#ifndef sync_time_manager_h
#define sync_time_manager_h

#include <boost/serialization/singleton.hpp>
#include <unordered_map>
#include <map>
#include <deque>
#include <iostream>
#include <mutex>
#include "sync_time_message.h"
#include "position.h"
#include "common.h"
#include "sync_time.h"
#include "sync_helper.h"
#include "tag_message.h"

using namespace std;

namespace host_server{
    class sync_manager
    {
		struct sync_time_msg_item
		{
			unsigned short sync_num;
			unordered_map<unsigned long long, sync_time_message> ump_sync_time_msg;
		};

		struct sync_time_item
		{
			unsigned short sync_num;
			unordered_map<unsigned long long, sync_time> hist_sync;
		};

	    std::recursive_mutex m_mu_sync_time;

        // 是否输出日志标志
		bool m_log_status;
	public:
        sync_manager();
        sync_manager(bool status);
		~sync_manager();

    	// unsigned long long 代表anchor编码 ID+AntNum
        unordered_map<unsigned long long, position> ump_anchors; 
        // unsigned long long 代表anchor编码 ID+AntNum
        unordered_map<unsigned long long, unordered_map<unsigned long long, double>> ump_distance; 

		// with root
        // 使用_syncTimeMsgs[SyncNum][LocalIdCode]访问对应的SyncTimeMsg,即同步时间消息
		unordered_map<unsigned long long, deque<sync_time_msg_item>> ump_sync_time_msg;

        // 使用_historySync[SyncNum][LocalIdCode]访问对应的SyncTime即计算后的时间同步
		unordered_map<unsigned long long, deque<sync_time_item>> ump_history_sync;
	public:
        //************************************
        // Description: 用于初始化所有成员
        // Method:      init
        // Returns:     void
        //************************************
        void init();

        //************************************
        // Description: 用于解析时间同步msg中的内容
        // Method:      analyze_sync_msg
        // Returns:     void
        // Parameter:   SyncTimeMsg & msg 从socket获取的消息
        //************************************
        void analyze_sync_msg(sync_time_message& msg);

        //************************************
        // Description: 更新距离信息
        // Method:      update_distance
        // Returns:     void
        // Parameter:   unsigned int local_id 当前分站号
        // Parameter:   unsigned char local_ant_num 当前分站的天线号
        // Parameter:   unsigned int upper_id 上级分站号
        // Parameter:   unsigned char uppder_ant_num 上级分站的天线号
        // Parameter:   int d 距离
        //************************************
        void update_distance(unsigned int local_id, uint8_t local_ant_num, unsigned int upper_id, uint8_t upper_ant_num, double d);

        //************************************
        // Description: 更新anchor信息
        // Method:      update_anchor
        // Returns:     void
        // Parameter:   unsigned int local_id 当前分站号
        // Parameter:   unsigned char local_ant_num 当前分站的天线号
        // Parameter:   int x
        // Parameter:   int y
        // Parameter:   int z
        //************************************
        void update_anchor(unsigned int local_id, uint8_t local_ant_num, double x, double y, double z);
        //void update_anchor(unsigned int local_id, unsigned char local_ant_num, const position& p);

        //************************************
        // Description: 删除anchor
        // Method:      delete_anchor
        // Returns:     void
        // Parameter:   unsigned int local_id 当前分站号
        // Parameter:   unsigned char local_ant_num 当前分站的天线号
        //************************************
        void delete_anchor(unsigned int local_id, uint8_t local_ant_num);

	        //************************************
        // Description: 根据Tag的记录和历史msg，利用线性插值算法计算Tag的预估时间
        // Method:      cal_time_by_linar
        // Returns:     unsigned long long 
        // Parameter:   unsigned long long tagReceiveTime tag的接收时间
        // Parameter:   unsigned short SyncNum  接收tag时的时间同步编号
        // Parameter:   unsigned long long localIdCode 接收tag的anchorID编码
        //************************************
        unsigned long long cal_time_by_linear(tag_message& tag);
		unsigned long long cal_time_by_inter_linear(tag_message& tag);
		//************************************
		// Method:    update_sync
		// Returns:   bool
		// Parameter: unsigned long long root_id_code
		// Parameter: unsigned short sync_num
		// Parameter: unsigned long long local_id_code
		//************************************
		bool update_sync(unsigned long long root_id_code, int idx, unsigned short sync_num, unsigned long long local_id_code);
		int find_sync_time_msg(unsigned long long root_id_code, unsigned short sync_num);
		int find_his_sync_time(unsigned long long root_id_code, unsigned short sync_num);

		void set_log_status(bool status)
        {	
            this->m_log_status = status;
        }

		bool get_log_status() const 
        {
            return m_log_status;
        }
		
        long long sub(unsigned long long t1, unsigned long long t2){
			return ((t1 >= t2)? (t1 - t2):(t1 - t2 + TIME_MAX_ADD));
		}
    };
};

using singleton_sync_manager = boost::serialization::singleton<host_server::sync_manager>;
#define ssync_manager singleton_sync_manager::get_mutable_instance()

#endif