#include <stdlib.h>

#include <string.h>

#include <stdio.h>

#include "trajectory.h"

OpenAPI_trajectory_t *OpenAPI_trajectory_create(

    OpenAPI_list_t *scheduled_area_list,

    OpenAPI_list_t *segment_list,

    bool is_acceptable_deviation_time,

    int acceptable_deviation_time

)

{

    OpenAPI_trajectory_t *trajectory_local_var = ogs_malloc(sizeof(OpenAPI_trajectory_t));

    ogs_assert(trajectory_local_var);

    trajectory_local_var->scheduled_area_list = scheduled_area_list;

    trajectory_local_var->segment_list = segment_list;

    trajectory_local_var->is_acceptable_deviation_time = is_acceptable_deviation_time;

    trajectory_local_var->acceptable_deviation_time = acceptable_deviation_time;

    return trajectory_local_var;

}

void OpenAPI_trajectory_free(OpenAPI_trajectory_t *trajectory)

{

    OpenAPI_lnode_t *node = NULL;

    if (NULL == trajectory) {

        return;

    }

    if (trajectory->scheduled_area_list) {

        OpenAPI_list_for_each(trajectory->scheduled_area_list, node) {

            OpenAPI_scheduled_area_free(node->data);

        }

        OpenAPI_list_free(trajectory->scheduled_area_list);

        trajectory->scheduled_area_list = NULL;

    }

    if (trajectory->segment_list) {

        OpenAPI_list_for_each(trajectory->segment_list, node) {

            OpenAPI_trajectory_segment_free(node->data);

        }

        OpenAPI_list_free(trajectory->segment_list);

        trajectory->segment_list = NULL;

    }

    ogs_free(trajectory);

}

cJSON *OpenAPI_trajectory_convertToJSON(OpenAPI_trajectory_t *trajectory)

{

    cJSON *item = NULL;

    OpenAPI_lnode_t *node = NULL;

    if (trajectory == NULL) {

        ogs_error("OpenAPI_trajectory_convertToJSON() failed [Trajectory]");

        return NULL;

    }

    item = cJSON_CreateObject();

    if (trajectory->scheduled_area_list) {

    cJSON *scheduled_area_listList = cJSON_AddArrayToObject(item, "scheduledAreaList");

    if (scheduled_area_listList == NULL) {

        ogs_error("OpenAPI_trajectory_convertToJSON() failed [scheduled_area_list]");

        goto end;

    }

    OpenAPI_list_for_each(trajectory->scheduled_area_list, node) {

        cJSON *itemLocal = OpenAPI_scheduled_area_convertToJSON(node->data);

        if (itemLocal == NULL) {

            ogs_error("OpenAPI_trajectory_convertToJSON() failed [scheduled_area_list]");

            goto end;

        }

        cJSON_AddItemToArray(scheduled_area_listList, itemLocal);

    }

    }

    if (trajectory->segment_list) {

    cJSON *segment_listList = cJSON_AddArrayToObject(item, "segmentList");

    if (segment_listList == NULL) {

        ogs_error("OpenAPI_trajectory_convertToJSON() failed [segment_list]");

        goto end;

    }

    OpenAPI_list_for_each(trajectory->segment_list, node) {

        cJSON *itemLocal = OpenAPI_trajectory_segment_convertToJSON(node->data);

        if (itemLocal == NULL) {

            ogs_error("OpenAPI_trajectory_convertToJSON() failed [segment_list]");

            goto end;

        }

        cJSON_AddItemToArray(segment_listList, itemLocal);

    }

    }

    if (trajectory->is_acceptable_deviation_time) {

    if (cJSON_AddNumberToObject(item, "acceptableDeviationTime", trajectory->acceptable_deviation_time) == NULL) {

        ogs_error("OpenAPI_trajectory_convertToJSON() failed [acceptable_deviation_time]");

        goto end;

    }

    }

end:

    return item;

}

OpenAPI_trajectory_t *OpenAPI_trajectory_parseFromJSON(cJSON *trajectoryJSON)

{

    OpenAPI_trajectory_t *trajectory_local_var = NULL;

    OpenAPI_lnode_t *node = NULL;

    cJSON *scheduled_area_list = NULL;

    OpenAPI_list_t *scheduled_area_listList = NULL;

    cJSON *segment_list = NULL;

    OpenAPI_list_t *segment_listList = NULL;

    cJSON *acceptable_deviation_time = NULL;

    scheduled_area_list = cJSON_GetObjectItemCaseSensitive(trajectoryJSON, "scheduledAreaList");

    if (scheduled_area_list) {

        cJSON *scheduled_area_list_local = NULL;

        if (!cJSON_IsArray(scheduled_area_list)) {

            ogs_error("OpenAPI_trajectory_parseFromJSON() failed [scheduled_area_list]");

            goto end;

        }

        scheduled_area_listList = OpenAPI_list_create();

        cJSON_ArrayForEach(scheduled_area_list_local, scheduled_area_list) {

            if (!cJSON_IsObject(scheduled_area_list_local)) {

                ogs_error("OpenAPI_trajectory_parseFromJSON() failed [scheduled_area_list]");

                goto end;

            }

            OpenAPI_scheduled_area_t *scheduled_area_listItem = OpenAPI_scheduled_area_parseFromJSON(scheduled_area_list_local);

            if (!scheduled_area_listItem) {

                ogs_error("No scheduled_area_listItem");

                goto end;

            }

            OpenAPI_list_add(scheduled_area_listList, scheduled_area_listItem);

        }

    }

    segment_list = cJSON_GetObjectItemCaseSensitive(trajectoryJSON, "segmentList");

    if (segment_list) {

        cJSON *segment_list_local = NULL;

        if (!cJSON_IsArray(segment_list)) {

            ogs_error("OpenAPI_trajectory_parseFromJSON() failed [segment_list]");

            goto end;

        }

        segment_listList = OpenAPI_list_create();

        cJSON_ArrayForEach(segment_list_local, segment_list) {

            if (!cJSON_IsObject(segment_list_local)) {

                ogs_error("OpenAPI_trajectory_parseFromJSON() failed [segment_list]");

                goto end;

            }

            OpenAPI_trajectory_segment_t *segment_listItem = OpenAPI_trajectory_segment_parseFromJSON(segment_list_local);

            if (!segment_listItem) {

                ogs_error("No segment_listItem");

                goto end;

            }

            OpenAPI_list_add(segment_listList, segment_listItem);

        }

    }

    acceptable_deviation_time = cJSON_GetObjectItemCaseSensitive(trajectoryJSON, "acceptableDeviationTime");

    if (acceptable_deviation_time) {

    if (!cJSON_IsNumber(acceptable_deviation_time)) {

        ogs_error("OpenAPI_trajectory_parseFromJSON() failed [acceptable_deviation_time]");

        goto end;

    }

    }

    trajectory_local_var = OpenAPI_trajectory_create (

        scheduled_area_list ? scheduled_area_listList : NULL,

        segment_list ? segment_listList : NULL,

        acceptable_deviation_time ? true : false,

        acceptable_deviation_time ? acceptable_deviation_time->valuedouble : 0

    );

    return trajectory_local_var;

end:

    if (scheduled_area_listList) {

        OpenAPI_list_for_each(scheduled_area_listList, node) {

            OpenAPI_scheduled_area_free(node->data);

        }

        OpenAPI_list_free(scheduled_area_listList);

        scheduled_area_listList = NULL;

    }

    if (segment_listList) {

        OpenAPI_list_for_each(segment_listList, node) {

            OpenAPI_trajectory_segment_free(node->data);

        }

        OpenAPI_list_free(segment_listList);

        segment_listList = NULL;

    }

    return NULL;

}

OpenAPI_trajectory_t *OpenAPI_trajectory_copy(OpenAPI_trajectory_t *dst, OpenAPI_trajectory_t *src)

{

    cJSON *item = NULL;

    char *content = NULL;

    ogs_assert(src);

    item = OpenAPI_trajectory_convertToJSON(src);

    if (!item) {

        ogs_error("OpenAPI_trajectory_convertToJSON() failed");

        return NULL;

    }

    content = cJSON_Print(item);

    cJSON_Delete(item);

    if (!content) {

        ogs_error("cJSON_Print() failed");

        return NULL;

    }

    item = cJSON_Parse(content);

    ogs_free(content);

    if (!item) {

        ogs_error("cJSON_Parse() failed");

        return NULL;

    }

    OpenAPI_trajectory_free(dst);

    dst = OpenAPI_trajectory_parseFromJSON(item);

    cJSON_Delete(item);

    return dst;

}