-- AD Courseplay Bridge
-- Den eneste kode der rører Courseplay: start markarbejde på en mark (grænse -> kursus -> start, alt
-- async), og læs om et sæt arbejder. Opskriften er bevist i spillet i AI-Bonden (AIHelperGlue.startCP):
-- CP kalder grænse-callbacken to gange (først false ved fejl) — kun første kald tæller.

ADCpBridge = {}

ADCpBridge.SPECS = {"spec_mower", "spec_tedder", "spec_windrower", "spec_forageWagon", "spec_combine", "spec_baler",
    "spec_sowingMachine", "spec_cultivator", "spec_plow", "spec_roller", "spec_weeder", "spec_mulcher"}

-- Sprøjtens/sprederens fyld -> rolle (tom sprøjte har ingen rolle; den kan ikke sendes ud).
ADCpBridge.SPRAY_ROLES = {
    FERTILIZER = "fertilizer", LIQUIDFERTILIZER = "fertilizer", MANURE = "fertilizer",
    LIQUIDMANURE = "fertilizer", DIGESTATE = "fertilizer", LIME = "limer", HERBICIDE = "weeder",
}
function ADCpBridge.sprayRoleForFillType(name)
    return ADCpBridge.SPRAY_ROLES[name]
end

-- Afgrøder et skærebord/optager kan høste (spec_cutter). Finsnittere (fruitTypeConverters) tager ingen:
-- de laver hakkelse, ikke korn/roer.
function ADCpBridge.harvestFruitSet(cutterSpec)
    local fruits = {}
    if cutterSpec == nil then return fruits end
    if type(cutterSpec.fruitTypeConverters) == "table" and next(cutterSpec.fruitTypeConverters) ~= nil then
        return fruits
    end
    -- (ikke ipairs over {a, b}: den stopper ved første nil)
    for _, key in ipairs({"fruitTypes", "fruitTypeIndices"}) do
        local source = cutterSpec[key]
        if type(source) == "table" then
            for key, value in pairs(source) do
                if type(value) == "number" then fruits[value] = true
                elseif value == true and type(key) == "number" then fruits[key] = true end
            end
        end
    end
    return fruits
end

-- Må afgrøden sås i perioden? (growthDataSeasonal.periods[p].plantingAllowed, bevist i AI-Bonden).
-- Ukendte data = tilladt (kort uden sæsondata).
function ADCpBridge.isPlantableIn(fruit, period)
    local periods = fruit ~= nil and fruit.growthDataSeasonal ~= nil and fruit.growthDataSeasonal.periods or nil
    local data = periods ~= nil and periods[period] or nil
    if type(data) ~= "table" then return true end
    return data.plantingAllowed == true
end

function ADCpBridge.isAvailable()
    return AIJobType ~= nil and AIJobType.FIELDWORK_CP ~= nil
end

local function collect(vehicle, list)
    list = list or {}
    table.insert(list, vehicle)
    if vehicle.getAttachedImplements ~= nil then
        for _, implement in ipairs(vehicle:getAttachedImplements()) do
            if implement.object ~= nil then collect(implement.object, list) end
        end
    end
    return list
end

-- Sprøjtens/sprederens rolle ud fra det fyld den har på (tom -> nil).
local function sprayRole(object)
    if object.spec_sprayer == nil or object.getSprayerFillUnitIndex == nil then return nil end
    local ok, role = pcall(function()
        local unit = object:getSprayerFillUnitIndex()
        if (object:getFillUnitFillLevel(unit) or 0) <= 0 then return nil end
        local name = g_fillTypeManager:getFillTypeNameByIndex(object:getFillUnitFillType(unit))
        return ADCpBridge.sprayRoleForFillType(name)
    end)
    return ok and role or nil
end

function ADCpBridge.getSpecs(vehicle)
    local specs = {}
    for _, object in ipairs(collect(vehicle)) do
        for _, name in ipairs(ADCpBridge.SPECS) do
            if object[name] ~= nil then specs[name] = true end
        end
        specs.sprayRole = specs.sprayRole or sprayRole(object)
    end
    if vehicle.getCanStartCpCombineUnloader ~= nil then
        local ok, can = pcall(vehicle.getCanStartCpCombineUnloader, vehicle)
        specs.canUnload = ok and can == true or nil
    end
    if vehicle.getCanStartCpBaleFinder ~= nil then
        local ok, can = pcall(vehicle.getCanStartCpBaleFinder, vehicle)
        specs.canBaleCollect = ok and can == true or nil
    end
    return specs
end

-- Afgrøder høsteren kan tage (alle skærebord/optagere i kæden). nil = ikke en høster.
function ADCpBridge.getHarvestFruits(vehicle)
    if vehicle.spec_combine == nil then return nil end
    local fruits = {}
    for _, object in ipairs(collect(vehicle)) do
        for fruit in pairs(ADCpBridge.harvestFruitSet(object.spec_cutter)) do fruits[fruit] = true end
    end
    return fruits
end

-- Mekanisk strigle (kun småt ukrudt) frem for ukrudtssprøjte.
function ADCpBridge.isMechanicalWeeder(vehicle)
    for _, object in ipairs(collect(vehicle)) do
        if object.spec_weeder ~= nil then return true end
    end
    return false
end

local function seederOf(vehicle)
    for _, object in ipairs(collect(vehicle)) do
        if object.spec_sowingMachine ~= nil then return object end
    end
    return nil
end

-- Har såmaskinen frø på? (fyldenheder med SEEDS)
function ADCpBridge.hasSeeds(vehicle)
    local seeder = seederOf(vehicle)
    if seeder == nil then return false end
    local ok, has = pcall(function()
        local seedsIndex = g_fillTypeManager:getFillTypeIndexByName("SEEDS")
        for index, unit in ipairs(seeder.spec_fillUnit ~= nil and seeder.spec_fillUnit.fillUnits or {}) do
            if unit.fillType == seedsIndex and (unit.fillLevel or 0) > 0 then return true end
            if unit.supportedFillTypes ~= nil and unit.supportedFillTypes[seedsIndex] and seeder:getFillUnitFillLevel(index) > 0 then return true end
        end
        return false
    end)
    return ok and has == true
end

-- Afgrøder såmaskinen kan så (spec_sowingMachine.seeds).
function ADCpBridge.getSeedFruits(vehicle)
    local seeder = seederOf(vehicle)
    local fruits = {}
    local seeds = seeder ~= nil and seeder.spec_sowingMachine.seeds or nil
    for _, fruit in pairs(seeds or {}) do fruits[fruit] = true end
    return fruits
end

-- Sæt såmaskinens afgrøde (setSeedIndex(slot), bevist i AI-Bonden).
function ADCpBridge.setSeedFruit(vehicle, fruitIndex)
    local seeder = seederOf(vehicle)
    if seeder == nil then return false, "ingen såmaskine" end
    for slot, fruit in pairs(seeder.spec_sowingMachine.seeds or {}) do
        if fruit == fruitIndex then
            if seeder.setSeedIndex ~= nil then
                local ok, err = pcall(seeder.setSeedIndex, seeder, slot)
                return ok, not ok and tostring(err) or nil
            end
        end
    end
    return false, "såmaskinen kan ikke så afgrøden"
end

function ADCpBridge.isPlantableNow(fruitIndex)
    local fruit = g_fruitTypeManager:getFruitTypeByIndex(fruitIndex)
    local environment = g_currentMission ~= nil and g_currentMission.environment or nil
    return ADCpBridge.isPlantableIn(fruit, environment ~= nil and environment.currentPeriod or 0)
end

-- Hvilken vare sættet bruger og kan få fyldt på af AutoDrive: frø (såmaskine) eller sprøjtens/sprederens
-- nuværende fyld (gødning, kalk, sprøjtemiddel). nil = intet at fylde på (strigle, plov ...).
function ADCpBridge.getRefillFillType(vehicle)
    for _, object in ipairs(collect(vehicle)) do
        if object.spec_sowingMachine ~= nil and g_fillTypeManager ~= nil then
            return g_fillTypeManager:getFillTypeIndexByName("SEEDS")
        end
    end
    for _, object in ipairs(collect(vehicle)) do
        if object.spec_sprayer ~= nil and object.getSprayerFillUnitIndex ~= nil then
            local ok, fillType = pcall(function() return object:getFillUnitFillType(object:getSprayerFillUnitIndex()) end)
            if ok and fillType ~= nil and fillType ~= 0 then return fillType end
        end
    end
    return nil
end

-- Hvor meget af påfyldningsvaren sættet har tilbage (liter, alle fyldenheder med varen).
function ADCpBridge.getRefillLevel(vehicle, fillType)
    local total = 0
    for _, object in ipairs(collect(vehicle)) do
        pcall(function()
            for index, unit in ipairs(object.spec_fillUnit ~= nil and object.spec_fillUnit.fillUnits or {}) do
                if unit.fillType == fillType then total = total + (object:getFillUnitFillLevel(index) or 0) end
            end
        end)
    end
    return total
end

-- Halmskår bag mejetærskeren (Courseplays køretøjsindstilling strawSwath: 1 = fra/hakkes, 2 = til).
function ADCpBridge.setStrawSwath(vehicle, on)
    return (pcall(function() vehicle:getCpSettings().strawSwath:setValue(on and 2 or 1) end))
end

-- Ballesamler: Courseplays BALE_FINDER_CP (ballevogn eller Universal Autoload) samler markens baller.
function ADCpBridge.startBaleFinder(vehicle, fieldX, fieldZ, onDone)
    if AIJobType == nil or AIJobType.BALE_FINDER_CP == nil then
        return nil, "Courseplay (BALE_FINDER_CP) findes ikke"
    end
    local farmId = vehicle:getOwnerFarmId()
    local job = g_currentMission.aiJobTypeManager:createJob(AIJobType.BALE_FINDER_CP)
    if job == nil then return nil, "kunne ikke oprette ballesamler-job" end
    pcall(function() job:applyCurrentState(vehicle, g_currentMission, farmId, false, false) end)
    local params = job.cpJobParameters
    if params ~= nil and params.fieldPosition ~= nil then pcall(function() params.fieldPosition:setPosition(fieldX, fieldZ) end) end
    if params ~= nil and params.startPosition ~= nil then
        local vx, _, vz = getWorldTranslation(vehicle.rootNode)
        pcall(function() params.startPosition:setPosition(vx, vz) end)
    end
    pcall(function() job:setValues() end)
    local handle = {cancelled = false, fired = false, finished = false}
    local function finish(success, reason)
        if handle.finished then return end
        handle.finished = true
        if not handle.cancelled then onDone(success, reason) end
    end
    local function startJob()
        if handle.cancelled then return end
        local valid, err = job:validate(farmId)
        if not valid then return finish(false, "Courseplay: " .. tostring(err)) end
        g_currentMission.aiSystem:startJob(job, farmId)
        finish(true)
    end
    handle.onBoundary = function(_, success, message)
        if handle.fired then return end
        handle.fired = true
        if not success then return finish(false, "Courseplay fandt ikke markgrænsen: " .. tostring(message)) end
        startJob()
    end
    if job.registerFieldBoundaryDetectionCallback ~= nil then
        job:registerFieldBoundaryDetectionCallback(handle, handle.onBoundary)
    end
    local isValid, isRunning, message = job:detectFieldBoundary()
    if isValid and not isRunning then
        startJob()
    elseif not isRunning then
        return nil, "Courseplay: " .. tostring(message)
    end
    return handle
end

-- Stop køretøjets AI-job (Courseplay/hjælper).
function ADCpBridge.stop(vehicle)
    pcall(function()
        if vehicle.getIsAIActive ~= nil and vehicle:getIsAIActive() and vehicle.stopCurrentAIJob ~= nil then
            vehicle:stopCurrentAIJob(AIMessageSuccessStoppedByUser.new())
        end
    end)
end

-- Variabel bredde (Unrealistic Pack m.fl.) først, som Courseplays WorkWidthUtil: AI-markørerne står på
-- grundbredden (læssevogn 2,4 m selv om den er sat til 40,8 m).
local function variableWidth(object)
    if object.getVariableWorkWidth == nil then return nil end
    local okLeft, left, _, leftValid = pcall(object.getVariableWorkWidth, object, true)
    local okRight, right, _, rightValid = pcall(object.getVariableWorkWidth, object)
    if okLeft and okRight and leftValid and rightValid and type(left) == "number" and type(right) == "number" then
        return math.abs(left) + math.abs(right)
    end
    return nil
end

-- Courseplays egen bredde-indstilling (den i HUD'en) er den marken faktisk køres med.
local function courseplayWidth(vehicle)
    if vehicle.getCourseGeneratorSettings == nil then return nil end
    local ok, width = pcall(function() return vehicle:getCourseGeneratorSettings().workWidth:getValue() end)
    if ok and type(width) == "number" and width > 0 then return width end
    return nil
end

function ADCpBridge.getWorkWidth(vehicle)
    local cpWidth = courseplayWidth(vehicle)
    if cpWidth ~= nil then return cpWidth end
    local best = 0
    for _, object in ipairs(collect(vehicle)) do
        local variable = variableWidth(object)
        if variable ~= nil then
            best = math.max(best, variable)
        elseif object.getAIMarkers ~= nil then
            pcall(function() if object.updateAIMarkerWidth ~= nil then object:updateAIMarkerWidth() end end)
            local ok, _, _, _, _, width = pcall(object.getAIMarkers, object)
            if ok and type(width) == "number" and width > best then best = width end
        end
    end
    return best
end

function ADCpBridge.isWorking(vehicle)
    if vehicle.getIsCpFieldWorkActive ~= nil and vehicle:getIsCpFieldWorkActive() then return true end
    return vehicle.getIsAIActive ~= nil and vehicle:getIsAIActive() or false
end

-- Courseplays værktøjsforskydning (venstre positiv) på køretøjet; den der flytter kursuslinjen.
function ADCpBridge.getToolOffset(vehicle)
    if vehicle == nil or vehicle.getCpSettings == nil then return 0 end
    local ok, value = pcall(function() return vehicle:getCpSettings().toolOffsetX:getValue() end)
    return ok and type(value) == "number" and value or 0
end

function ADCpBridge.setToolOffset(vehicle, value)
    if vehicle == nil or vehicle.getCpSettings == nil then return false end
    return (pcall(function() vehicle:getCpSettings().toolOffsetX:setFloatValue(value) end))
end

-- Riverens XML: workArea-nr (1-baseret) -> dropWindrowWorkAreaIndex. Bruges når spillet ikke har feltet
-- på workArea-tabellen. Cachet pr. fil.
ADCpBridge.dropIndexCache = {}
function ADCpBridge.readDropIndicesFromXml(fileName)
    if ADCpBridge.dropIndexCache[fileName] ~= nil then return ADCpBridge.dropIndexCache[fileName] end
    local indices = {}
    local ok = pcall(function()
        local xmlFile = XMLFile.load("adspuRake", fileName)
        if xmlFile == nil then return end
        local position = 0
        xmlFile:iterate("vehicle.workAreas.workArea", function(_, key)
            position = position + 1
            local dropIndex = xmlFile:getInt(key .. ".windrower#dropWindrowWorkAreaIndex")
            if dropIndex ~= nil then indices[position] = dropIndex end
        end)
        xmlFile:delete()
    end)
    if not ok then indices = {} end
    ADCpBridge.dropIndexCache[fileName] = indices
    return indices
end

-- Hvor langt til venstre (positiv) for rivens kursuslinje skåret lægges: midten af nedlægningsområdet i
-- traktorens ramme minus rivens egen CP-forskydning. Midterrive ≈ 0, siderive fx 3 m. nil = ingen river.
function ADCpBridge.getWindrowOffset(vehicle)
    local root = vehicle.rootNode
    local sum, count = 0, 0
    for _, object in ipairs(collect(vehicle)) do
        local areas = object.spec_windrower ~= nil and object.spec_workArea ~= nil and object.spec_workArea.workAreas or nil
        if areas ~= nil then
            local fromXml = nil
            for position, workArea in ipairs(areas) do
                local dropIndex = workArea.dropWindrowWorkAreaIndex
                if dropIndex == nil and object.configFileName ~= nil then
                    fromXml = fromXml or ADCpBridge.readDropIndicesFromXml(object.configFileName)
                    dropIndex = fromXml[position]
                end
                local drop = dropIndex ~= nil and areas[dropIndex] or nil
                if drop ~= nil and drop.width ~= nil and drop.height ~= nil then
                    local widthX = localToLocal(drop.width, root, 0, 0, 0)
                    local heightX = localToLocal(drop.height, root, 0, 0, 0)
                    sum, count = sum + (widthX + heightX) / 2, count + 1
                end
            end
        end
    end
    if count == 0 then return nil end
    return sum / count - ADCpBridge.getToolOffset(vehicle)
end

-- Køretøjets nuværende Courseplay-kursus (slåmaskinens kursus genbruges af de næste trin).
function ADCpBridge.getCourse(vehicle)
    if vehicle == nil or vehicle.getFieldWorkCourse == nil then return nil end
    local ok, course = pcall(vehicle.getFieldWorkCourse, vehicle)
    return ok and course or nil
end

-- Multi-tool: sæt antal sæt på kursus-generatoren før kurset laves (1 = normalt kursus).
local function setMultiTools(vehicle, n)
    pcall(function() vehicle:getCourseGeneratorSettings().multiTools:setValue(n or 1) end)
end

-- Sæt køretøjets bane på et multi-tool-kursus (samme som HUD'ens "Baneforskydning").
local function setLane(vehicle, params, lane)
    if lane == nil then return end
    pcall(function()
        local course = vehicle:getFieldWorkCourse()
        if course ~= nil and course.getMultiTools ~= nil and course:getMultiTools() > 1 then course:setPosition(lane) end
    end)
    if params ~= nil and params.laneOffset ~= nil then pcall(function() params.laneOffset:setValue(lane) end) end
end

-- Start Courseplay-markarbejde. opts (valgfri):
--   course     = færdigt kursus der kopieres (slåmaskinens/rivens, eller trinnets fælles multi-tool-kursus)
--   multiTools = antal sæt når kurset laves her (multi-tool-leder)
--   lane       = køretøjets bane på et multi-tool-kursus (laneOffset -2..2)
-- onDone(ok, reason) kaldes én gang; reason "copied" ved succes med kopieret kursus.
function ADCpBridge.start(vehicle, fieldX, fieldZ, onDone, opts)
    opts = opts or {}
    if not ADCpBridge.isAvailable() then
        return nil, "Courseplay (FIELDWORK_CP) findes ikke"
    end
    local farmId = vehicle:getOwnerFarmId()
    local job = g_currentMission.aiJobTypeManager:createJob(AIJobType.FIELDWORK_CP)
    if job == nil then return nil, "kunne ikke oprette Courseplay-job" end
    job:applyCurrentState(vehicle, g_currentMission, farmId, false, false)
    local vx, _, vz = getWorldTranslation(vehicle.rootNode)
    local params = job.cpJobParameters
    if params ~= nil and params.fieldPosition ~= nil then params.fieldPosition:setPosition(fieldX, fieldZ) end
    if params ~= nil and params.startPosition ~= nil then params.startPosition:setPosition(vx, vz) end
    job:setValues()
    local handle = {cancelled = false, fired = false, finished = false}
    local function finish(ok, reason)
        if handle.finished then return end
        handle.finished = true
        if not handle.cancelled then onDone(ok, reason) end
    end
    local function startWithCourse()
        setLane(vehicle, params, opts.lane)
        job:setValues()
        local ok, err = job:validate(farmId)
        if not ok then return finish(false, "Courseplay: " .. tostring(err)) end
        g_currentMission.aiSystem:startJob(job, farmId)
        finish(true, handle.copiedCourse and "copied" or nil)
    end
    local function generateAndStart()
        if handle.cancelled then return end
        if opts.course ~= nil and vehicle.cpCopyCourse ~= nil then
            local copied, copyError = pcall(vehicle.cpCopyCourse, vehicle, opts.course)
            if copied then
                handle.copiedCourse = true
                return startWithCourse()
            end
            Logging.warning("ADSmartPickup: kunne ikke kopiere kursus: %s — laver nyt", tostring(copyError))
        end
        setMultiTools(vehicle, opts.multiTools or 1)
        job:onClickGenerateFieldWorkCourse(function(generated)
            if handle.cancelled then return end
            if not generated then return finish(false, "Courseplay kunne ikke lave kursus") end
            startWithCourse()
        end)
    end
    handle.onBoundary = function(_, success, message)
        if handle.fired then return end
        handle.fired = true
        if handle.cancelled then return end
        if not success then return finish(false, "Courseplay fandt ikke markgrænsen: " .. tostring(message)) end
        generateAndStart()
    end
    job:registerFieldBoundaryDetectionCallback(handle, handle.onBoundary)
    local isValid, isRunning, message = job:detectFieldBoundary()
    if isValid and not isRunning then
        generateAndStart()
    elseif not isRunning then
        return nil, "Courseplay: " .. tostring(message)
    end
    return handle
end

-- Aflæsningsvogn under høst: Courseplays combine-unloader (bevist i AI-Bonden). Vognen venter ved
-- (waitX, waitZ) — markens F-markør — følger høsteren på marken og kører fuld til station. station =
-- den station Smart Pickups silovalg fandt; findes den ikke i Courseplays liste, bruges nærmeste.
function ADCpBridge.startUnloader(vehicle, fieldX, fieldZ, waitX, waitZ, station, onDone)
    if AIJobType == nil or AIJobType.COMBINE_UNLOADER_CP == nil then
        return nil, "Courseplay (COMBINE_UNLOADER_CP) findes ikke"
    end
    local farmId = vehicle:getOwnerFarmId()
    local job = g_currentMission.aiJobTypeManager:createJob(AIJobType.COMBINE_UNLOADER_CP)
    if job == nil then return nil, "kunne ikke oprette aflæsningsjob" end
    pcall(function() job:applyCurrentState(vehicle, g_currentMission, farmId, false, false) end)
    local params = job.cpJobParameters
    if params ~= nil then
        if params.fieldPosition ~= nil then pcall(function() params.fieldPosition:setPosition(fieldX, fieldZ) end) end
        if params.startPosition ~= nil then pcall(function() params.startPosition:setPosition(waitX, waitZ) end) end
        if params.useGiantsUnload ~= nil then pcall(function() params.useGiantsUnload:setValue(true) end) end
    end
    pcall(function() job:setValues() end)
    local chosen = nil
    local ok, stations = pcall(function() return job:getUnloadingStations() end)
    if ok and type(stations) == "table" then
        local best, bestDistance = nil, math.huge
        for _, candidate in ipairs(stations) do
            if station ~= nil and (candidate == station or candidate.owningPlaceable == station.owningPlaceable) then
                best, bestDistance = candidate, -1
            elseif bestDistance >= 0 then
                local okPos, sx, sz = pcall(function()
                    local x, _, z = getWorldTranslation(candidate.owningPlaceable.rootNode)
                    return x, z
                end)
                local distance = okPos and ((sx - fieldX) ^ 2 + (sz - fieldZ) ^ 2) or math.huge
                if distance < bestDistance then best, bestDistance = candidate, distance end
            end
        end
        chosen = best
    end
    if chosen == nil or params == nil or params.unloadingStation == nil then
        return nil, "ingen aflæsningsstation Courseplay kan bruge"
    end
    pcall(function() params.unloadingStation:setValue(NetworkUtil.getObjectId(chosen)) end)
    pcall(function() job:setValues() end)
    local handle = {cancelled = false, fired = false, finished = false, stationName = chosen.getName ~= nil and chosen:getName() or nil}
    local function finish(success, reason)
        if handle.finished then return end
        handle.finished = true
        if not handle.cancelled then onDone(success, reason) end
    end
    local function startJob()
        if handle.cancelled then return end
        local valid, err = job:validate(farmId)
        if not valid then return finish(false, "Courseplay: " .. tostring(err)) end
        g_currentMission.aiSystem:startJob(job, farmId)
        finish(true)
    end
    handle.onBoundary = function(_, success, message)
        if handle.fired then return end
        handle.fired = true
        if not success then return finish(false, "Courseplay fandt ikke markgrænsen: " .. tostring(message)) end
        startJob()
    end
    if job.registerFieldBoundaryDetectionCallback ~= nil then
        job:registerFieldBoundaryDetectionCallback(handle, handle.onBoundary)
    end
    local isValid, isRunning, message = job:detectFieldBoundary()
    if isValid and not isRunning then
        startJob()
    elseif not isRunning then
        return nil, "Courseplay: " .. tostring(message)
    end
    return handle
end