-- AD Outbound
-- Udkørsel af produkter: før hver pålæsning vurderer planlæggeren om en tur er berettiget
-- (pris, fuldt læs, lager højt), vælger vare(r) + kilde(r) + mål og skriver det i AutoDrives
-- tilstand — AutoDrive kører, læsser (bulk eller paller via Universal Autoload) og læsser af.
-- Ingen tur: traktoren holder ved et Wait-punkt og spørger igen hvert 5. sekund.
-- Ved et objektlager bedes lageret spawne én palle ad gangen, som UAL tager.
-- Opsamlingsrunde: bulk = samme vare fra flere kilder; paller = flere varer på én tur.
--
-- Hook 1: ADSmartPickup's getNextPickup-wrap kalder choosePickup for udkørsels-traktorer.
-- Hook 2: LoadAtDestinationTask.update/finished (install) — hold, udtag, fremdriftsvagt, runde.

ADOutbound = {}

ADOutbound.LOG_PREFIX = "ADSmartPickup: "
-- Holdende traktorer spørger planlæggeren så tit (opslag over alle markører).
ADOutbound.CHECK_INTERVAL_MS = 5000
-- "Kør uanset mængde": stiger vognens fyldning ikke så længe ved kilden, køres der med det der er.
ADOutbound.NO_PROGRESS_MS = 15000
-- Objektlager der ikke leverer en palle inden så længe regnes som fastlåst (kendt spilfejl).
ADOutbound.SPAWN_STALL_MS = 30000
-- UAL kan først læsse når vognen holder helt stille (AutoDrives egen grænse).
ADOutbound.MAX_SPEED_FOR_LOADING = 0.0005
ADOutbound.NOTIFICATION_MS = 8000

-- køretøj -> {run, trip, sources, queue, visited, current, lastFill, noProgressMs, spawn, done}
local trips = setmetatable({}, {__mode = "k"})
-- køretøj -> {markerId, markerName, reasons, timerMs, lastLogged}
local holds = setmetatable({}, {__mode = "k"})
-- run-id -> {reasons, warning}
local status = {}
-- køretøj -> {[nøgle] = tekst} (advarsler vises én gang pr. ændret tekst)
local warned = setmetatable({}, {__mode = "k"})
local isInstalled = false

local function getRun(vehicle)
    return ADRunsController ~= nil and ADRunsController.getRunForVehicle ~= nil and ADRunsController.getRunForVehicle(vehicle) or nil
end

function ADOutbound.isOutboundVehicle(vehicle)
    local run = getRun(vehicle)
    return run ~= nil and run.kind == "outbound"
end

local function fillTypeName(fillType)
    return g_fillTypeManager ~= nil and g_fillTypeManager:getFillTypeNameByIndex(fillType) or tostring(fillType)
end

local function getStatus(run)
    status[run.id] = status[run.id] or {}
    return status[run.id]
end

-- ---- advarsler (log + rød AutoDrive-notifikation på skærmen, én gang pr. ændret tekst) ----

local function warnOnce(adEnv, vehicle, key, text)
    warned[vehicle] = warned[vehicle] or {}
    if warned[vehicle][key] == text then
        return
    end
    warned[vehicle][key] = text
    Logging.warning(ADOutbound.LOG_PREFIX .. "%s", text)
    local event, messages = adEnv.AutoDriveMessageEvent, adEnv.ADMessagesManager
    if event ~= nil and event.sendMessageOrNotification ~= nil and messages ~= nil and messages.messageTypes ~= nil then
        pcall(event.sendMessageOrNotification, vehicle, messages.messageTypes.ERROR, "%s", ADOutbound.NOTIFICATION_MS, "ADSmartPickup: " .. text)
    end
    local run = getRun(vehicle)
    if run ~= nil then
        getStatus(run).warning = text
    end
end

local function clearWarning(vehicle, key)
    if warned[vehicle] ~= nil then
        warned[vehicle][key] = nil
    end
end

-- ---- planlægger-input fra spillet ----

local function getVehicleCapacity(adEnv, vehicle)
    local trailers = adEnv.AutoDrive.getAllUnits ~= nil and adEnv.AutoDrive.getAllUnits(vehicle) or nil
    if trailers == nil then
        return nil, false, nil
    end
    local _, capacity = adEnv.AutoDrive.getAllFillLevels(trailers)
    local hasAutoload = false
    for _, trailer in ipairs(trailers) do
        if adEnv.AutoDrive.hasAL ~= nil and adEnv.AutoDrive:hasAL(trailer) then
            hasAutoload = true
        end
    end
    return capacity, hasAutoload, trailers
end

local function wantsSell(policy) return policy == "sell" or policy == "sellElseStore" end
local function wantsStore(policy) return policy == "store" or policy == "sellElseStore" end

-- Bedste NÅELIGE salgssted for varen; unreachableName = navnet på det bedste der ikke kan nås.
local function findSellQuote(adEnv, vehicle, product, farmId)
    local quotes, unreachableName = {}, nil
    local homeId = product.sources[1] ~= nil and product.sources[1].wayPointId or nil
    for _, entry in ipairs(ADSources.getSellMarkers(adEnv, farmId)) do
        if ADSources.stationAccepts(entry.station, product.fillType) then
            local quote = ADPrices.getQuote(entry.station, product.fillType)
            if quote ~= nil then
                local reachable = homeId == nil or ADWaitPool.hasRouteBothWays(adEnv, vehicle, entry.marker.id, homeId)
                if reachable then
                    table.insert(quotes, {percent = quote.percent, price = quote.price, top = quote.top, wayPointId = entry.marker.id, stationName = tostring(entry.marker.name)})
                elseif unreachableName == nil then
                    unreachableName = tostring(entry.marker.name)
                end
            end
        end
    end
    return ADPrices.bestQuote(quotes), unreachableName
end

local function findStoreMarker(adEnv, vehicle, product, capacity, sources)
    if product.isPallet or ADLoadSwap == nil or ADLoadSwap.findDumpMarker == nil then
        return nil
    end
    local available = 0
    for _, source in ipairs(product.sources) do
        available = available + (source.available or 0)
    end
    local liters = math.max(1, math.min(available, capacity or available))
    local isReachable = function(markerId)
        return ADWaitPool.hasRouteTo(adEnv, vehicle, markerId)
    end
    local marker = ADLoadSwap.findDumpMarker(adEnv, vehicle, product.fillType, liters, nil, isReachable, ADSources.getSourcePlaceables(sources))
    if marker == nil then
        return nil
    end
    return {wayPointId = marker.id, name = tostring(marker.name), free = liters}
end

-- input til ADOutboundPlanner.plan + kilder pr. waypoint-id.
function ADOutbound.buildPlanInput(adEnv, run, vehicle)
    local farmId = ADSmartPickup.getFarmId(vehicle)
    local capacity, hasAutoload = getVehicleCapacity(adEnv, vehicle)
    local carriable = {}
    for _, fillType in ipairs(adEnv.AutoDrive.getSupportedFillTypesOfAllUnitsAlphabetically(vehicle) or {}) do
        carriable[fillType] = true
    end
    local sources, sourcesById = {}, {}
    for _, wayPointId in ipairs(run.sourceWayPointIds or {}) do
        local source = ADSources.identify(adEnv, wayPointId, farmId)
        if source == nil then
            warnOnce(adEnv, vehicle, "source:" .. tostring(wayPointId), string.format("run '%s': kilde-markør %s er ikke en fabrik, silo eller objektlager (inden for 40 m)", tostring(run.name), tostring(wayPointId)))
        else
            clearWarning(vehicle, "source:" .. tostring(wayPointId))
            table.insert(sources, source)
            sourcesById[wayPointId] = source
        end
    end
    local byName, products = {}, {}
    for _, source in ipairs(sources) do
        for _, item in ipairs(ADSources.getProducts(adEnv, source, farmId)) do
            local policy = ADRuns.getProductPolicy(run, item.name)
            local canCarry = (item.isPallet and hasAutoload) or (not item.isPallet and carriable[item.fillType] == true)
            if policy ~= "off" and canCarry then
                local product = byName[item.name]
                if product == nil then
                    product = {fillType = item.fillType, name = item.name, policy = policy, isPallet = item.isPallet, sources = {}}
                    byName[item.name] = product
                    table.insert(products, product)
                end
                table.insert(product.sources, {wayPointId = source.wayPointId, available = item.available, level = item.level, capacity = item.capacity})
            end
        end
    end
    table.sort(products, function(a, b) return a.name < b.name end)
    for _, product in ipairs(products) do
        if wantsSell(product.policy) then
            local quote, unreachableName = findSellQuote(adEnv, vehicle, product, farmId)
            product.quote = quote
            if quote == nil and unreachableName ~= nil then
                warnOnce(adEnv, vehicle, "sell:" .. product.name, string.format("'%s' kan ikke nå salgssted '%s' for %s – tjek vejnettet", tostring(vehicle:getName()), unreachableName, product.name))
            else
                clearWarning(vehicle, "sell:" .. product.name)
            end
        end
        if wantsStore(product.policy) then
            product.store = findStoreMarker(adEnv, vehicle, product, capacity, sources)
        end
    end
    local input = {
        capacity = capacity,
        hasAutoload = hasAutoload,
        sellAtPercent = run.sellAtPercent,
        storeAbovePercent = run.storeAbovePercent,
        collectRound = run.collectRound == true,
        products = products,
    }
    return input, sourcesById, sources
end

-- ---- tur ----

local function copyList(list)
    local copy = {}
    for index, value in ipairs(list or {}) do copy[index] = value end
    return copy
end

local function choiceFor(marker, source, trip)
    return {
        markerIndex = marker.markerIndex,
        markerName = marker.name,
        group = marker.group,
        station = source ~= nil and source.station or nil,
        fillTypes = trip ~= nil and copyList(trip.fillTypes) or {},
        fillType = trip ~= nil and trip.fillTypes[1] or nil,
    }
end

local function getMarker(adEnv, wayPointId)
    return adEnv.ADGraphManager:getMapMarkerByWayPointId(wayPointId)
end

-- Ved et objektlager tager vi selv varerne én ad gangen; AD må ikke selv rotere varevalget
-- (det gør den kun med >1 valgt), så dér står kun turens første vare i AD's liste.
local function applyTrip(adEnv, vehicle, run, trip, sourcesById)
    local stateModule = vehicle.ad.stateModule
    local first = sourcesById[trip.sourceIds[1]]
    local selected = copyList(trip.fillTypes)
    if first ~= nil and first.kind == "objectStorage" then
        selected = {trip.fillTypes[1]}
    end
    stateModule.selectedFillTypes = selected
    stateModule:setFillType(trip.fillTypes[1])
    if stateModule.setSecondMarkerByWayPointId ~= nil then
        stateModule:setSecondMarkerByWayPointId(trip.targetWayPointId)
    end
    if stateModule.raiseDirtyFlag ~= nil then
        stateModule:raiseDirtyFlag()
    end
    trips[vehicle] = {run = run, trip = trip, sources = sourcesById, queue = copyList(trip.sourceIds), visited = {}, current = trip.sourceIds[1], noProgressMs = 0}
    local names = {}
    for _, fillType in ipairs(trip.fillTypes) do table.insert(names, fillTypeName(fillType)) end
    local sourceNames = {}
    for _, id in ipairs(trip.sourceIds) do table.insert(sourceNames, sourcesById[id] ~= nil and sourcesById[id].name or tostring(id)) end
    local why = trip.kind == "sell" and string.format("salg, %d %% af top", trip.percent or 0) or "lager"
    Logging.info(ADOutbound.LOG_PREFIX .. "'%s' udkørsel: %s fra %s → %s (%s)", tostring(vehicle:getName()), table.concat(names, "+"), table.concat(sourceNames, ", "), tostring(trip.targetName), why)
end

local function releaseHold(vehicle)
    if holds[vehicle] ~= nil then
        ADWaitPool.releaseVehicle(vehicle)
        holds[vehicle] = nil
    end
end

local function startHold(adEnv, vehicle, run, reasons, sourcesById)
    local isReachable = function(candidate)
        return ADWaitPool.hasRouteTo(adEnv, vehicle, candidate.marker.id)
    end
    local candidate = ADWaitPool.pickFree(adEnv, vehicle, run.waitPoolGroup, isReachable)
    local marker, source = nil, nil
    if candidate ~= nil then
        ADWaitPool.claim(candidate.marker.id, vehicle)
        marker = candidate.marker
        clearWarning(vehicle, "noWait")
    else
        local firstId = run.sourceWayPointIds ~= nil and run.sourceWayPointIds[1] or nil
        marker = firstId ~= nil and getMarker(adEnv, firstId) or nil
        source = firstId ~= nil and sourcesById[firstId] or nil
        if marker == nil then
            return nil
        end
        warnOnce(adEnv, vehicle, "noWait", string.format("'%s' har intet ledigt Wait-punkt med vejnet (run '%s'); holder ved kilden %s", tostring(vehicle:getName()), tostring(run.name), tostring(marker.name)))
    end
    local previous = holds[vehicle]
    holds[vehicle] = {markerId = marker.id, markerName = tostring(marker.name), reasons = reasons, timerMs = 0}
    local message = string.format("'%s' holder ved %s: %s", tostring(vehicle:getName()), tostring(marker.name), table.concat(reasons, "; "))
    if previous == nil or previous.lastLogged ~= message then
        Logging.info(ADOutbound.LOG_PREFIX .. "%s", message)
    end
    holds[vehicle].lastLogged = message
    return choiceFor(marker, source, nil)
end

-- Hook 1: AutoDrive spørger om næste pålæsning. Tur -> kilden; ingen tur -> Wait-punkt.
function ADOutbound.choosePickup(adEnv, vehicle)
    local run = getRun(vehicle)
    if run == nil or run.kind ~= "outbound" then
        return nil
    end
    trips[vehicle] = nil
    local input, sourcesById = ADOutbound.buildPlanInput(adEnv, run, vehicle)
    local trip, reasons = ADOutboundPlanner.plan(input)
    local runStatus = getStatus(run)
    runStatus.reasons = reasons
    for _, reason in ipairs(reasons) do
        if string.find(reason, ": ingen silo med plads", 1, true) then
            warnOnce(adEnv, vehicle, "store:" .. reason, string.format("'%s' finder ingen silo med plads (%s)", tostring(vehicle:getName()), reason))
        end
    end
    if trip == nil then
        return startHold(adEnv, vehicle, run, reasons, sourcesById)
    end
    releaseHold(vehicle)
    runStatus.warning = nil
    warned[vehicle] = nil
    applyTrip(adEnv, vehicle, run, trip, sourcesById)
    local marker = getMarker(adEnv, trip.sourceIds[1])
    if marker == nil then
        return nil
    end
    return choiceFor(marker, sourcesById[trip.sourceIds[1]], trip)
end

-- ---- Hook 2: læsseopgaven ----

local function setActivePickup(vehicle, choice)
    if ADSmartPickup ~= nil and ADSmartPickup.setActivePickup ~= nil then
        ADSmartPickup.setActivePickup(vehicle, choice)
    end
end

local function goToSource(adEnv, state, task, wayPointId)
    state.current = wayPointId
    state.noProgressMs, state.lastFill, state.spawn, state.done, state.completed = 0, nil, nil, false, false
    ADWaitPool.redirect(task, wayPointId)
    task.activatedUALLoading = false
    task.spuCargoChecked = nil
    local marker = getMarker(adEnv, wayPointId)
    if marker ~= nil then
        setActivePickup(task.vehicle, choiceFor(marker, state.sources[wayPointId], state.trip))
    end
end

local function updateHold(adEnv, task, hold, dt)
    local vehicle = task.vehicle
    if task.destinationID ~= hold.markerId or not vehicle.ad.drivePathModule:isTargetReached() then
        return false
    end
    vehicle.ad.specialDrivingModule:stopVehicle()
    vehicle.ad.specialDrivingModule:update(dt)
    hold.timerMs = hold.timerMs + (dt or 0)
    if hold.timerMs < ADOutbound.CHECK_INTERVAL_MS then
        return true
    end
    hold.timerMs = 0
    ADOutbound.choosePickup(adEnv, vehicle)
    local state = trips[vehicle]
    if state ~= nil then
        goToSource(adEnv, state, task, state.current)
    end
    return true
end

local function countLoaded(trailers)
    local count = 0
    for _, trailer in ipairs(trailers or {}) do
        local spec = trailer.spec_universalAutoload
        for _ in pairs(spec ~= nil and spec.loadedObjects or {}) do
            count = count + 1
        end
    end
    return count
end

local function isAutoloadFull(trailers)
    for _, trailer in ipairs(trailers or {}) do
        if trailer.ualIsFull ~= nil and trailer:ualIsFull() then
            return true
        end
    end
    return false
end

-- Objektlager: én palle ad gangen — spawn, vent til lageret er én mindre OG vognen har én
-- mere, gentag; skift vare når lageret er tomt for den aktuelle; stop ved fuld vogn.
local function updateSpawn(adEnv, state, task, source, dt)
    local vehicle = task.vehicle
    -- AD aktiverede selv UAL med turens første vare; kun ved vareskift genaktiveres den.
    local spawn = state.spawn or {typeIndex = 1, activeType = state.trip.fillTypes[1]}
    state.spawn = spawn
    if not task.activatedUALLoading or (vehicle.lastSpeedReal or 0) >= ADOutbound.MAX_SPEED_FOR_LOADING then
        return
    end
    local fillType = state.trip.fillTypes[spawn.typeIndex]
    if spawn.pending ~= nil then
        spawn.pending.ms = spawn.pending.ms + (dt or 0)
        local stored, loaded = ADSources.countStored(source, fillType), countLoaded(task.trailers)
        if stored < spawn.pending.stored and loaded > spawn.pending.loaded then
            spawn.pending = nil
        elseif spawn.pending.ms > ADOutbound.SPAWN_STALL_MS then
            warnOnce(adEnv, vehicle, "spawn", string.format("'%s': objektlageret %s spawner ikke %s (30 s uden fremdrift); kører med det der er", tostring(vehicle:getName()), tostring(source.name), fillTypeName(fillType)))
            state.done = true
            return
        else
            return
        end
    end
    if isAutoloadFull(task.trailers) or fillType == nil then
        state.done = true
        return
    end
    local index = ADSources.getObjectInfoIndex(source, fillType)
    if index == nil then
        spawn.typeIndex = spawn.typeIndex + 1
        return
    end
    if spawn.activeType ~= fillType then
        spawn.activeType = fillType
        vehicle.ad.stateModule:setFillType(fillType)
        if adEnv.AutoDrive.activateALTrailers ~= nil then
            adEnv.AutoDrive.activateALTrailers(vehicle, task.trailers)
        end
    end
    if ADSources.spawnOne(source, index) then
        spawn.pending = {stored = ADSources.countStored(source, fillType), loaded = countLoaded(task.trailers), ms = 0}
    else
        warnOnce(adEnv, vehicle, "spawn", string.format("'%s': kunne ikke tage %s ud af %s; kører med det der er", tostring(vehicle:getName()), fillTypeName(fillType), tostring(source.name)))
        state.done = true
    end
end

-- true = håndteret (original update springes over: traktoren holder ved Wait).
function ADOutbound.beforeLoadUpdate(adEnv, task, dt)
    local vehicle = task.vehicle
    local hold = holds[vehicle]
    if hold ~= nil then
        return updateHold(adEnv, task, hold, dt)
    end
    local state = trips[vehicle]
    if state == nil or state.completed or task.destinationID ~= state.current or not vehicle.ad.drivePathModule:isTargetReached() then
        return false
    end
    local source = state.sources[state.current]
    if source ~= nil and source.kind == "objectStorage" then
        updateSpawn(adEnv, state, task, source, dt)
        if state.done then
            state.done, state.completed = false, true
            task:finished()
            return true
        end
    end
    local level = adEnv.AutoDrive.getAllFillLevels(task.trailers) or 0
    if state.lastFill == nil or level > state.lastFill then
        state.lastFill, state.noProgressMs = level, 0
    else
        state.noProgressMs = state.noProgressMs + (dt or 0)
    end
    local spawnPending = state.spawn ~= nil and state.spawn.pending ~= nil
    if state.noProgressMs > ADOutbound.NO_PROGRESS_MS and level > 0 and not spawnPending then
        Logging.info(ADOutbound.LOG_PREFIX .. "'%s': ingen mere last ved %s; kører med %.0f l", tostring(vehicle:getName()), tostring(source ~= nil and source.name or state.current), level)
        state.noProgressMs, state.completed = 0, true
        task:finished()
        return true
    end
    return false
end

-- true = opsamlingsrunden fortsætter til næste kilde (original finished springes over).
function ADOutbound.beforeLoadFinished(adEnv, task)
    local vehicle = task.vehicle
    local state = trips[vehicle]
    if state == nil or task.destinationID ~= state.current then
        return false
    end
    state.visited[state.current] = true
    local level, capacity, filledToUnload, free = adEnv.AutoDrive.getAllFillLevels(task.trailers)
    if filledToUnload or capacity == nil or capacity <= 0 or (free or 0) / capacity < ADOutboundPlanner.ROUND_MIN_FREE_FRACTION or isAutoloadFull(task.trailers) then
        return false
    end
    for _, wayPointId in ipairs(state.queue) do
        if not state.visited[wayPointId] and state.sources[wayPointId] ~= nil then
            Logging.info(ADOutbound.LOG_PREFIX .. "'%s' runde: %.0f l på vognen, videre til %s", tostring(vehicle:getName()), level or 0, tostring(state.sources[wayPointId].name))
            goToSource(adEnv, state, task, wayPointId)
            return true
        end
    end
    return false
end

-- ---- oprydning og opslag ----

local function isActive(vehicle)
    local stateModule = vehicle.ad ~= nil and vehicle.ad.stateModule or nil
    return stateModule ~= nil and stateModule.isActive ~= nil and stateModule:isActive()
end

function ADOutbound.releaseInactive()
    for vehicle in pairs(holds) do
        if not isActive(vehicle) then
            releaseHold(vehicle)
        end
    end
    for vehicle in pairs(trips) do
        if not isActive(vehicle) then
            trips[vehicle] = nil
        end
    end
end

function ADOutbound.getHoldFor(vehicle)
    local hold = holds[vehicle]
    if hold == nil then
        return nil
    end
    return {markerName = hold.markerName, reasons = hold.reasons}
end

function ADOutbound.getTripFor(vehicle)
    local state = trips[vehicle]
    return state ~= nil and state.trip or nil
end

function ADOutbound.getRunStatus(runId)
    return status[runId] or {reasons = {}}
end

function ADOutbound.install(adEnv)
    local task = adEnv.LoadAtDestinationTask
    if isInstalled or task == nil or task.update == nil then
        return
    end
    isInstalled = true
    ADWaitPool.STATE_DRIVING = task.STATE_DRIVING or ADWaitPool.STATE_DRIVING
    local originalUpdate, originalFinished = task.update, task.finished

    task.update = function(self, dt)
        local ok, handled = pcall(ADOutbound.beforeLoadUpdate, adEnv, self, dt)
        if not ok then
            Logging.warning(ADOutbound.LOG_PREFIX .. "fejl i udkørsel, AutoDrive fortsætter selv: %s", tostring(handled))
            releaseHold(self.vehicle)
            trips[self.vehicle] = nil
        elseif handled then
            return
        end
        return originalUpdate(self, dt)
    end

    if originalFinished ~= nil then
        task.finished = function(self)
            local ok, continueRound = pcall(ADOutbound.beforeLoadFinished, adEnv, self)
            if not ok then
                Logging.warning(ADOutbound.LOG_PREFIX .. "fejl i opsamlingsrunde, AutoDrive fortsætter selv: %s", tostring(continueRound))
            elseif continueRound then
                return
            end
            return originalFinished(self)
        end
    end
end