#ifndef SOPHIAR2_TRANSFORM_UTILITY_HPP
#define SOPHIAR2_TRANSFORM_UTILITY_HPP

#include "core/basic_obj_types.hpp"
#include "utility/coro_signal_group.hpp"
#include "utility/coro_worker.hpp"
#include "utility/simple_tristate_obj.hpp"
#include "utility/global_obj_helper.hpp"

#include <cassert>

namespace sophiar {

    inline coro_worker::pointer make_transform_inverter_func(const nlohmann::json &config) {
        assert(config.contains("input_obj_name"));
        assert(config.contains("output_obj_name"));
        assert(config["input_obj_name"].is_string());
        assert(config["output_obj_name"].is_string());
        auto input_obj_name = config["input_obj_name"].get<std::string>();
        auto output_obj_name = config["output_obj_name"].get<std::string>();
        auto input_obj_index = REGISTER_GLOBAL_OBJ(transform_obj, input_obj_name);
        auto output_obj_index = REGISTER_GLOBAL_OBJ(transform_obj, output_obj_name);
        auto worker = make_infinite_coro_worker(global_context, [=,
                input_helper = GLOBAL_OBJ_AUTO_DELEGATE(transform_obj, input_obj_index)]() mutable
                -> boost::asio::awaitable<bool> {
            co_await input_helper.coro_wait_update(false);
            auto ts = GLOBAL_OBJ_UPDATE_TS(input_obj_index);
            if (input_helper.empty()) [[unlikely]] {
                UPDATE_GLOBAL_OBJ_TS(transform_obj, output_obj_index, nullptr, ts);
            } else [[likely]] {
                auto new_trans = transform_obj::new_instance();
                new_trans->value = input_helper->value.inverse();
                UPDATE_GLOBAL_OBJ_TS(transform_obj, output_obj_index, new_trans, ts);
            }
            co_return true;
        });
        return std::move(worker);
    }

    scalarxyz_obj::value_type get_scalarxyz_from_json_list(const nlohmann::json &config) {
        assert(config.is_array());
        assert(config.size() == 3);
        double val[3];
        for (int i = 0; i < 3; ++i) {
            assert(config[i].is_number());
            val[i] = config[i].get<double>();
        }
        return {val[0], val[1], val[2]};
    }

    template<bool IsVector>
    inline coro_worker::pointer make_fixed_scalarxyz_transformer(const nlohmann::json &config) {
        assert(config["transform_type"] == "point");
        auto fixed_value = get_scalarxyz_from_json_list(config["fixed_value"]);
        auto trans_obj_name = config["transform_obj_name"].get<std::string>();
        auto output_obj_name = config["output_obj_name"].get<std::string>();
        auto trans_obj_index = REGISTER_GLOBAL_OBJ(transform_obj, trans_obj_name);
        auto output_obj_index = REGISTER_GLOBAL_OBJ(scalarxyz_obj, output_obj_name);
        auto worker = make_infinite_coro_worker(global_context, [=,
                trans_helper = GLOBAL_OBJ_AUTO_DELEGATE(transform_obj, trans_obj_index)]() mutable
                -> boost::asio::awaitable<bool> {
            co_await trans_helper.coro_wait_update(false);
            auto ts = GLOBAL_OBJ_UPDATE_TS(trans_obj_index);
            if (trans_helper.empty()) [[unlikely]] {
                UPDATE_GLOBAL_OBJ_TS(scalarxyz_obj, output_obj_index, nullptr, ts);
            } else [[likely]] {
                auto new_value = scalarxyz_obj::new_instance();
                if constexpr (IsVector) {
                    new_value->value = trans_helper->value.linear() * fixed_value;
                } else {
                    new_value->value = trans_helper->value * fixed_value;
                }
                UPDATE_GLOBAL_OBJ_TS(scalarxyz_obj, output_obj_index, new_value, ts);
            }
            co_return true;
        });
        return std::move(worker);
    }

    inline coro_worker::pointer make_scalarxyz_transformer(const nlohmann::json &config) {
        assert(config.contains("transform_obj_name"));
        assert(config.contains("output_obj_name"));
        assert(config["transform_obj_name"].is_string());
        assert(config["output_obj_name"].is_string());
        assert(config.contains("transform_type"));
        assert(config["transform_type"].is_string());
        auto trans_type = config["transform_type"].get<std::string>();
        if (config.contains("fixed_value")) {
            if (trans_type == "vector") {
                return make_fixed_scalarxyz_transformer<true>(config);
            } else {
                assert(trans_type == "point");
                return make_fixed_scalarxyz_transformer<false>(config);
            }
        } else {
            assert(config.contains("input_obj_name"));
            assert(config["input_obj_name"].is_string());
            // TODO 实现 dynamic_scalaxyz_transformer
            assert(false);
            return nullptr;
        }
        assert(false);
        return nullptr;
    }

    using transform_inverter = simple_tristate_obj_wrapper<make_transform_inverter_func>;
    using scalarxyz_transformer = simple_tristate_obj_wrapper<make_scalarxyz_transformer>;

}

#endif //SOPHIAR2_TRANSFORM_UTILITY_HPP