import 'dart:async';
import 'dart:convert';
import 'package:flutter/cupertino.dart';
import 'package:flutter_bloc/flutter_bloc.dart';
import 'package:get_it/get_it.dart';
import 'package:maibu_satabot_v2/features/devices/domain/entities/running_status_entity.dart';
import 'package:maibu_satabot_v2/features/devices/domain/entities/gps_entity.dart';
import 'package:maibu_satabot_v2/core/network/protocol_decoder.dart';
import 'package:maibu_satabot_v2/core/network/mqtt/domain/repositories/task_message_repository.dart';
import 'package:maibu_satabot_v2/core/network/mqtt/domain/entities/task_arrive_entity.dart';

import '../../../../core/logging/i_logger_service.dart';
import '../../../../core/network/net_message_dispatcher.dart';
import '../../../../core/network/tcp/tcp_client.dart';
import 'device_status_event.dart';
import 'device_status_state.dart';
import 'devices_cubit.dart';

// 定义全局的TaskMessageRepository获取方式
TaskMessageRepository get _taskMessageRepo => GetIt.I<TaskMessageRepository>();

class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
  final NetMessageDispatcher _dispatcher;
  final TcpClient tcpClient; // 🔥 新增:直接访问 TcpClient
  final ILoggerService _logger = GetIt.I<ILoggerService>();

  // 🔥 保存订阅引用,用于管理生命周期
  StreamSubscription? _tcpSubscription;
  StreamSubscription? _mqttArriveSubscription;

  // 🔥 节流相关：500ms节流控制0x02数据推送频率
  Timer? _throttleTimer;
  static const _throttleDuration = Duration(milliseconds: 500);
  RunningStatusEntity? _cachedStatus;
  GPSEntity? _cachedGps;

  // 🔥 当前监听的设备ID
  String? _currentDeviceId;

  DeviceStatusBloc(this._dispatcher, {TcpClient? client})
    : tcpClient = client ?? GetIt.I<TcpClient>(),
      super(DeviceStatusInitial()) {
    // 🔥 核心改动:直接在构造函数中建立TCP监听,类似RemoteControlCubit
    _initDirectTcpListener();

    // 🔥 初始化MQTT到达点监听
    _initMqttArriveListener();

    // 保留事件处理(用于手动重置等场景)
    on<DeviceStatusReset>(_handleReset);
    on<DeviceStatusLoaded>(_handleDeviceStatusLoaded);
    on<PushMessageReceived>(_handlePushMessageReceived);
    on<DeviceTaskArrivePointEvent>(_handleDeviceTaskArrivePointEvent);
  }

  // 🔥 已废弃:重新初始化TCP监听器会导致数据流中断
  // DeviceStatusBloc是单例,TCP监听器在构造函数中建立后应始终保持活跃
  // 任何页面只需通过 BlocBuilder 或 stream 订阅状态即可
  /*
  void reinitializeListener() {
    debugPrint('🔄 [DeviceStatusBloc] 重新初始化TCP监听器 - isClosed=$isClosed');
    _logger.log('🔄 [DeviceStatusBloc] 重新初始化TCP监听器 - isClosed=$isClosed');
    
    if (isClosed) {
      debugPrint('❌ [DeviceStatusBloc] BLoC已关闭,无法重新初始化!');
      _logger.log('❌ [DeviceStatusBloc] BLoC已关闭,无法重新初始化!');
      return;
    }
    
    // ❌ 取消旧的订阅会导致数据流中断!
    debugPrint('📝 [DeviceStatusBloc] 取消旧订阅');
    _tcpSubscription?.cancel();
    
    // ❌ 重置状态会清空UI显示的数据!
    debugPrint('📝 [DeviceStatusBloc] emit Initial状态');
    emit(DeviceStatusInitial());
    
    // 重新建立监听
    debugPrint('📝 [DeviceStatusBloc] 调用 _initDirectTcpListener');
    _initDirectTcpListener();
  }
  */

  // 🔥 新增:直接监听TCP 0x02指令,实时解析并emit状态
  void _initDirectTcpListener() {
    debugPrint('🔗 [DeviceStatusBloc] 初始化直接TCP监听器 - 使用 tcpClient.packetStream');
    _logger.log('🔗 [DeviceStatusBloc] 初始化直接TCP监听器');

    // 🔥 关键修复:直接监听 tcpClient.packetStream,不经过 dispatcher 的 filtered stream
    // 这样即使没有其他监听者,TCP流也不会暂停
    _tcpSubscription = tcpClient.packetStream
        .where((p) => p.command == 0x02)
        .map((p) {
          try {
            final result = utf8.decode(p.payload, allowMalformed: true);
            // debugPrint('✅ [DeviceStatusBloc] 收到0x02数据: $result');
            return result;
          } catch (e) {
            //  debugPrint('❌ [DeviceStatusBloc] 解码失败: $e');
            return '';
          }
        })
        .listen(
          (message) {
            //debugPrint('📩 [DeviceStatusBloc] 直接收到0x02数据,长度:${message.length}');

            if (message.isEmpty) {
              //debugPrint('⚠️ [DeviceStatusBloc] 消息为空,跳过');
              return;
            }

            try {
              // 🔥 直接解析,不经过事件转换
              final fields = message.trim().split(',');

              if (fields.length < 18) {
                //debugPrint('⚠️ [DeviceStatusBloc] 字段不足:${fields.length},期望≥18');
                // 🔥 错误不节流，立即emit以便UI显示错误
                if (!isClosed) {
                  emit(DeviceStatusError('字段不足,期望≥18,实际:${fields.length}'));
                }
                return;
              }

              final status = RunningStatusEntity.fromFields(fields);
              final gps = GPSEntity(status.latitude, status.longitude);

              // 🔥 缓存最新数据用于节流发射
              _cachedStatus = RunningStatusEntity(
                voltage: status.voltage,
                leftTargetSpeed: status.leftTargetSpeed,
                rightTargetSpeed: status.rightTargetSpeed,
                leftMeasureSpeed: status.leftMeasureSpeed,
                rightMeasureSpeed: status.rightMeasureSpeed,
                leftCurrent: status.leftCurrent,
                rightCurrent: status.rightCurrent,
                leftMotorTemp: status.leftMotorTemp,
                rightMotorTemp: status.rightMotorTemp,
                chipTemp: status.chipTemp,
                yaw: status.yaw,
                pitch: status.pitch,
                roll: status.roll,
                satelliteCnt: status.satelliteCnt,
                qual: status.qual,
                headingStatus: status.headingStatus,
                latitude: status.latitude,
                longitude: status.longitude,
                timestamp: status.timestamp,
                knifeCuttingSpeed: status.knifeCuttingSpeed,
                controlMode: status.controlMode,
                battery: status.battery,
                workingArea: status.workingArea,
                obstacleFlag: status.obstacleFlag,
              );
              _cachedGps = GPSEntity(status.latitude, status.longitude);

              // 🔥 节流：取消之前的timer，重新计时500ms
              _throttleTimer?.cancel();
              _throttleTimer = Timer(_throttleDuration, () {
                _emitCachedStatus();
              });
            } catch (e, stack) {
              //debugPrint('❌ [DeviceStatusBloc] 直接解析异常:$e\n$stack');
              // _logger.log('❌ [DeviceStatusBloc] 直接解析异常:$e');
              // 🔥 解析错误不节流，立即emit以便UI显示错误
              if (!isClosed) {
                emit(DeviceStatusError('解析失败:$e'));
              }
            }
          },
          onDone: () => debugPrint('⚠️ [DeviceStatusBloc] TCP流已结束(onDone)'),
          onError: (e) => debugPrint('❌ [DeviceStatusBloc] TCP流错误:$e'),
        );

    debugPrint('✅ [DeviceStatusBloc] 直接TCP监听器已建立完成');
    _logger.log('✅ [DeviceStatusBloc] 直接TCP监听器已建立完成');
  }

  // 🔥 初始化MQTT到达点监听
  void _initMqttArriveListener() {
    debugPrint('🔗 [DeviceStatusBloc] 初始化MQTT到达点监听器');
    _logger.log('🔗 [DeviceStatusBloc] 初始化MQTT到达点监听器');

    _mqttArriveSubscription = _taskMessageRepo.taskArriveStream.listen(
      (TaskArriveEntity arrive) {
        debugPrint(
          '📍 [DeviceStatusBloc] 收到MQTT到达点消息: type=${arrive.type}, deviceId=${arrive.deviceId}',
        );
        _logger.log(
          '📍 [DeviceStatusBloc] 收到MQTT到达点消息: type=${arrive.type}, deviceId=${arrive.deviceId}',
        );

        // 过滤出路径规划到达点消息
        if (arrive.type == 'device_task_arrive_point') {
          // 检查设备ID是否匹配当前监听的设备
          if (_currentDeviceId != null && arrive.deviceId != _currentDeviceId) {
            debugPrint(
              '⚠️ [DeviceStatusBloc] 设备ID不匹配，跳过 - 当前:$_currentDeviceId, 收到:${arrive.deviceId}',
            );
            return;
          }

          // 提取坐标（支持空entity场景）
          double? lat = arrive.entity?.lat;
          double? lng = arrive.entity?.lng;

          // 发送事件到Bloc
          add(
            DeviceTaskArrivePointEvent(
              deviceId: arrive.deviceId,
              taskId: arrive.taskId,
              lat: lat,
              lng: lng,
            ),
          );
        }
      },
      onError: (e) {
        debugPrint('❌ [DeviceStatusBloc] MQTT到达点监听错误: $e');
        _logger.log('❌ [DeviceStatusBloc] MQTT到达点监听错误: $e');
      },
    );

    debugPrint('✅ [DeviceStatusBloc] MQTT到达点监听器已建立完成');
    _logger.log('✅ [DeviceStatusBloc] MQTT到达点监听器已建立完成');
  }

  // 🔥 设置当前监听的设备ID（用于过滤MQTT消息）
  void setListeningDeviceId(String deviceId) {
    debugPrint('📱 [DeviceStatusBloc] 设置监听设备ID: $deviceId');
    _logger.log('📱 [DeviceStatusBloc] 设置监听设备ID: $deviceId');
    _currentDeviceId = deviceId;
  }

  // 🔥 节流发射：500ms到期后发射缓存的最新数据
  void _emitCachedStatus() {
    if (_cachedStatus != null && _cachedGps != null && !isClosed) {
      // debugPrint('📤 [DeviceStatusBloc] 🔥节流发射 - 电压:${_cachedStatus!.voltage}, 电量:${_cachedStatus!.battery}');
      emit(DeviceStatusUpdated(_cachedStatus!, _cachedGps!));
    }
  }

  // 🔥 重置时仅清空状态
  Future<void> _handleReset(
    DeviceStatusReset event,
    Emitter<DeviceStatusState> emit,
  ) async {
    debugPrint('🔄 [DeviceStatusBloc] 收到重置事件：清空状态 - 当前状态:${state.runtimeType}');
    _logger.log(
      '🔄 [DeviceStatusBloc] 收到重置事件：清空状态 - 当前状态:${state.runtimeType}',
    );

    // 只 emit 初始状态，让 UI 清除旧设备的数据
    emit(DeviceStatusInitial());
    debugPrint('⚠️ [DeviceStatusBloc] 已emit DeviceStatusInitial');
  }

  Future<void> _handleDeviceStatusLoaded(
    DeviceStatusLoaded event,
    Emitter<DeviceStatusState> emit,
  ) async {
    try {
      // debugPrint('🔍 开始解析数据：${event.jsonString}');
      _logger.log('🔍 开始解析数据：${event.jsonString}');
      final fields = event.jsonString.trim().split(',');

      if (fields.length < 18) {
        debugPrint('⚠️ 字段不足：${fields.length}');
        emit(DeviceStatusError('字段不足，期望 ≥18，实际：${fields.length}'));
        return;
      }

      final status = RunningStatusEntity.fromFields(fields);
      final gps = GPSEntity(status.latitude, status.longitude);

      //debugPrint('✅ 解析成功，更新状态：Lat=${gps.latitude}, Lng=${gps.longitude}');
      _logger.log('✅ 解析成功，更新状态：Lat=${gps.latitude}, Lng=${gps.longitude}');
      emit(DeviceStatusUpdated(status, gps));
    } catch (e, stack) {
      //debugPrint('❌ 解析异常：$e\n$stack');
      _logger.log('❌ 解析异常：$e\n$stack');
      emit(DeviceStatusError('解析失败：$e'));
    }
  }

  Future<void> _handlePushMessageReceived(
    PushMessageReceived event,
    Emitter<DeviceStatusState> emit,
  ) async {
    try {
      final eventStr = event.jsonData['event'] ?? '';
      final deviceId = event.jsonData['deviceId'] ?? '未知';
      // debugPrint('收到推送事件：$eventStr, 设备：$deviceId');
      _logger.log('收到推送事件：$eventStr, 设备：$deviceId');
      // 这里可以根据需要 emit 新状态
    } catch (e) {
      emit(DeviceStatusError('解析推送消息失败：$e'));
    }
  }

  // 🔥 处理MQTT到达点事件
  Future<void> _handleDeviceTaskArrivePointEvent(
    DeviceTaskArrivePointEvent event,
    Emitter<DeviceStatusState> emit,
  ) async {
    debugPrint(
      '📍 [DeviceStatusBloc] 处理到达点事件: deviceId=${event.deviceId}, taskId=${event.taskId}, lat=${event.lat}, lng=${event.lng}',
    );
    _logger.log(
      '📍 [DeviceStatusBloc] 处理到达点事件: deviceId=${event.deviceId}, taskId=${event.taskId}, lat=${event.lat}, lng=${event.lng}',
    );

    if (event.lat != null && event.lng != null && event.lat != 0.0) {
      // ✅ 收到有效到达点 - 更新位置状态
      final gps = GPSEntity(event.lat!, event.lng!);

      // 发送到DevicesCubit更新到达位置（触发地图轨迹更新）
      final devicesCubit = GetIt.I<DevicesCubit>();
      devicesCubit.setArrivedLocation(event.lat!, event.lng!);

      // 同时更新DeviceStatusBloc的状态
      emit(DeviceStatusUpdated(_cachedStatus ?? RunningStatusEntity(), gps));
    } else {
      // ❌ entity为空或坐标无效 - 表示任务停止
      debugPrint('🛑 [DeviceStatusBloc] 收到任务停止信号');
      _logger.log('🛑 [DeviceStatusBloc] 收到任务停止信号');

      final devicesCubit = GetIt.I<DevicesCubit>();
      devicesCubit.finishWork();
      Future.delayed(Duration(seconds: 1), () {
        devicesCubit.resetWorkStatus();
      });
    }
  }

  @override
  Future<void> close() {
    debugPrint('🚫 [DeviceStatusBloc] 页面退出,清理资源');
    _logger.log('🚫 [DeviceStatusBloc] 页面退出,清理资源');

    // 🔥 清理MQTT订阅
    _mqttArriveSubscription?.cancel();
    _mqttArriveSubscription = null;

    // 🔥 清理节流timer和缓存
    _throttleTimer?.cancel();
    _throttleTimer = null;
    _cachedStatus = null;
    _cachedGps = null;

    // 🔥 重置设备ID
    _currentDeviceId = null;

    return Future.value();
  }
}