// lib/services/gnss/gnss_service.dart
import 'dart:async';
import 'dart:typed_data';

import 'package:get/get.dart';
import 'package:nmea/nmea.dart';
import 'package:terepi_seged/services/gnss/gnss_device_service.dart';

import '../../gnss_sentences/gngga.dart';
import '../../gnss_sentences/gngst.dart';
import '../../gnss_sentences/gnrmc.dart';
import 'bt_serial_gnss_connection.dart';
import 'ble_gnss_connection.dart';
import 'gnss_connection.dart';

class GnssService extends GetxService {
  static GnssService get to => Get.find();

  GnssConnection? _connection;

  // ── Kapcsolat állapot ─────────────────────────────────────────────
  final connectionState = GnssConnectionState.disconnected.obs;
  final activeConnectionType = Rxn<GnssConnectionType>();

  // ── GGA adatok ────────────────────────────────────────────────────
  final latitude = 0.0.obs;
  final longitude = 0.0.obs;
  final altitude = 0.0.obs; // MSL (ortometrikus)
  final geoidSeparation = 0.0.obs; // N — geoid undulációja
  final gpsQuality = 0.obs;
  final utcFix = ''.obs;
  final satelliteCount = 0.obs;
  final hdop = 0.0.obs;

  // Utolsó nyers GGA sor — NtripService küldi vissza a casternek
  final lastGgaLine = ''.obs;

  // ── GST adatok (pontossági hibák) ─────────────────────────────────
  final latitudeError = 0.0.obs;
  final longitudeError = 0.0.obs;
  final altitudeError = 0.0.obs;

  // ── RMC adatok (dátum/idő) ────────────────────────────────────────
  final gpsDateTime = DateTime(2000).obs;

  // Segédmező: van-e érvényes adat
  bool get hasValidData => gpsQuality.value > 0;

  // ── Belső ─────────────────────────────────────────────────────────
  final NmeaDecoder _decoder = NmeaDecoder();
  StreamSubscription? _nmeaSub;
  StreamSubscription? _stateSub;
  String _utcTime = '';
  String _utcDate = '';

  @override
  void onInit() {
    super.onInit();
    _decoder
      ..registerTalkerSentence('GGA', (l) => Gngga(raw: l))
      ..registerTalkerSentence('GST', (l) => Gngst(raw: l))
      ..registerTalkerSentence('RMC', (l) => Gnrmc(raw: l));
  }

  // ── Kapcsolódás ───────────────────────────────────────────────────

  Future<void> connectBtSerial(String macAddress) async {
    await _disconnect();
    _connection = BtSerialGnssConnection();
    activeConnectionType.value = GnssConnectionType.btSerial;
    await _doConnect(macAddress);
  }

  Future<void> connectBle(
    String deviceId, {
    String? serviceUuid,
    String? txCharUuid,
  }) async {
    await _disconnect();
    _connection = BleGnssConnection(
      serviceUuid: serviceUuid ?? '6e400001-b5b3-f393-e0a9-e50e24dcca9e',
      txCharUuid: txCharUuid ?? '6e400003-b5b3-f393-e0a9-e50e24dcca9e',
    );
    activeConnectionType.value = GnssConnectionType.ble;
    await _doConnect(deviceId);
  }

  /// Eszközváltás — GnssDevicePicker hívja.
  Future<void> onDeviceChanged(GnssDevice device) async {
    switch (device.type) {
      case GnssConnectionType.btSerial:
        await connectBtSerial(device.address);
      case GnssConnectionType.ble:
        await connectBle(device.address);
      case GnssConnectionType.phoneGps:
        await _disconnect();
        connectionState.value = GnssConnectionState.disconnected;
        activeConnectionType.value = GnssConnectionType.phoneGps;
    }
  }

  Future<void> reconnect() async {
    final device = GnssDeviceService.to.selectedDevice.value;
    if (device == null) return;
    await _disconnect();
    await onDeviceChanged(device);
  }

  Future<void> _doConnect(String address) async {
    _stateSub = _connection!.connectionState.listen((s) {
      connectionState.value = s;
    });
    _nmeaSub = _connection!.nmeaLines.listen(_parseNmea);
    await _connection!.connect(address);
  }

  Future<void> _disconnect() async {
    await _nmeaSub?.cancel();
    await _stateSub?.cancel();
    await _connection?.disconnect();
    _connection?.dispose();
    _connection = null;
    connectionState.value = GnssConnectionState.disconnected;
  }

  Future<void> disconnect() => _disconnect();

  /// RTCM adat továbbítása a GNSS vevőnek (NtripService hívja).
  void sendToReceiver(Uint8List data) {
    if (_connection == null) return;
    if (connectionState.value != GnssConnectionState.connected) return;
    (_connection as BtSerialGnssConnection?)?.sendData(data);
  }

  // ── NMEA parsing ──────────────────────────────────────────────────

  void _parseNmea(String line) {
    if (line.startsWith('\$GNGGA') || line.startsWith('\$GPGGA')) {
      _parseGga(line);
    } else if (line.startsWith('\$GNGST') && hasValidData) {
      _parseGst(line);
    } else if (line.startsWith('\$GNRMC') && hasValidData) {
      _parseRmc(line);
    }
  }

  void _parseGga(String line) {
    try {
      final s = _decoder.decode(line);
      if (s == null || !s.valid || s is! Gngga) return;
      if (s.gpsQualityIndicator == 0) return;

      latitude.value = s.latitude;
      longitude.value = s.longitude;
      altitude.value = s.altitudeAboveMeanSeaLevel;
      geoidSeparation.value = s.geoidSeparation;
      gpsQuality.value = s.gpsQualityIndicator;
      utcFix.value = s.utcOfPositionFix;
      satelliteCount.value = s.numberOfSvsInUse;
      hdop.value = s.hdop;
      lastGgaLine.value = line;
      _utcTime = s.utcOfPositionFix;
    } catch (_) {}
  }

  void _parseGst(String line) {
    try {
      final s = _decoder.decode(line);
      if (s == null || !s.valid || s is! Gngst) return;
      latitudeError.value = s.latitudeError;
      longitudeError.value = s.longitudeError;
      altitudeError.value = s.heightError;
    } catch (_) {}
  }

  void _parseRmc(String line) {
    try {
      final s = _decoder.decode(line);
      if (s == null || !s.valid || s is! Gnrmc) return;
      _utcDate = s.date;
      if (_utcDate.length >= 6 && _utcTime.length >= 6) {
        gpsDateTime.value = DateTime(
          2000 + int.parse('${_utcDate[4]}${_utcDate[5]}'),
          int.parse('${_utcDate[2]}${_utcDate[3]}'),
          int.parse('${_utcDate[0]}${_utcDate[1]}'),
          int.parse('${_utcTime[0]}${_utcTime[1]}'),
          int.parse('${_utcTime[2]}${_utcTime[3]}'),
          int.parse('${_utcTime[4]}${_utcTime[5]}'),
        );
      }
    } catch (_) {}
  }

  @override
  void onClose() {
    _disconnect();
    super.onClose();
  }
}