ADCollisionDetectionModule = {}

function ADCollisionDetectionModule:new(vehicle)
	local o = {}
	setmetatable(o, self)
	self.__index = self
	o.vehicle = vehicle
	o.detectedObstable = false
	o.reverseSectionClear = AutoDriveTON:new()
	o.reverseSectionClear.elapsedTime = 20000
	o.detectedCollision = false
	o.lastReverseCheck = false
	return o
end

function ADCollisionDetectionModule:hasDetectedObstable(dt)
	local reverseSectionBlocked = self:detectTrafficOnUpcomingReverseSection()
	self.reverseSectionClear:timer(not reverseSectionBlocked, 10000, dt)
	self.detectedObstable = self:detectObstacle() or self:detectAdTrafficOnRoute() or not self.reverseSectionClear:done()
	return self.detectedObstable
end

function ADCollisionDetectionModule:update(dt)
end

function ADCollisionDetectionModule:detectObstacle()
	if AutoDrive.getSetting("enableTrafficDetection") >= 1 then
		if self.vehicle.ad.sensors.frontSensorDynamicShort:pollInfo() then
            local frontSensorDynamicInBunkerArea = false
            local sensorLocation = self.vehicle.ad.sensors.frontSensorDynamicShort:getLocationByPosition()
			local vehX, vehY, vehZ = getWorldTranslation(self.vehicle.components[1].node)
            local worldOffsetX, worldOffsetY, worldOffsetZ =  AutoDrive.localDirectionToWorld(self.vehicle, sensorLocation.x, 0, sensorLocation.z)
            for _, trigger in pairs(ADTriggerManager.getUnloadTriggers()) do
                if trigger and trigger.bunkerSiloArea ~= nil then
                    local x1, z1 = trigger.bunkerSiloArea.sx, trigger.bunkerSiloArea.sz
                    local x2, z2 = trigger.bunkerSiloArea.wx, trigger.bunkerSiloArea.wz
                    local x3, z3 = trigger.bunkerSiloArea.hx, trigger.bunkerSiloArea.hz
                    if MathUtil.hasRectangleLineIntersection2D(x1, z1, x2 - x1, z2 - z1, x3 - x1, z3 - z1, vehX + worldOffsetX, vehZ + worldOffsetZ, 0, 1) then
                        frontSensorDynamicInBunkerArea = true
                        break
                    end
                end
            end
            if (not frontSensorDynamicInBunkerArea) then
                return true
            end
		end
	end

	if ((g_updateLoopIndex + self.vehicle.id) % AutoDrive.PERF_FRAMES == 0) then
		local excludedList = self.vehicle.ad.taskModule:getActiveTask():getExcludedVehiclesForCollisionCheck()

		local box = self.vehicle.ad.sensors.frontSensorDynamicLong:getBoxShape()
		local boundingBox = {}
	    boundingBox[1] = box.topLeft
	    boundingBox[2] = box.topRight
	    boundingBox[3] = box.downRight
		boundingBox[4] = box.downLeft
		boundingBox[1].y = box.y

		self.detectedCollision = AutoDrive:checkForVehicleCollision(self.vehicle, boundingBox, excludedList)
	end
	return self.detectedCollision
end

function ADCollisionDetectionModule:detectAdTrafficOnRoute()
	local wayPoints, currentWayPoint = self.vehicle.ad.drivePathModule:getWayPoints()
	if self.vehicle.ad.stateModule:isActive() and wayPoints ~= nil and self.vehicle.ad.drivePathModule:isOnRoadNetwork() then
		if ((g_updateLoopIndex + self.vehicle.id) % AutoDrive.PERF_FRAMES == 0) then
			self.trafficVehicle = nil
			local idToCheck = 3
			local alreadyOnDualRoute = false
			local lastDualId = nil
			if wayPoints[currentWayPoint - 1] ~= nil and wayPoints[currentWayPoint] ~= nil then
				alreadyOnDualRoute = ADGraphManager:isDualRoad(wayPoints[currentWayPoint - 1], wayPoints[currentWayPoint])
			end

			if wayPoints[currentWayPoint + idToCheck] ~= nil and wayPoints[currentWayPoint + idToCheck + 1] ~= nil and not alreadyOnDualRoute then

				local dualRoutePoints = {}
				idToCheck = 0
				local foundDualRoute = false
				local continueSearch = true
				while (continueSearch == true) do
					local startNode = wayPoints[currentWayPoint + idToCheck]
					local targetNode = wayPoints[currentWayPoint + idToCheck + 1]
					if (startNode ~= nil) and (targetNode ~= nil) then
						local testDual = ADGraphManager:isDualRoad(startNode, targetNode)
						if testDual == true then
							table.insert(dualRoutePoints, startNode.id)
							lastDualId = targetNode.id
							continueSearch = true
							foundDualRoute = true
						elseif foundDualRoute == true then
							-- dual section ended - exit
							continueSearch = false
						else
							-- check min 7 WP ahead even if not dual
							continueSearch = idToCheck < 8
						end
					else
						continueSearch = false
					end
					idToCheck = idToCheck + 1
				end

				if #dualRoutePoints > 0 then
					for _, other in pairs(AutoDrive.getAllVehicles()) do
						if other ~= self.vehicle and other.ad ~= nil and other.ad.stateModule ~= nil and other.ad.stateModule:isActive() and other.ad.drivePathModule:isOnRoadNetwork() then
							local onSameRoute = false
							local sameDirection = false
							local window = 4
							local i = -window
							local otherWayPoints, otherCurrentWayPoint = other.ad.drivePathModule:getWayPoints()
							while i <= window do
								if otherWayPoints ~= nil and otherWayPoints[otherCurrentWayPoint + i] ~= nil then
									for _, point in pairs(dualRoutePoints) do
										if point == otherWayPoints[otherCurrentWayPoint + i].id then
											onSameRoute = true
											--check if going in same direction
											if #dualRoutePoints == 1 then
												if lastDualId ~= nil and otherWayPoints[otherCurrentWayPoint + i + 1] ~= nil then
													if lastDualId == otherWayPoints[otherCurrentWayPoint + i + 1].id then
														sameDirection = true
													end
												end
											end
											if dualRoutePoints[_ + 1] ~= nil and otherWayPoints[otherCurrentWayPoint + i + 1] ~= nil then
												if dualRoutePoints[_ + 1] == otherWayPoints[otherCurrentWayPoint + i + 1].id then
													sameDirection = true
												end
											end
											--check if going in same direction
											if dualRoutePoints[_ - 1] ~= nil and otherWayPoints[otherCurrentWayPoint + i - 1] ~= nil then
												if dualRoutePoints[_ - 1] == otherWayPoints[otherCurrentWayPoint + i - 1].id then
													sameDirection = true
												end
											end
										end
									end
								end
								i = i + 1
							end

							if onSameRoute == true and other.ad.collisionDetectionModule:getDetectedVehicle() == nil and (sameDirection == false) then
								self.trafficVehicle = other
								return true
							end
						end
					end
				end
			end
		else
			return self.trafficVehicle ~= nil
		end
	end
	return false
end

function ADCollisionDetectionModule:detectTrafficOnUpcomingReverseSection()
	local wayPoints, currentWayPoint = self.vehicle.ad.drivePathModule:getWayPoints()
	if self.vehicle.ad.stateModule:isActive() and wayPoints ~= nil and self.vehicle.ad.drivePathModule:isOnRoadNetwork() then
		if ((g_updateLoopIndex + self.vehicle.id) % AutoDrive.PERF_FRAMES == 0) then
			self.lastReverseCheck = false
			local idToCheck = 1

			if wayPoints[currentWayPoint + idToCheck] ~= nil and wayPoints[currentWayPoint + idToCheck + 1] ~= nil then
				local reverseSection = ADGraphManager:isReverseRoad(wayPoints[currentWayPoint + idToCheck], wayPoints[currentWayPoint + idToCheck + 1])

				local reverseSectionPoints = {}
				idToCheck = 0
				while (reverseSection == true) or (idToCheck < 20) do
					local startNode = wayPoints[currentWayPoint + idToCheck]
					local targetNode = wayPoints[currentWayPoint + idToCheck + 1]
					if (startNode ~= nil) and (targetNode ~= nil) then
						if ADGraphManager:isReverseRoad(startNode, targetNode) == true then
							table.insert(reverseSectionPoints, startNode.id)
							reverseSection = true
						else
							reverseSection = false
						end
					else
						reverseSection = false
					end
					idToCheck = idToCheck + 1
				end

				if #reverseSectionPoints > 0 then
					--print(self.vehicle.ad.stateModule:getName() .. " - detected reverse section ahead")
					for _, other in pairs(AutoDrive.getAllVehicles()) do
						if other ~= self.vehicle and other.ad ~= nil and other.ad.stateModule ~= nil and other.ad.stateModule:isActive() and other.ad.drivePathModule:isOnRoadNetwork() and
				not (other.ad ~= nil and other.ad == self.vehicle.ad)       -- some trailed harvester get assigned AD from the trailing vehicle, see "attachable.ad = self.ad" in Specialisation
			    then
							local onSameRoute = false
							local i = -10
							local otherWayPoints, otherCurrentWayPoint = other.ad.drivePathModule:getWayPoints()
							while i <= 10 do
								if otherWayPoints ~= nil and otherWayPoints[otherCurrentWayPoint + i] ~= nil then
									for _, point in pairs(reverseSectionPoints) do
										if point == otherWayPoints[otherCurrentWayPoint + i].id then
											onSameRoute = true
											break
										end
									end
								end
								i = i + 1
							end

							if onSameRoute == true then
								--print(self.vehicle.ad.stateModule:getName() .. " - detected reverse section ahead - another vehicle on it")
								self.trafficVehicle = other
								self.lastReverseCheck = true
							end
						end
					end
				end
			end
		else
			return self.lastReverseCheck
		end
	end

	--print(self.vehicle.ad.stateModule:getName() .. " - all clear")
	return false
end

function ADCollisionDetectionModule:getDetectedVehicle()
	return self.trafficVehicle
end

function ADCollisionDetectionModule:checkReverseCollision()
    local trailers, trailerCount = AutoDrive.getAllUnits(self.vehicle)
    local mostBackImplement = AutoDrive.getMostBackImplementOf(self.vehicle)

    local trailer = nil
    if trailerCount > 1 and self.vehicle.trailer ~= nil and self.vehicle.trailer ~= self.vehicle then
        -- vehicle.trailer is the controlable reverse attachable
        trailer = trailers[trailerCount]
    elseif mostBackImplement ~= nil then
        trailer = mostBackImplement
    else
        return self.vehicle.ad.sensors.rearSensor:pollInfo()
	end
    if trailer ~= nil then
        if trailer.ad == nil then
            trailer.ad = {}
        end
        ADSensor:handleSensors(trailer, 0)
        --trailer.ad.sensors.rearSensor.drawDebug = true
        trailer.ad.sensors.rearSensor.enabled = true
        return trailer.ad.sensors.rearSensor:pollInfo()
    end
end
