#include <memory>
#include <message.h>
#include "card_message_handle.h"
#include "card_person.h"
#include "card_car.h"
#include "config_file.h"
#include "select_tool.h"
#include "module_service/module_mgr.h"
#include "websocket/wsClientMgr.h"
#include "websocket/wsTimerThread.h"
#include "his_location.h"
#include "event.h"
#include "module_service/module_call.h"
#include "mine.h"
#include "common_tool.h"
#include "ant.h"
#include "area.h"
#include "loc_point.h"
#include "loc_message.h"
#include "module_service/module_traffic_light_manager.h"
#include "db/db_tool.h"
#include "tool_time.h"
#include "tool_byte.h"
#include "struct_def.h"
#include "sys_setting.h"
#include "ya_setting.h"

extern config_file config;
card_location_base::card_location_base(const std::string&type,uint32_t id,uint16_t dis,int16_t t,int32_t deptid,int32_t level_id,uint32_t cid)
	:card(id, dis, t, deptid, level_id, cid)
    ,m_display_old(dis)
{
    select_tool_manage::instance()->create_tool(type, m_sel_tool, m_smo_tool);
	m_his_location_card.reset(new location_card(m_id, m_type, cid));

    m_cb_pdoa.set_capacity(5);
    m_cb_tof.set_capacity(5);
    m_cb_point.set_capacity(5);

    for(int index = 0; index < 5; ++index){
        m_cb_pdoa.push_back(100);
        m_cb_tof.push_back(0);
        m_cb_point.push_back(point(0,0));
    }

	m_cb_stream_idx.set_capacity(2);
	m_cb_stream_idx.push_back(0);
	m_cb_stream_idx.push_back(0);
}

void card_location_base::do_status(int st)
{
	time_t now = time(0);
	//bool   help_flag = false;

	//log_info("[help-battery] card_id=%d, help_bit=%d, status=%d", m_id, m_help_bit, st);
	// 呼救
	if((m_help_bit & 1) && (st & STATUS_HELP))
	{
		//      1111111111
		//               ^
		m_help_last_time = now;
	}
	else if((m_help_bit & 1) && (st & STATUS_HELP)==0)
	{
		//      11111111100000
		//               ^
		m_help_bit<<=1;
	}
	else if((m_help_bit & 1)==0 && (st & STATUS_HELP))
	{
		//      00000000011111
		//               ^
		// 呼救开始
		if((m_help_bit&0x3)==2)
		{
			//log_warn("[help-battery] handle_m_help, card_id=%d",m_id);
			//help_flag=true;
		}

		m_help_last_time = now;
		m_help_bit<<=1;
		m_help_bit|=1;

		log_info("[help-battery] begin help, card_id=%d, help_bit=%d, status=%d", m_id, m_help_bit, st);
	}
	else 
	{
		//      11111111100000
		//                   ^
		// 呼救结束后持续1分钟                   
		if(now - m_help_last_time > 60)
		{
			m_help_bit = 0;
			log_info("[help-battery] end help, card_id=%d, help_bit=%d, status=%d", m_id, m_help_bit, st);
		}
	}

	/*if(!help_flag)
	  {
	  st = st & (0xFFFFFFFF ^ STATUS_HELP);
	  }*/

	if((STATUS_POWER_LOWER_SERIOUS & st) != 0)
	{
		m_pwr_stat = STATUS_POWER_LOWER_SERIOUS;
	}
	else
	{
		m_pwr_stat = 0;
	}

	module_mgr::do_status((STATUS_CARD)st, m_id, m_type);
}

//写入历史轨迹
void card_location_base::make_his_location(uint64_t t,const point & pt,bool bclose /*= false*/)
{
	int area_id = 0, map_id = 0, site_id = 0;
	double scale = 0.0;
	if(auto site_ptr = get_area_tool()->m_site)
	{
		area_id = site_ptr->m_area_id;
		map_id  = site_ptr->m_map_id;
		site_id = site_ptr->m_id;
		scale   = site_ptr->m_scale;
	}

	auto mine_ptr = get_mine_tool();
	if(m_time < mine_ptr->get_down_time())
	{
		return;
	}
	m_his_location_card->push(t, pt, area_id, map_id, site_id, bclose);
	m_his_location_card->insert(t, pt, area_id, map_id, site_id, scale);
}

void card_location_base::make_his_location_cell_card_tdoa(uint64_t t, const sys::tdoa_2d_data& tdoa2d)
{
	log_info("upt_tdoa_2d_data6");
	m_his_location_card->insert_cell_card_tdoa(tdoa2d, t);
}


//坐标点输入业务入口
void card_location_base::on_location(const std::vector<point>&vp, const std::vector<loc_message> &lm)
{
	auto site_ptr = get_area_tool()->m_site;
	
	int sid = 0;
	// 天线间间距默认为3米，实际取基站上的天线间距离配置参数
	double ant_dist = 3.0;

	if(site_ptr){
		sid = site_ptr->m_id;
		ant_dist = site_ptr->m_pdoa_offset;
	}else{
		return;
	}

	
	if (site_ptr->m_num_dims == 2) {
		if (vp.size() < 1) {
			return;
		}
		if (lm.size() < 1) {
			return;
		}
	}

	double ptx = 0.0;
	double pty = 0.0;
	bool useless = false;
	if(site_ptr->m_num_dims == 2){
 		ptx = vp[0].x;
 		pty = vp[0].y;
		useless = true;
		
	}

	if(useless)
	{
		if(site_ptr->m_num_dims == 2){
			// data inclue: site_id, dist, pdoa, speed;
			std::string str_info = "";

			// calc delay time by card's ct
			double dt = 0.0;
			if (m_ct > lm[0].m_card_ct) {
				dt = (m_ct - lm[0].m_card_ct) / 1000.0;
			}
			else {
				dt = (m_ct + 65535 - lm[0].m_card_ct) / 1000.0;
			}

			for (auto itl : lm) {
				auto its_info = d3_last_site_info.find(itl.m_sit->m_id);
				if (its_info == d3_last_site_info.end()) {
					sinfo si;
					si.sct = lm[0].m_card_ct;
					si.sdist = itl.m_num_ticks*15.65*2.996*1E-4;
					si.angle = 0.0;

					d3_last_site_info.insert(std::make_pair(itl.m_sit->m_id, si));

					its_info = d3_last_site_info.find(itl.m_sit->m_id);
				}

				// angle
				double angle = 0.0;

				// current distance for site
				double dist = itl.m_num_ticks*15.65*2.996*1E-4;

				// calc speed
				double v = (dist - its_info->second.sdist) / dt;

				// site info: id, dist, angle, speed
				str_info += std::to_string(itl.m_sit->m_id) + ",";
				str_info += std::to_string(dist) + ",";
				str_info += std::to_string(angle) + ",";
				str_info += std::to_string(v) + ";";

				// save data for next calc
				its_info->second.sct = lm[0].m_card_ct;
				its_info->second.sdist = dist;
				its_info->second.angle = angle;
			}
			// this is not add move state
			int move_state = 0;
			double dx, dy = 0.0;

			dx = (ptx - x) / dt;
			dy = (pty - y) / dt;
			auto lm0 = lm[0];
			double acc = lm0.m_ins_data.get_acc();
			double acc_x = lm0.m_ins_data.get_acc(0);
			double acc_y = lm0.m_ins_data.get_acc(1);
			double acc_z = lm0.m_ins_data.get_acc(2);
			double ang = lm0.m_ins_data.get_gyro();
			double ang_x = lm0.m_ins_data.get_gyro(0);
			double ang_y = lm0.m_ins_data.get_gyro(1);
			double ang_z = lm0.m_ins_data.get_gyro(2);

			// insert data to database
			char sql[1024] = { 0 };

			std::string cid = tool_byte::to_cardid(m_type, m_id);
			std::string cid_tmp = cid;

			std::string ctime = tool_time::to_str_ex(tool_time::now_to_ms());

			if (vp.size() == 1)
			{
				for (auto iter0 = lm.begin(); iter0 != lm.end(); ++iter0)
				{
					for (auto iter1 = iter0 + 1; iter1 != lm.end(); ++iter1)
					{
						for (auto iter2 = iter1 + 1; iter2 != lm.end(); ++iter2)
						{
							std::list<int> site_id_list;
							site_id_list.push_back(iter0->m_sit->id());
							site_id_list.push_back(iter1->m_sit->id());
							site_id_list.push_back(iter2->m_sit->id());
							site_id_list.sort();

							auto iter_begin = site_id_list.begin();

							int site1 = *iter_begin;
							iter_begin++;
							int site2 = *iter_begin;
							iter_begin++;
							int site3 = *iter_begin;

							if (true)
							{
								int i = -1;
								char site_list[1024] = { 0 };
								snprintf(site_list, 1024, "%d,%d,%d", site1, site2, site3);

								std::string str_site_list = site_list;
								int nSidIndex = CYaSetting::m_sys_setting.mp_sids_index[str_site_list];

								char sidIndex[1024] = { 0 };
								snprintf(sidIndex, 1024, "%d", nSidIndex);

								std::string strSidIndex = sidIndex;
								if (nSidIndex != 0)
								{
									cid = strSidIndex + cid_tmp;
								}
								
								for (int site_index = 0; site_index < vp.size(); site_index++)
								{
									std::list<int> id_list;
									id_list.push_back(vp[site_index].site1);
									id_list.push_back(vp[site_index].site2);
									id_list.push_back(vp[site_index].site3);
									id_list.sort();

									auto iter_ = id_list.begin();

									int site1_tmp = *iter_;
									iter_++;
									int site2_tmp = *iter_;
									iter_++;
									int site3_tmp = *iter_;


									if (site1 == site1_tmp && site2 == site2_tmp && site3 == site3_tmp)
									{
										i = site_index;
									}
								}

								if (i == -1)
								{
									continue;
								}

								sys::tdoa_2d_data tdoa2d(vp[i].x, vp[i].y, dx, dy, acc, acc_x, acc_y, acc_z, ang, ang_x, ang_y, ang_z, cid, vp[i].d1, vp[i].d2, vp[i].d3, ctime, str_info, move_state);
								swsTimerThrd.upt_tdoa_2d_data(std::move(tdoa2d));
								m_last_x = vp[i].x;
								m_last_y = vp[i].y;

								make_his_location_cell_card_tdoa(time(0) * 1000, tdoa2d);
							}

						}
					}
				}
			}
			else if (vp.size() > 1)
			{
			int iSelected = 0;
			double min_distance = 0.0;
			for (auto iter0 = lm.begin(); iter0 != lm.end(); ++iter0)
			{
				for (auto iter1 = iter0 + 1; iter1 != lm.end(); ++iter1)
				{
					for (auto iter2 = iter1 + 1; iter2 != lm.end(); ++iter2)
					{
						std::list<int> site_id_list;
						site_id_list.push_back(iter0->m_sit->id());
						site_id_list.push_back(iter1->m_sit->id());
						site_id_list.push_back(iter2->m_sit->id());
						site_id_list.sort();

						auto iter_begin = site_id_list.begin();

						int site1 = *iter_begin;
						iter_begin++;
						int site2 = *iter_begin;
						iter_begin++;
						int site3 = *iter_begin;

						if (true)
						{
							int i = -1;
							char site_list[1024] = { 0 };
							snprintf(site_list, 1024, "%d,%d,%d", site1, site2, site3);

							std::string str_site_list = site_list;
							int nSidIndex = CYaSetting::m_sys_setting.mp_sids_index[str_site_list];

							char sidIndex[1024] = { 0 };
							snprintf(sidIndex, 1024, "%d", nSidIndex);

							std::string strSidIndex = sidIndex;
							if (nSidIndex != 0)
							{
								cid = strSidIndex + cid_tmp;
							}

							for (int site_index = 0; site_index < vp.size(); site_index++)
							{
								std::list<int> id_list;
								id_list.push_back(vp[site_index].site1);
								id_list.push_back(vp[site_index].site2);
								id_list.push_back(vp[site_index].site3);
								id_list.sort();

								auto iter_ = id_list.begin();

								int site1_tmp = *iter_;
								iter_++;
								int site2_tmp = *iter_;
								iter_++;
								int site3_tmp = *iter_;


								if (site1 == site1_tmp && site2 == site2_tmp && site3 == site3_tmp)
								{
									i = site_index;
								}

								log_info("site1%d,site2%d,site3%d,%d,%d,%d", site1, site2, site3, site1_tmp, site2_tmp, site3_tmp);
							}

							if (i == -1)
							{
								continue;
							}

							auto d = sqrt((m_last_x - vp[i].x) * (m_last_x - vp[i].x) + (m_last_y - vp[i].y) * (m_last_y - vp[i].y));
							if (d < min_distance) {
								iSelected = i;
								min_distance = d;
							}
							sys::tdoa_2d_data tdoa2d(vp[i].x, vp[i].y, dx, dy, acc, acc_x, acc_y, acc_z, ang, ang_x, ang_y, ang_z, cid, vp[i].d1, vp[i].d2, vp[i].d3, ctime, str_info, move_state);
							swsTimerThrd.upt_tdoa_2d_data(std::move(tdoa2d));
							m_last_x = vp[i].x;
							m_last_y = vp[i].y;
						}

					}
				}
			}
// 			sys::tdoa_2d_data tdoa2d(vp[iSelected].x, vp[iSelected].y, dx, dy, acc, acc_x, acc_y, acc_z, ang, ang_x, ang_y, ang_z, cid, vp[iSelected].d1, vp[iSelected].d2, vp[iSelected].d3, ctime, str_info, move_state);
// 			swsTimerThrd.upt_tdoa_2d_data(std::move(tdoa2d));
// 			m_last_x = vp[iSelected].x;
// 			m_last_y = vp[iSelected].y;
			}
		}
	}
	else
	{
		log_warn("坐标不可用:site=%d, type=%d, card=%d, ct=%d, x=%f, y=%f", sid, m_type, m_id, m_ct, ptx, pty);
	}
}

void card_location_base::on_message(zloop<task*>* loop, message_locinfo& loc,bool is_history)
{
	m_ct = loc.m_card_ct;
	m_time = loc.m_time_stamp;
	auto site_ptr = sit_list::instance()->get(loc.m_site_id);
	if(!site_ptr)
	{
		log_warn("接收到分站的数据，site=%d,card=%d,ct=%d,但是分站未定义",loc.m_site_id,m_id,loc.m_card_ct);
		return;
	}

	auto area_tool=get_area_tool();
	area_tool->set_site(site_ptr);

	handle_message(loc.m_card_ct,loc.m_batty_status);

	if(site_ptr->is_up_site())
	{
        log_info("card=%d被井上分站[site=%d]收到",m_id,site_ptr->id());
		area_tool->on_point(shared_from_this(),point(1,1));
		this->site_hover(loc.m_site_id);
	}
	else
	{
		if(site_ptr->is_path_empty())
		{
			log_warn("接收到分站的数据，site=%d,card=%d,ct=%d,但是分站路径为空",site_ptr->id(),m_id,loc.m_card_ct);
			return;
		}
		m_message_handle->on_message(loop,loc,is_history);
	}
}

/*
 * 实心球原始数据调用算法模块进行定位处理
 * */
void card_location_base::on_message(zloop<task*>* loop, message_ins_locinfo& loc,bool is_history)
{
	/*m_ct = loc.m_card_ct;
	m_time = loc.m_time_stamp;
	auto site_ptr = sit_list::instance()->get(loc.m_site_id);
	if(!site_ptr)
	{
		log_warn("接收到分站的数据，site=%d,card=%d,ct=%d,但是分站未定义",loc.m_site_id,m_id,loc.m_card_ct);
		return;
	}*/

	if (false)
	if (loc.m_site_id == 22 || loc.m_site_id == 23)
	{
		//m_message_handle->on_message(loop, loc, is_history);
		log_info("[solid_ball] start calc location");

		auto itm = m_msg_list.find(loc.m_card_ct);

		if (itm == m_msg_list.end()) {
			std::vector<message_ins_locinfo> vtm;
			vtm.push_back(loc);
			m_msg_list.insert(std::make_pair(loc.m_card_ct, vtm));
			itm = m_msg_list.find(loc.m_card_ct);
		}
		else {
			itm->second.push_back(loc);
		}

		if (itm->second.size() < 2) {
			return;
		}

		// ct切换了
		m_ct = loc.m_card_ct;
		m_time = loc.m_time_stamp;
		auto site_ptr = sit_list::instance()->get(loc.m_site_id);
		if (!site_ptr)
		{
			log_warn("接收到分站的数据，site=%d,card=%d,ct=%d,但是分站未定义", loc.m_site_id, m_id, loc.m_card_ct);
			return;
		}

		// 卡号
		std::string sid = tool_byte::to_cardid(m_type, m_id);
		std::string site_info = "";
		std::string now = tool_time::to_str_ex(tool_time::now_to_ms());

		int nIndex = 0;
		int siteId1 = 0;
		int siteId2 = 0;
		double distance1 = 0;
		double distance2 = 0;

		// 存入数据库
		for (auto itl : itm->second) {
			site_info += std::to_string(itl.m_site_id);
			double d = itl.m_tof * 15.65 * 2.996 * 1E-4;
			site_info += "," + std::to_string(d);
			site_info += ",0.0";
			double v = 0.0;
			auto its = last_site_info.find(itl.m_site_id);
			if (its == last_site_info.end()) {
				sinfo si;
				si.sct = m_ct;
				si.sdist = d;
				last_site_info.insert(std::make_pair(itl.m_site_id, si));
				v = 0.0;
			}
			else {
				double dt = 0.0;
				if (m_ct > its->second.sct) {
					dt = (m_ct - its->second.sct) / 1000.0;
				}
				else {
					dt = (m_ct + 65535 - its->second.sct) / 1000.0;
				}
				v = (d - its->second.sdist) / dt;

				its->second.sct = m_ct;
				its->second.sdist = d;
			}
			site_info += "," + std::to_string(v);
			site_info += ";";
			if (nIndex == 0)
			{
				siteId1 = itl.m_site_id;
				distance1 = d;
				nIndex++;
			}
			else if (nIndex == 1)
			{
				siteId2 = itl.m_site_id;
				distance2 = d;
			}
		}

		// 数据入库
		char sql[1024] = { 0 };
		snprintf(sql,
			1024,
			"insert into his_raw_data_sb(card_id, site_id, distance, acc, acc_x, acc_y, acc_z, ang, ang_x, ang_y, ang_z, cur_time) values('%s', %d, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f, '%s')",
			sid.c_str(),
			siteId1,
			distance1,
			loc.m_ins_data.get_acc(),
			loc.m_ins_data.get_acc(0),
			loc.m_ins_data.get_acc(1),
			loc.m_ins_data.get_acc(2),
			loc.m_ins_data.get_gyro(),
			loc.m_ins_data.get_gyro(0),
			loc.m_ins_data.get_gyro(1),
			loc.m_ins_data.get_gyro(2),
			now.c_str()
		);
		db_tool::PushAsync(sql);
		log_info("[sql] %s", sql);

		memset(sql, 0, 1024);

		snprintf(sql,
			1024,
			"insert into his_raw_data_sb(card_id, site_id, distance, acc, acc_x, acc_y, acc_z, ang, ang_x, ang_y, ang_z, cur_time) values('%s', %d, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f, '%s')",
			sid.c_str(),
			siteId2,
			distance2,
			loc.m_ins_data.get_acc(),
			loc.m_ins_data.get_acc(0),
			loc.m_ins_data.get_acc(1),
			loc.m_ins_data.get_acc(2),
			loc.m_ins_data.get_gyro(),
			loc.m_ins_data.get_gyro(0),
			loc.m_ins_data.get_gyro(1),
			loc.m_ins_data.get_gyro(2),
			now.c_str()
		);
		db_tool::PushAsync(sql);
		log_info("[sql] %s", sql);

		// 更新数据到发送线程
		sys::sb_data sd;
		sd.cid = sid;
		sd.speed = 0.0;
		sd.site_info = site_info;
		sd.acc = loc.m_ins_data.get_acc();
		sd.ang = loc.m_ins_data.get_gyro();
		std::copy(loc.m_ins_data.m_acc_data.begin(), loc.m_ins_data.m_acc_data.end(), sd.m_acc_data.begin());
		std::copy(loc.m_ins_data.m_ang_data.begin(), loc.m_ins_data.m_ang_data.end(), sd.m_ang_data.begin());
		sd.cur_time = now;

		swsTimerThrd.upt_sb_data(std::move(sd));

		logn_info(3,
			"[solid_ball] cid='%s', stamp=%d, sinfo='%s', acc = %.2f, acc_x = %.2f, acc_y = %.2f, acc_z = %.2f, ang = %.2f, ang_x = %.2f, ang_y = %.2f, ang_z =  %.2f, t = '%s')",
			sid.c_str(),
			m_ct,
			site_info.c_str(),
			loc.m_ins_data.get_acc(),
			loc.m_ins_data.get_acc(0),
			loc.m_ins_data.get_acc(1),
			loc.m_ins_data.get_acc(2),
			loc.m_ins_data.get_gyro(),
			loc.m_ins_data.get_gyro(0),
			loc.m_ins_data.get_gyro(1),
			loc.m_ins_data.get_gyro(2),
			now.c_str()
		);

		//清除数据

		m_msg_list.erase(itm);
		//m_message_handle->on_message(loop, loc, is_history);*/
		return;
	}

	m_ct = loc.m_card_ct;
	m_time = loc.m_time_stamp;
	auto site_ptr = sit_list::instance()->get(loc.m_site_id);
	if(!site_ptr)
	{
		log_warn("接收到分站的数据，site=%d,card=%d,ct=%d,但是分站未定义",loc.m_site_id,m_id,loc.m_card_ct);
		return;
	}

	m_message_handle->on_message(loop, loc, is_history);
}

/*
 * tdoa 调用算法库定位
 * */
void card_location_base::on_message(zloop<task*>* loop, message_tdoa_locinfo& loc, bool is_history)
{
	log_info("[tdoa] start calc location.");
	m_ct = loc.m_card_msg.m_sync_num;
	auto site_ptr = sit_list::instance()->get(loc.m_site_msg.m_site_id);

	if(!site_ptr){
		log_warn("[tdoa] 接收到分站的数据：site=%d, card=%d, ct=%d, 但是分站未定义", loc.m_site_msg.m_site_id, m_id, loc.m_card_msg.m_time_stamp);
		return;
	}
    
    auto area_tool=get_area_tool();
	area_tool->set_site(site_ptr);

    handle_message(loc.m_card_msg.m_time_stamp, loc.m_card_msg.m_battery_status);
	
    if(site_ptr->is_up_site())
	{}
    else{
          m_message_handle->on_message(loop, loc, is_history);
    }

}

/*
 * pdoa 调用算法库定位
 *
 * */
void card_location_base::on_message(zloop<task*>* loop, message_pdoa_locinfo& loc, bool is_history)
{
    m_ct = loc.m_card_ct;
    m_time = loc.m_time_stamp;
    auto site_ptr = sit_list::instance()->get(loc.m_site_id);
    if(!site_ptr){
        log_warn("[pdoa] 接收到分站的数据：site=%d, card=%d, ct=%d, 但是分站未定义", loc.m_site_id, m_id, loc.m_card_ct);
        return;
    }	

	site_ptr->m_loc_time = time(0);

	// 基站覆盖距离检测
	do_site_coverage(loc);

    auto area_tool=get_area_tool();
	area_tool->set_site(site_ptr);

    m_battery_value = loc.m_batty_status;       // 电量值

    handle_message(loc.m_card_ct, loc.m_batty_status);
    if(site_ptr->is_up_site()){
        log_info("card=%d被井上分站[site=%d]收到", m_id, site_ptr->id());
        area_tool->on_point(shared_from_this(), point(1,1));
        this->site_hover(loc.m_site_id);
		m_last_site_id = site_ptr->id();
		//m_last_down_stream_idx = site_ptr->m_down_stream_idx;
		m_cb_stream_idx.push_back(site_ptr->m_down_stream_idx);
    }
    else{
        char sql[1024] = {0};
        snprintf(sql, 1024, "insert into his_distance_reader(card_type, ident, reader_id, dist, dir, cur_time) values(%d, %d, %d, %.2f, %d, '%s')", loc.m_card_type, loc.m_card_id, loc.m_site_id, loc.m_tof*15.65*2.996*1E-4, (tool_other::get_pdoa(loc.m_poa, site_ptr->m_pdoa_offset)>=0?1:-1), tool_time::to_str(time(NULL)).c_str());
        db_tool::PushAsync(sql);
        log_info("[sql] %s", sql);
		
		do_site_locate_event(loc);
		do_card_locate_event(loc);
 
        m_message_handle->on_message(loop, loc, is_history);
   }
}

//前端推送位置函数.
void card_location_base::upt_card_pos(sys::_CARD_POS_&cp, point &pt)
{
    point _p;
    if(pt.empty())
    {
         _p = *this;
         pt = _p;
    }
    else
         _p = pt;
	
    cp.Type     = m_type;
	cp.ID       = m_id;
	cp.speed    = abs(ceil(m_speed));
	cp.x        = tool_other::round(_p.x,3);
	cp.y        = tool_other::round(_p.y,3);
	cp.running_stat = m_stat;
	cp.dept_id  = m_deptid;
	cp.display  = m_display;
	cp.rec_time = m_time;
	cp.level_id = m_level_id;
    cp.battery_val = m_battery_value;

    if(m_pwr_stat > 0){
        cp.battery_stat = (m_pwr_stat<3?1:0);
    }
    cp.m_freq   = m_freq;
	
	swsTimerThrd.upt_card_pos(cp);
}

void card_location_base::del_card_pos()
{
	sys::_CARD_POS_ cp;
	cp.ID = m_id;
	cp.Type=m_type;
	swsTimerThrd.del_card_pos(cp);
}

int  card_location_base::get_stat()
{
	//盲区>呼救>呼叫>超时>超速>正常
    uint64_t now = time(0)*1000;
    uint64_t tlost=now>m_time?now-m_time:m_time-now;

    if(tlost>CARD_LOST_TIME_OUT)
    {
        // 人卡盲区： 当人卡丢失信号大于60s，判定人卡进入盲区
        return STATUS_LOST;
    }
    else if(auto ev_ptr = event_list::instance()->get_event_card(m_id, m_type, ET_CARD_HELP))
    {
        return  (ES_DEAL_HELP == ev_ptr->m_status) ?  STATUS_HELP_DEALED : STATUS_HELP;
    }
    else if(CALL_NONE != get_mine_tool()->m_status_call)
    {
        return  STATUS_CALL;
    }
    else if(is_person())
    {
        if(event_list::instance()->get_event_card(m_id, m_type,ET_CARD_AREA_OVER_TIME_PERSON)||
                event_list::instance()->get_event_card(m_id, m_type,ET_CARD_OVER_TIME_PERSON))
            return  STATUS_AREA_OVER_TIME;
    }
    else if(event_list::instance()->get_event_card(m_id, m_type, ET_CARD_OVER_SPEED))
    {
        return  STATUS_OVER_SPEED;
    }

    return STATUS_NORMAL;
}

void  card_location_base::clear()
{
//	uint16_t m_display;			//1显示0不显示，往前端推送
    m_speed=0;			//速度
    m_stat=0;			//运动静止状态
    //m_ct;				//ct
    m_time=0;			//时间戳

    //pdoa location info clear
    m_buff_size = 0;
    m_last_recv_time = 0;
    m_last_point = point(0,0);
    m_last_site_id = 0;
    m_last_site_dir = -1;
    m_last_ct = 0;
    m_last_dist = 0.0;
    m_pdoa_diff = m_last_pdoa_diff = 100.0;
    m_last_over_site = false;
    m_cache_nums = 0;
    m_cb_pdoa.clear();
    m_cb_tof.clear();
    m_cb_point.clear();
}

void card_location_base::put_traffic_light(card_pos& cp)
{
    if(!traffic_light_flag){
        return;
    }
    light_message lm;

    lm.m_cmd            = cmd_card_data;
    lm.m_pos.x          = cp.x;
    lm.m_pos.y          = cp.y;
    lm.m_pos.z          = cp.z;
    lm.m_pos.m_card_id  = m_id;
    lm.m_pos.m_type     = m_type;
    lm.m_pos.m_site_id  = cp.reader_id;
    auto site_ptr       = get_area_tool()->m_site;
    if(site_ptr){   
        lm.m_pos.m_area_id = site_ptr->m_area_id;
    }
    //lm.m_pos.m_bigger = 0;
    lm.m_pos.m_speed = m_speed;

    log_info("[traffic_light] put locate info into traffic light module, card_id=%d, ctype=%d, x=%.2f, y=%.2f, site_id=%d", m_id, m_type, x, y, cp.reader_id);
    traffic_light_manager::instance()->put(lm);
}

bool card_location_base::is_person() const
{
    return tool_other::is_person(m_type);
}

bool card_location_base::is_vehicle() const
{
    return tool_other::is_vehicle(m_type);
}

void card_location_base::set_base_data(uint32_t cid,uint16_t type,uint32_t deptid,int32_t level_id) {
    m_cid       = cid;
    m_type      = type;
    m_deptid    = deptid;
    m_level_id  = level_id;
    m_his_location_card->set_cid(cid);
}

card_location_base::~card_location_base()
{
}

std::shared_ptr<card_location_base> card_location_base::make_person(const std::string&type,uint32_t cardid,uint16_t needdisplay,int16_t t,
		int32_t deptid,int32_t level_id,uint32_t cid,int wl,const std::string &sname,const std::string & dname,int worktype_id)
{
	return std::make_shared<person>(type, cardid, needdisplay, t, deptid, level_id, cid, wl, sname, dname, worktype_id);
}

/*
 * @brief   创建车辆对象
 * @param   const std::string& type
 * @param   uint32_t cardid         卡id
 * @param   uint16_t needdisplay    是否需要显示
 * @param   int16_t t               
 * @param   int32_t deptid          部门id
 * @param   int32_t categoryid      
 * @param   int type_id             卡类型id
 * @param   int32_t level_id        职级id
 * @param   uint32_t cid        
 * @return  车辆对象
 * @note
 * @bug
 * @warning
 * */
std::shared_ptr<card_location_base> card_location_base::make_car(const std::string&type, uint32_t cardid, uint16_t needdisplay, int16_t t,
		int32_t deptid, int32_t categoryid, int type_id,int32_t level_id,uint32_t cid)
{
	return std::make_shared<car>(type, cardid, needdisplay, t, deptid, categoryid, type_id, level_id, cid);
}

/*
 * @brief	基站覆盖距离检测
 * @param	message_pdoa_locinfo& loc		卡数据
 * @return	无
 * @note
 * @bug
 * @warning
 * */
void card_location_base::do_site_coverage(message_pdoa_locinfo& loc)
{
	auto site_ptr = sit_list::instance()->get(loc.m_site_id);
	if(!site_ptr){
		log_warn("[pdoa] 接收到分站的数据：site=%d, card=%d, ct=%d, 但是分站未定义", loc.m_site_id, m_id, loc.m_card_ct);
		return;
	}

	double pdoa = tool_other::get_pdoa(loc.m_poa, site_ptr->m_pdoa_offset);
	double dist = loc.m_tof*15.65*2.996*1e-4;
	bool is_update = false;
	if(pdoa > 0){
		if(dist > site_ptr->m_coverage[0].m_distance){
			site_ptr->m_coverage[0].m_distance = dist;
			site_ptr->m_coverage[0].m_cid = tool_byte::to_cardid(loc.m_card_type, loc.m_card_id);
			site_ptr->m_coverage[0].m_time = time(0);

			is_update = true;
		}
	}else{
		if(dist > site_ptr->m_coverage[1].m_distance){
			site_ptr->m_coverage[1].m_distance = dist;
			site_ptr->m_coverage[1].m_cid = tool_byte::to_cardid(loc.m_card_type, loc.m_card_id);
			site_ptr->m_coverage[1].m_time = time(0);

			is_update = true;
		}
	}

	if(is_update){
		char sql[1024] = {0};
		snprintf(sql, 1024, "REPLACE INTO his_reader_coverage(reader_id, plus_dist, plus_card_id, plus_occur_time, minus_dist, minus_card_id, minus_occur_time, last_update) VALUES(%d,%.2f,'%s','%s',%.2f,'%s','%s','%s');", site_ptr->m_id, site_ptr->m_coverage[0].m_distance, site_ptr->m_coverage[0].m_cid.c_str(), tool_time::to_str(site_ptr->m_coverage[0].m_time).c_str(), site_ptr->m_coverage[1].m_distance, site_ptr->m_coverage[1].m_cid.c_str(), tool_time::to_str(site_ptr->m_coverage[1].m_time).c_str(), tool_time::to_str(time(0)).c_str());
        db_tool::PushAsync(sql);
        logn_info(2, "[sql] %s", sql);
	}
}

/*
 * @brief	卡定位异常检测
 * @param	message_pdoa_locinfo& loc		卡数据
 * @return	无
 * @note
 * @bug
 * @warning
 * */
void card_location_base::do_card_locate_event(const message_pdoa_locinfo& loc)
{
	bool status = false;

	status = ((loc.m_tof == 0)?true:false);

	uint64_t id = tool_other::type_id_to_u64(m_type, m_id);
    event_tool::instance()->handle_event(OT_CARD, ET_CARD_LOCATE_ERROR, id, 0, 0, status);	
	//log_info("[card-locate-event] card_id=%d, ct=%d, tof=%lld", m_id, m_ct, loc.m_tof);
}

/*
 * @brief	基站定位异常检测
 * @param	message_pdoa_locinfo& loc		卡数据
 * @return	无
 * @note
 * @bug
 * @warning
 * */
void card_location_base::do_site_locate_event(const message_pdoa_locinfo& loc)
{		
	//log_info("[site-locate-event] cur_ct=%d, ct=%d, m_last_ct=%d, m_last_site_id=%d, loc.m_site_id=%d", loc.m_card_ct, ct, m_last_ct, m_last_site_id, loc.m_site_id);	
	if(m_last_ct <= 0 || m_last_site_id == 0){
		return;
	}

	if(loc.m_site_id != m_last_site_id){
		return;
	}

	int dt = 0;
	if(loc.m_card_ct > m_last_ct){
		dt = loc.m_card_ct - m_last_ct;
	}else{
		dt = 65535 + loc.m_card_ct - m_last_ct;
	}
	
	event_tool::instance()->handle_event(OT_DEVICE_READER, ET_READER_LONG_TIME_NO_POSITION, loc.m_site_id, 3, dt, (dt>=3));
	log_info("[site-locate-event] site_id=%d, card_id=%d, ct=%d, dt=%d", loc.m_site_id, m_id, loc.m_card_ct, dt);
}