        return (highByte << 8) | lowByte;
    }

    /**
     * ÇåÀíÏûÏ¢£¬Ö»±£ÁôÊ®Áù½øÖÆ×Ö·û
     */
    private static char[] cleanMessage(String message) {
        char[] cleaned = new char[message.length()];
        int j = 0;
        for (char c : message.toCharArray()) {
            if (Character.isDigit(c) || (c >= 'A' && c <= 'F') || (c >= 'a' && c <= 'f')) {
                cleaned[j++] = Character.toUpperCase(c);
            }
        }
        if (j == 0) return null;
        return Arrays.copyOf(cleaned, j);
    }
}