import {
  EDITOR_CONFIG,
  type MapAreaInfo,
  MapAreaType,
  type MapPen,
  type MapPointInfo,
  MapPointType,
  type MapRouteInfo,
  MapRoutePassType,
  MapRouteType,
  type Point,
  type Rect,
} from '@api/map';
import type { RobotGroup, RobotInfo, RobotLabel } from '@api/robot';
import type {
  GroupSceneDetail,
  SceneData,
  StandardScene,
  StandardSceneArea,
  StandardScenePoint,
  StandardSceneRoute,
} from '@api/scene';
import sTheme from '@core/theme.service';
import { LockState, Meta2d, type Pen } from '@meta2d/core';
import { useObservable } from '@vueuse/rxjs';
import { clone, get, isEmpty, isNil, isString, pick } from 'lodash-es';
import { debounceTime, filter, map, Subject, switchMap } from 'rxjs';
import type { Ref } from 'vue';
import { watch } from 'vue';

import { AreaOperationService } from './area-operation.service';
import { BinTaskManagerService } from './bintask-manager.service';
import colorConfig from './color/color-config.service';
import { drawStorageBackground, drawStorageLocation, drawStorageMore } from './draw/storage-location-drawer';
import { AreaManager } from './editor/area-manager.service';
import { anchorPoint, drawArea, drawLine, drawPoint, lineBezier2, lineBezier3 } from './editor/editor-drawers';
import { drawRobot, EditorRobotService } from './editor/editor-robot.service';
import { PointManager } from './editor/point-manager.service';
import { RouteManager } from './editor/route-manager.service';
import { LayerManagerService } from './layer-manager.service';
import { createStorageLocationUpdater, StorageLocationService } from './storage-location.service';
import { AutoStorageGenerator } from './utils/auto-storage-generator';

/**
 * 场景编辑器服务类
 * 继承自Meta2D，提供完整的场景编辑功能
 *
 * 主要功能：
 * - 场景文件的加载、保存和管理
 * - 点位、路线、区域的创建和编辑
 * - 机器人组的管理和实时状态更新
 * - 鼠标事件的处理和响应式数据流
 * - 自定义绘制和渲染逻辑
 */
export class EditorService extends Meta2d {
  /** 图层管理服务实例 */
  private readonly layerManager: LayerManagerService;
  /** 库位服务实例 */
  private readonly storageLocationService: StorageLocationService;
  private readonly robotService: EditorRobotService;

  /** 区域操作服务实例 */
  private readonly areaOperationService!: AreaOperationService;

  /** 自动生成库位工具实例 */
  private readonly autoStorageGenerator!: AutoStorageGenerator;

  /** 点位管理模块 */
  private readonly pointManager: PointManager;
  /** 路线管理模块 */
  private readonly routeManager: RouteManager;
  /** 区域管理模块 */
  private readonly areaManager: AreaManager;

  //#region 场景文件管理
  /**
   * 加载场景文件到编辑器
   * @param map 场景文件的JSON字符串，为空则创建新场景
   * @param editable 是否可编辑状态，控制编辑器锁定状态
   * @param detail 群组场景详情，包含机器人组和机器人信息
   * @param isImport 是否为导入场景文件，true时进行反向坐标转换
   */
  public async load(
    map?: string,
    editable = false,
    detail?: Partial<GroupSceneDetail>,
    isImport = false,
  ): Promise<void> {
    const sceneData = isString(map) ? (map ? JSON.parse(map) : {}) : map;
    const scene: StandardScene = sceneData || {};
    if (!isEmpty(detail?.group)) {
      scene.robotGroups = [detail.group];
      scene.robots = detail.robots;
    }
    const { robotGroups, robots, points, routes, areas, robotLabels, ...extraFields } = scene;
    // 保存所有额外字段（包括width、height等）
    this.#originalSceneData = extraFields;

    // 颜色配置现在使用本地存储，不再从场景数据加载

    this.open();
    this.setState(editable);
    this.robotService.loadInitialData(robotGroups, robots, robotLabels);
    await this.#loadScenePoints(points, isImport);
    this.#loadSceneRoutes(routes, isImport);
    await this.#loadSceneAreas(areas, isImport);

    // 确保正确的层级顺序：路线 < 点位 < 机器人
    this.ensureCorrectLayerOrder();

    // 为所有动作点创建库位pen对象
    this.createAllStorageLocationPens();

    this.store.historyIndex = undefined;
    this.store.histories = [];
    // this.scale(scale);与xd 自定义缩放冲突，暂时去掉
    // if (isEmpty(origin)) {
    //   this.centerView();
    // } else {
    //   this.translate(origin.x / scale, origin.y / scale);
    // }
  }
  /**
   * 保存当前场景为JSON字符串
   * @returns 包含完整场景数据的JSON字符串
   */
  public save(): string {
    const { scale, x, y, origin } = this.data();
    const scene: StandardScene = {
      scale,
      origin: { x: x + origin.x, y: y + origin.y },
      robotGroups: this.robotGroups.value,
      robotLabels: this.robotLabels.value,
      robots: this.robots,
      points: this.points.value.map((v) => this.#mapScenePoint(v)).filter((v) => !isNil(v)),
      routes: this.routes.value.map((v) => this.#mapSceneRoute(v)).filter((v) => !isNil(v)),
      areas: this.areas.value.map((v) => this.#mapSceneArea(v)).filter((v) => !isNil(v)),
      blocks: [],
      colorConfig: colorConfig.getConfigForSave(), // 添加颜色配置到场景数据
      ...this.#originalSceneData, // 统一保留所有额外字段（包括width、height等）
    };

    return JSON.stringify(scene);
  }

  /** BinTask管理服务实例 */
  private readonly binTaskManager: BinTaskManagerService;

  /**
   * 获取BinTask管理服务实例
   * @returns BinTask管理服务实例
   */
  public getBinTaskManager(): BinTaskManagerService {
    return this.binTaskManager;
  }

  /**
   * 检查库位项是否存在
   * @param pointName 动作点名称
   * @param locationName 库位名称
   * @returns 如果库位项存在则返回true，否则返回false
   */
  public checkBinLocationExists(pointName: string, locationName: string): boolean {
    return this.binTaskManager.hasBinTaskConfig(pointName, locationName);
  }

  /**
   * 更新库位任务配置中的库位名称
   * @param pointName 动作点名称
   * @param oldLocationName 旧的库位名称
   * @param newLocationName 新的库位名称
   */
  public updateBinLocationName(pointName: string, oldLocationName: string, newLocationName: string): void {
    this.binTaskManager.updateBinLocationName(pointName, oldLocationName, newLocationName);
  }

  /**
   * 删除库位任务配置中的库位
   * @param pointName 动作点名称
   * @param locationName 要删除的库位名称
   */
  public removeBinLocation(pointName: string, locationName: string): void {
    this.binTaskManager.removeBinLocation(pointName, locationName);
  }

  /**
   * 更新库位的BinTask配置
   * @param pointName 动作点名称
   * @param locationName 库位名称
   * @param binTasks BinTask配置数据
   */
  public updateBinTask(pointName: string, locationName: string, binTasks: any[]): void {
    this.binTaskManager.updateBinTask(pointName, locationName, binTasks);
  }

  /**
   * 获取库位任务配置数据
   * @returns 库位任务配置列表
   */
  public getBinLocationsList(): unknown {
    return (this.#originalSceneData as Record<string, unknown>)?.binLocationsList;
  }

  /**
   * 加载机器人数据到编辑器
   * @param groups 机器人组列表
   * @param robots 机器人信息列表
   */

  /**
   * 从场景数据加载点位到画布
   * @param points 标准场景点位数据数组
   * @param isImport 是否为导入场景文件，true时进行反向坐标转换
   */
  async #loadScenePoints(points?: StandardScenePoint[], isImport = false): Promise<void> {
    if (!points?.length) return;
    await Promise.all(
      points.map(async (v) => {
        const {
          id,
          name,
          desc,
          x,
          y,
          type,
          extensionType,
          robots,
          actions,
          associatedStorageLocations,
          properties,
          deviceId,
          enabled,
        } = v;
        // 只有在导入场景文件时才进行反向坐标转换
        let finalX = x;
        let finalY = y;
        if (isImport) {
          const transformedCoords = this.#reverseTransformCoordinate(x, y);
          finalX = transformedCoords.x;
          finalY = transformedCoords.y;
        }
        await this.addPoint({ x: finalX, y: finalY }, type, id);
        // 若为充电点/停靠点，且未提供 enabled，则默认启用为 1
        const pointPayload: any = {
          type,
          extensionType,
          robots,
          actions,
          associatedStorageLocations,
          deviceId,
        };
        if ([MapPointType.充电点, MapPointType.停靠点].includes(<any>type)) {
          pointPayload.enabled = (enabled ?? 1) as 0 | 1;
        } else if (enabled !== undefined) {
          pointPayload.enabled = enabled;
        }
        this.setValue(
          {
            id,
            label: name,
            desc,
            properties,
            point: pointPayload,
          },
          { render: false, history: false, doEvent: false },
        );
      }),
    );
  }
  /**
   * 从场景数据加载路线到画布
   * @param routes 标准场景路线数据数组
   * @param isImport 是否为导入场景文件，true时进行反向坐标转换
   */
  #loadSceneRoutes(routes?: StandardSceneRoute[], isImport = false): void {
    if (!routes?.length) return;
    routes.map((v) => {
      const { id, desc, from, to, type, pass, c1, c2, properties, maxSpeed } = v as any;
      const p1 = this.getPenById(from);
      const p2 = this.getPenById(to);
      if (isNil(p1) || isNil(p2)) return;
      this.addRoute([p1, p2], <MapRouteType>type, id);
      const { x: x1, y: y1 } = this.getPointRect(p1)!;
      const { x: x2, y: y2 } = this.getPointRect(p2)!;

      // 只有在导入场景文件时才对控制点坐标进行反向转换
      let transformedC1 = { x: (c1?.x ?? 0) - x1, y: (c1?.y ?? 0) - y1 };
      let transformedC2 = { x: (c2?.x ?? 0) - x2, y: (c2?.y ?? 0) - y2 };

      if (isImport) {
        if (c1 && c1.x !== undefined && c1.y !== undefined) {
          const reversedC1 = this.#reverseTransformCoordinate(c1.x, c1.y);
          transformedC1 = { x: reversedC1.x - x1, y: reversedC1.y - y1 };
        }

        if (c2 && c2.x !== undefined && c2.y !== undefined) {
          const reversedC2 = this.#reverseTransformCoordinate(c2.x, c2.y);
          transformedC2 = { x: reversedC2.x - x2, y: reversedC2.y - y2 };
        }
      }

      this.setValue(
        {
          id,
          desc,
          properties,
          route: {
            type,
            pass,
            c1: transformedC1,
            c2: transformedC2,
            maxSpeed,
            // 门区域扩展字段
            deviceId: (v as any).deviceId,
            doorStatus: (v as any).doorStatus,
            isConnected: (v as any).isConnected,
          },
        },
        { render: false, history: false, doEvent: false },
      );
    });
  }
  /**
   * 从场景数据加载区域到画布
   * @param areas 标准场景区域数据数组
   * @param isImport 是否为导入场景文件，true时进行反向坐标转换
   */
  async #loadSceneAreas(areas?: StandardSceneArea[], isImport = false): Promise<void> {
    if (!areas?.length) return;
    await Promise.all(
      areas.map(async (v) => {
        const { id, name, desc, x, y, w, h, type, points, routes, maxAmr, inoutflag, storageLocations, properties } =
          v as any;
        // 只有在导入场景文件时才进行反向坐标转换
        let finalX = x;
        let finalY = y;
        let finalW = w;
        let finalH = h;

        if (isImport) {
          const transformedCoords = this.#reverseTransformCoordinate(x, y);
          finalX = transformedCoords.x;
          finalY = transformedCoords.y;
          finalW = this.#reverseTransformSize(w);
          finalH = this.#reverseTransformSize(h);
        }

        await this.addArea({ x: finalX, y: finalY }, { x: finalX + finalW, y: finalY + finalH }, type, id);

        // 对于库区类型，需要将点位名称数组转换为点位ID数组，并更新动作点的库位信息
        let processedPoints: string[] | undefined = points as any;
        if (type === MapAreaType.库区 && points?.length) {
          // 将点位名称数组转换为点位ID数组
          const actionPoints = this.find('point').filter(
            (pen: MapPen) => pen.point?.type === MapPointType.动作点 && points.includes(pen.label || pen.id!),
          );

          processedPoints = actionPoints.map((pen) => pen.id!);

          // 如果有storageLocations数据，更新对应动作点的库位信息
          if (storageLocations && Array.isArray(storageLocations)) {
            // 将数组格式转换为对象格式以便查找
            const storageLocationsMap: Record<string, string[]> = {};
            storageLocations.forEach((item) => {
              Object.entries(item).forEach(([pointName, locations]) => {
                storageLocationsMap[pointName] = locations as unknown as string[];
              });
            });

            actionPoints.forEach((pen) => {
              const pointName = pen.label || pen.id!;
              if (storageLocationsMap[pointName]) {
                this.setValue(
                  { id: pen.id, point: { ...pen.point, associatedStorageLocations: storageLocationsMap[pointName] } },
                  { render: false, history: false, doEvent: false },
                );
              }
            });
          }
        }

        this.setValue(
          {
            id,
            label: name,
            desc,
            properties,
            area: {
              type,
              points: processedPoints,
              routes,
              maxAmr,
              inoutflag,
              // 门区域扩展字段
              doorDeviceId: (v as any).doorDeviceId,
              doorStatus: (v as any).doorStatus,
              isConnected: (v as any).isConnected,
            },
          },
          { render: false, history: false, doEvent: false },
        );
      }),
    );
  }

  #mapScenePoint(pen?: MapPen): StandardScenePoint | null {
    if (!pen?.id || isEmpty(pen?.point)) return null;

    // 过滤掉临时视图中心点
    if (pen.id.includes('view-center-point')) {
      return null;
    }
    const { id, label, desc, properties } = pen;
    const { type, extensionType, robots, actions, associatedStorageLocations, deviceId, enabled } = pen.point;
    const { x = 0, y = 0 } = this.getPointRect(pen) ?? {};

    // 进行坐标转换：左上角原点 -> 中心点原点，同时应用ratio缩放
    const transformedCoords = this.#transformCoordinate(x, y);

    const point: StandardScenePoint = {
      id: id,
      name: label || id,
      desc,
      x: transformedCoords.x,
      y: transformedCoords.y,
      type,
      extensionType,
      config: {},
      properties,
    };
    if ([MapPointType.充电点, MapPointType.停靠点].includes(type)) {
      point.robots = robots?.filter((v) => this.robotService.hasRobot(v));
      // 若未提供 enabled，则默认启用
      point.enabled = (enabled ?? 1) as 0 | 1;
    }
    if (MapPointType.等待点 === type) {
      point.actions = actions?.filter((v) => this.getPenById(v)?.point?.type === MapPointType.动作点);
    }
    if (MapPointType.动作点 === type) {
      point.associatedStorageLocations = associatedStorageLocations;
    }
    if (MapPointType.自动门点 === type) {
      point.deviceId = deviceId;
    }

    return point;
  }
  #mapSceneRoute(pen?: MapPen): StandardSceneRoute | null {
    if (!pen?.id || pen.anchors?.length !== 2 || isEmpty(pen?.route)) return null;
    const { id, anchors, desc, properties } = pen;
    const { type, direction = 1, pass, c1, c2, maxSpeed, deviceId, doorStatus, isConnected } = pen.route as any;
    const [p1, p2] = anchors.map((v) => this.getPenById(v.connectTo!));
    if (isNil(p1) || isNil(p2)) return null;
    const route: StandardSceneRoute = {
      id: id,
      desc,
      from: direction < 0 ? p2.id! : p1.id!,
      to: direction < 0 ? p1.id! : p2.id!,
      type,
      pass,
      maxSpeed,
      config: {},
      properties,
    };
    // 门区域扩展字段：保持到顶层，便于后端识别
    (route as any).deviceId = deviceId;
    (route as any).doorStatus = doorStatus;
    (route as any).isConnected = isConnected;
    const { x: x1, y: y1 } = this.getPointRect(p1)!;
    const { x: x2, y: y2 } = this.getPointRect(p2)!;
    const cp1 = { x: x1 + (c1?.x ?? 0), y: y1 + (c1?.y ?? 0) };
    const cp2 = { x: x2 + (c2?.x ?? 0), y: y2 + (c2?.y ?? 0) };

    switch (type) {
      case MapRouteType.二阶贝塞尔曲线:
        // 对控制点进行坐标转换
        route.c1 = this.#transformCoordinate(cp1.x, cp1.y);
        break;
      case MapRouteType.三阶贝塞尔曲线: {
        // 对两个控制点进行坐标转换
        const transformedCp1 = this.#transformCoordinate(cp1.x, cp1.y);
        const transformedCp2 = this.#transformCoordinate(cp2.x, cp2.y);
        route.c1 = direction < 0 ? transformedCp2 : transformedCp1;
        route.c2 = direction < 0 ? transformedCp1 : transformedCp2;
        break;
      }
      default:
        break;
    }
    return route;
  }
  #mapSceneArea(pen: MapPen): StandardSceneArea | null {
    if (!pen.id || isEmpty(pen.area)) return null;
    const { id, label, desc, properties } = pen;
    const { type, points, routes, maxAmr, inoutflag, doorDeviceId, doorStatus, isConnected } = pen.area as any;
    const { x, y, width, height } = this.getPenRect(pen);
    // 进行坐标转换：左上角原点 -> 中心点原点，同时应用ratio缩放
    const transformedCoords = this.#transformCoordinate(x, y);
    const area: StandardSceneArea = {
      id,
      name: label || id,
      desc,
      x: transformedCoords.x,
      y: transformedCoords.y,
      w: this.#transformSize(width),
      h: this.#transformSize(height),
      type,
      config: {},
      properties,
    };
    // 门区域扩展字段
    (area as any).routes = routes;
    (area as any).doorDeviceId = doorDeviceId;
    (area as any).doorStatus = doorStatus;
    (area as any).isConnected = isConnected;
    if (type === MapAreaType.约束区) {
      area.maxAmr = maxAmr;
    }
    if (MapAreaType.库区 === type) {
      // 获取库区内的动作点
      const actionPoints =
        points
          ?.map((id) => this.getPenById(id))
          .filter((pen): pen is MapPen => !!pen && pen.point?.type === MapPointType.动作点) ?? [];

      // 保存动作点名称
      area.points = actionPoints.map((pen) => pen.label || pen.id!);

      // 构建storageLocations数组：[{动作点名称: [库位列表]}]
      area.storageLocations = actionPoints
        .map((pen) => {
          const pointName = pen.label || pen.id!;
          const storageLocations = pen.point?.associatedStorageLocations ?? [];

          return { [pointName]: storageLocations };
        })
        .filter((item): item is Record<string, string[]> => item !== null);

      area.inoutflag = inoutflag;
    }
    if ([MapAreaType.互斥区, MapAreaType.非互斥区, MapAreaType.约束区].includes(type)) {
      area.points = points?.filter((v) => {
        const { point } = this.getPenById(v) ?? {};
        if (isNil(point)) return false;
        if (point.type === MapPointType.禁行点) return false;
        return true;
      });
    }
    // 互斥区不再保存路段信息
    return area;
  }

  /**
   * 确保正确的层级顺序
   * 委托给图层管理服务处理
   */
  public ensureCorrectLayerOrder(): void {
    this.layerManager.ensureCorrectLayerOrder();
  }
  //#endregion

  /**
   * 设置编辑器状态
   * @param editable 是否可编辑，true为可编辑状态，false为只读状态
   */
  public setState(editable?: boolean): void {
    this.lock(editable ? LockState.None : LockState.DisableEdit);
    this.data().pens.forEach((pen: MapPen) => {
      if (pen.name !== 'area') {
        if (pen.locked !== LockState.DisableEdit) {
          this.setValue(
            { id: pen.id, locked: LockState.DisableEdit },
            { render: false, history: false, doEvent: false },
          );
        }
      }
    });
    this.render();
  }

  public override data(): SceneData {
    return super.data();
  }

  /** 鼠标事件流主体，用于内部事件分发 */
  readonly #mouse$$ = new Subject<{ type: 'click' | 'mousedown' | 'mouseup'; value: Point }>();

  /** 鼠标点击事件的响应式流，防抖处理后的点击坐标 */
  public readonly mouseClick = useObservable<Point>(
    this.#mouse$$.pipe(
      filter(({ type }) => type === 'click'),
      debounceTime(100),
      map(({ value }) => value),
    ),
  );

  /** 鼠标拖拽事件的响应式流，返回起始点和结束点坐标，用于创建区域 */
  public readonly mouseBrush = useObservable<[Point, Point]>(
    this.#mouse$$.pipe(
      filter(({ type }) => type === 'mousedown'),
      switchMap(({ value: s }) =>
        this.#mouse$$.pipe(
          filter(({ type }) => type === 'mouseup'),
          map(({ value: e }) => <[Point, Point]>[s, e]),
        ),
      ),
    ),
  );

  //#region 机器人服务
  public get robots(): RobotInfo[] {
    return this.robotService.robots;
  }

  public get robotGroups(): Ref<RobotGroup[] | undefined> {
    return this.robotService.robotGroups;
  }

  public get robotLabels(): Ref<RobotLabel[] | undefined> {
    return this.robotService.robotLabels;
  }

  public checkRobotById(id: RobotInfo['id']): boolean {
    return this.robotService.hasRobot(id);
  }

  public getRobotById(id: RobotInfo['id']): RobotInfo | undefined {
    return this.robotService.getRobotById(id);
  }

  public updateRobot(id: RobotInfo['id'], value: Partial<RobotInfo>): void {
    this.robotService.updateRobot(id, value);
  }

  public addRobots(gid: RobotInfo['gid'], robots: RobotInfo[]): void {
    this.robotService.addRobots(gid, robots);
  }

  public removeRobots(ids: RobotInfo['id'][]): void {
    this.robotService.removeRobots(ids);
  }

  public updateRobots(ids: RobotInfo['id'][], value: Partial<RobotInfo>): void {
    this.robotService.updateRobots(ids, value);
  }

  public createRobotGroup(): void {
    this.robotService.createRobotGroup();
  }

  public deleteRobotGroup(id: RobotGroup['id']): void {
    this.robotService.deleteRobotGroup(id);
  }

  public updateRobotGroupLabel(id: RobotGroup['id'], label: RobotGroup['label']): void {
    this.robotService.updateRobotGroupLabel(id, label);
  }

  public createRobotLabel(): void {
    this.robotService.createRobotLabel();
  }

  public deleteRobotLabel(id: RobotLabel['id']): void {
    this.robotService.deleteRobotLabel(id);
  }

  public updateRobotLabel(id: RobotLabel['id'], labelName: RobotLabel['label']): void {
    this.robotService.updateRobotLabel(id, labelName);
  }

  public addRobotsToLabel(lid: RobotLabel['id'], robots: RobotInfo[]): void {
    this.robotService.addRobotsToLabel(lid, robots);
  }

  public removeRobotFromLabel(labelId: string, robotId: string): void {
    this.robotService.removeRobotFromLabel(labelId, robotId);
  }

  public removeRobotsFromAllLabels(robotIds: string[]): void {
    this.robotService.removeRobotsFromAllLabels(robotIds);
  }

  public async initRobots(): Promise<void> {
    await this.robotService.initRobots();
  }

  public updateAllRobotImageSizes(): void {
    this.robotService.updateAllRobotImageSizes();
  }

  public updateRobotImage(robotName: string): void {
    this.robotService.updateRobotImage(robotName);
  }

  public updateRobotStatusOverlay(
    id: string,
    render = false,
    newPosition?: { x: number; y: number; rotate: number },
  ): void {
    this.robotService.updateRobotStatusOverlay(id, render, newPosition);
  }
  //#endregion

  /** 保存从后台传来的所有额外字段（除了已处理的robotGroups、robots、points、routes、areas之外的字段） */
  #originalSceneData?: Partial<StandardScene>;

  #sceneId: string;

  public getSceneId(): string | undefined {
    return this.#sceneId;
  }

  /** 坐标转换方法 - 将左上角原点的坐标转换为中心点原点的坐标 */
  #transformCoordinate(x: number, y: number): { x: number; y: number } {
    const { ratio = 1, width = 0, height = 0 } = this.#originalSceneData ?? {};

    // 先根据ratio进行缩放
    const scaledX = x / ratio;
    const scaledY = y / ratio;

    // 再进行坐标系转换：左上角原点 -> 中心点原点
    const centerX = scaledX - width / 2;
    const centerY = height / 2 - scaledY;

    // 应用精度控制：保留3位小数，之后直接舍去
    return {
      x: this.#fixPrecision(centerX),
      y: this.#fixPrecision(centerY),
    };
  }

  /** 尺寸转换方法 - 根据ratio缩放尺寸 */
  #transformSize(size: number): number {
    const { ratio = 1 } = this.#originalSceneData ?? {};
    const scaledSize = size / ratio;

    // 应用精度控制：保留3位小数，之后直接舍去
    return this.#fixPrecision(scaledSize);
  }

  /** 反向坐标转换方法 - 将中心点原点的坐标转换为左上角原点的坐标 */
  #reverseTransformCoordinate(x: number, y: number): { x: number; y: number } {
    const { ratio = 1, width = 0, height = 0 } = this.#originalSceneData ?? {};

    // 先进行坐标系转换：中心点原点 -> 左上角原点
    const topLeftX = x + width / 2;
    const topLeftY = height / 2 - y;

    // 再根据ratio进行缩放
    const scaledX = topLeftX * ratio;
    const scaledY = topLeftY * ratio;

    // 应用精度控制：保留3位小数，之后直接舍去
    return {
      x: this.#fixPrecision(scaledX),
      y: this.#fixPrecision(scaledY),
    };
  }

  /** 反向尺寸转换方法 - 根据ratio还原尺寸 */
  #reverseTransformSize(size: number): number {
    const { ratio = 1 } = this.#originalSceneData ?? {};
    const scaledSize = size * ratio;

    // 应用精度控制：保留3位小数，之后直接舍去
    return this.#fixPrecision(scaledSize);
  }

  /** 精度控制方法 - 固定3位小数，3位之后直接舍去（不四舍五入），不足3位则补齐 */
  #fixPrecision(value: number): number {
    // 先截断到3位小数（不四舍五入）
    const truncated = Math.floor(value * 1000) / 1000;
    // 然后格式化为固定3位小数的字符串，再转回数字
    return parseFloat(truncated.toFixed(3));
  }

  /**
   * 优化的像素对齐算法 - 确保在所有缩放比例下都能精确对齐像素边界
   * 解决小车和光圈在特定缩放比例下不重合的问题
   */

  /** 画布变化事件流，用于触发响应式数据更新 */
  readonly #change$$ = new Subject<boolean>();

  /** 区域大小变化防抖处理的事件流 */
  readonly #areaSizeChange$$ = new Subject<MapPen>();

  /** 防抖处理后的区域大小变化事件，延迟500ms执行 */
  readonly #debouncedAreaSizeChange = this.#areaSizeChange$$.pipe(
    debounceTime(500), // 500ms防抖延迟
    map((pen) => pen),
  );

  /** 当前选中的图形对象，响应式更新 */
  public readonly current = useObservable<MapPen>(
    this.#change$$.pipe(
      debounceTime(100),
      map(() => <MapPen>clone(this.store.active?.[0])),
    ),
  );

  /** 当前选中的图形ID列表，响应式更新 */
  public readonly selected = useObservable<string[], string[]>(
    this.#change$$.pipe(
      filter((v) => !v),
      debounceTime(100),
      map(() => this.store.active?.map(({ id }) => id).filter((v) => !isNil(v)) ?? []),
    ),
    { initialValue: new Array<string>() },
  );

  /** 画布上所有图形对象列表，响应式更新 */
  public readonly pens = useObservable<MapPen[]>(
    this.#change$$.pipe(
      filter((v) => v),
      debounceTime(100),
      map(() => this.data().pens),
    ),
  );

  public override find(target: string): MapPen[] {
    return super.find(target);
  }
  public getPenById(id?: string): MapPen | undefined {
    if (!id) return;
    return this.find(id)[0];
  }

  public override active(target: string | Pen[], emit?: boolean): void {
    const pens = isString(target) ? this.find(target) : target;
    super.active(pens, emit);
    this.render();
  }
  public override inactive(): void {
    super.inactive();
    this.render();
  }

  public gotoById(id: string): void {
    const pen = this.getPenById(id);
    if (isNil(pen)) return;
    // 判断机器人是否可见，如果不可见直接返回
    if (pen.visible === false && pen.tags?.includes('robot')) return;
    this.gotoView(pen);
  }

  public deleteById(id?: string): void {
    const pen = this.getPenById(id);
    if (pen?.name !== 'area') return;
    this.delete([pen], true, true);
  }

  public updatePen(id: string, pen: Partial<MapPen>, record = true, render = true): void {
    this.setValue({ ...pen, id }, { render, history: record, doEvent: true });
  }

  /**
   * 更新动作点的边框颜色
   * @param pointId 动作点ID
   * @param color 边框颜色（如 '#ff4d4f' 红色或 '#52c41a' 绿色）
   */
  public updatePointBorderColor(pointId: string, color: string): void {
    const pen = this.getPenById(pointId);
    if (!pen || pen.name !== 'point') return;
    this.updatePen(pointId, { statusStyle: color }, false);
  }

  /**
   * 为动作点创建库位pen对象
   * @param pointId 动作点ID
   * @param storageLocations 库位名称列表
   * @param render 是否立即渲染，默认为true
   */
  public createStorageLocationPens(pointId: string, storageLocations: string[], render = true): void {
    this.storageLocationService?.create(pointId, storageLocations, render);
  }

  /**
   * 删除动作点的所有库位pen对象
   * @param pointId 动作点ID
   */
  public removeStorageLocationPens(pointId: string): void {
    this.storageLocationService?.delete(pointId);
  }

  /**
   * 创建库位
   * @param pointId 动作点ID
   * @param storageLocations 库位名称列表
   */
  public createStorageLocation(pointId: string, storageLocations: string[]): void {
    this.storageLocationService?.create(pointId, storageLocations);
  }

  /**
   * 更新库位状态
   * @param pointId 动作点ID
   * @param updates 更新操作，可以是单个库位或批量更新
   * @param state 单个库位状态（当updates为字符串时使用）
   */
  public updateStorageLocation(
    pointId: string,
    updates: string | Record<string, { occupied?: boolean; locked?: boolean }>,
    state?: { occupied?: boolean; locked?: boolean },
  ): void {
    this.storageLocationService?.update(pointId, updates, state);
  }

  /**
   * 删除库位
   * @param pointId 动作点ID
   */
  public deleteStorageLocation(pointId: string): void {
    this.storageLocationService?.delete(pointId);
  }

  /**
   * 获取库位更新器实例
   * @returns 库位更新器实例
   */
  public getStorageLocationUpdater() {
    if (!this.storageLocationService) {
      throw new Error('StorageLocationService 未初始化');
    }
    return createStorageLocationUpdater(this.storageLocationService);
  }

  /**
   * 为所有动作点创建库位pen对象
   * 用于初始化或刷新所有动作点的库位显示
   * 优化性能：使用批量操作减少DOM操作次数
   */
  public createAllStorageLocationPens(): void {
    if (!this.storageLocationService) return;

    // 使用 requestIdleCallback 在浏览器空闲时执行，避免阻塞UI
    if (typeof requestIdleCallback !== 'undefined') {
      requestIdleCallback(
        () => {
          this.storageLocationService?.createAll();
        },
        { timeout: 200 },
      );
    } else {
      // 降级到 requestAnimationFrame
      requestAnimationFrame(() => {
        this.storageLocationService?.createAll();
      });
    }
  }

  /**
   * 自动为动作点生成库位
   * @param areaName 库区名称
   * @param actionPoints 动作点列表
   */
  public autoCreateStorageLocations(areaName: string, actionPoints: MapPen[]): void {
    this.autoStorageGenerator.autoCreateStorageLocations(areaName, actionPoints);
  }

  /**
   * 为指定动作点生成库位
   * @param pointId 动作点ID
   * @param areaName 库区名称
   * @returns 生成的库位名称，如果失败返回null
   */
  public generateStorageForPoint(pointId: string, areaName: string): string | null {
    return this.autoStorageGenerator.generateStorageForPoint(pointId, areaName);
  }

  /**
   * 批量生成库位
   * @param pointIds 动作点ID列表
   * @param areaName 库区名称
   * @returns 生成结果统计
   */
  public batchGenerateStorageForPoints(
    pointIds: string[],
    areaName: string,
  ): {
    success: number;
    skipped: number;
    failed: number;
    generatedNames: string[];
  } {
    return this.autoStorageGenerator.batchGenerateStorageForPoints(pointIds, areaName);
  }

  /**
   * 根据设备ID更新自动门点状态
   * @param deviceId 设备ID
   * @param doorStatus 设备状态（0=关门，1=开门）
   * @param isConnected 连接状态（true=已连接，false=未连接）
   * @param active 是否显示光圈
   * @param pointId 可选的点位ID，如果提供则直接使用，避免查找
   */
  public updateAutoDoorByDeviceId(
    deviceId: string,
    doorStatus: number,
    isConnected: boolean,
    active = true,
    pointId?: string,
  ): void {
    let autoDoorPointId = pointId;

    // 如果没有提供pointId，则通过deviceId查找
    if (!autoDoorPointId) {
      const autoDoorPoint = this.data().pens.find(
        (pen) =>
          pen.name === 'point' &&
          (pen as MapPen).point?.type === MapPointType.自动门点 &&
          (pen as MapPen).point?.deviceId === deviceId,
      ) as MapPen | undefined;

      if (!autoDoorPoint?.id) {
        console.warn(`未找到设备ID为 ${deviceId} 的自动门点`);
        return;
      }

      autoDoorPointId = autoDoorPoint.id;
    }

    // 通过pointId获取点位对象
    const autoDoorPoint = this.getPenById(autoDoorPointId) as MapPen | undefined;

    if (!autoDoorPoint?.point) {
      console.warn(`自动门点 ${autoDoorPointId} 不存在或数据异常`);
      return;
    }

    // 更新自动门点状态
    this.updatePen(
      autoDoorPointId,
      {
        point: {
          ...autoDoorPoint.point,
          doorStatus,
          isConnected,
          active,
        },
      },
      false,
    );
  }

  public updatePointLockIcon(pointId: string, show: boolean): void {
    const pointPen = this.getPenById(pointId);
    if (!pointPen || pointPen.name !== 'point') return;

    const lockIconId = `lock-icon-${pointId}`;
    const existingIcon = this.getPenById(lockIconId);

    if (show) {
      if (existingIcon) {
        this.setValue({ id: lockIconId, visible: true }, { render: true, history: false, doEvent: false });
      } else {
        const { x = 0, y = 0 } = this.getPenRect(pointPen);
        const iconPen: MapPen = {
          id: lockIconId,
          name: 'circle',
          tags: ['lock-icon'],
          x: x + 48, // 在点右侧显示
          y: y + 60,
          width: 8,
          height: 8,
          background: '#ff4d4f', // 红色背景
          color: '#ff4d4f',
          locked: LockState.Disable,
          visible: true,
        };
        this.addPen(iconPen, false, false, true);
        this.inactive();
      }
    } else {
      if (existingIcon) {
        this.setValue({ id: lockIconId, visible: false }, { render: true, history: false, doEvent: false });
      }
    }
  }

  //#region 点位
  /** 画布上所有点位对象列表，响应式更新 */
  public readonly points = useObservable<MapPen[], MapPen[]>(
    this.#change$$.pipe(
      filter((v) => v),
      debounceTime(100),
      map(() => this.find('point')),
    ),
    { initialValue: new Array<MapPen>() },
  );

  public getPointRect(pen?: MapPen): Rect | null {
    return this.pointManager.getPointRect(pen);
  }

  /**
   * 在指定位置添加点位
   * @param p 点位坐标
   * @param type 点位类型，默认为普通点
   * @param id 点位ID，未指定则自动生成
   */
  public async addPoint(p: Point, type = MapPointType.普通点, id?: string): Promise<void> {
    await this.pointManager.addPoint(p, type, id);
  }

  public updatePoint(id: string, info: Partial<MapPointInfo>, autoCreateStorage = true): void {
    this.pointManager.updatePoint(id, info, autoCreateStorage);
  }

  public changePointType(id: string, type: MapPointType): void {
    this.pointManager.changePointType(id, type);
  }

  //#endregion

  //#region 线路
  /** 画布上所有路线对象列表，响应式更新，包含动态生成的标签 */
  public readonly routes = useObservable<MapPen[], MapPen[]>(
    this.#change$$.pipe(
      filter((v) => v),
      debounceTime(100),
      map(() => this.find('route').map((v) => ({ ...v, label: this.getRouteLabel(v.id) }))),
    ),
    { initialValue: new Array<MapPen>() },
  );

  public getRouteLabel(id?: string, directionOverride?: number): string {
    return this.routeManager.getRouteLabel(id, directionOverride);
  }

  public addRoute(p: [MapPen, MapPen], type = MapRouteType.直线, id?: string): void {
    this.routeManager.addRoute(p, type, id);
  }

  public updateRoute(id: string, info: Partial<MapRouteInfo>): void {
    this.routeManager.updateRoute(id, info);
  }

  public changeRouteType(id: string, type: MapRouteType): void {
    this.routeManager.changeRouteType(id, type);
  }

  public getRoutesBetweenPoints(point1Id: string, point2Id: string): MapPen[] {
    return this.routeManager.getRoutesBetweenPoints(point1Id, point2Id);
  }

  public getReverseRoute(routeId: string): MapPen | null {
    return this.routeManager.getReverseRoute(routeId);
  }

  public addBidirectionalRoute(
    p: [MapPen, MapPen],
    type = MapRouteType.直线,
    forwardId?: string,
    reverseId?: string,
  ): void {
    this.routeManager.addBidirectionalRoute(p, type, forwardId, reverseId);
  }

  public removeBidirectionalRoute(routeId: string): void {
    this.routeManager.removeBidirectionalRoute(routeId);
  }

  public hasBidirectionalRoute(point1Id: string, point2Id: string): boolean {
    return this.routeManager.hasBidirectionalRoute(point1Id, point2Id);
  }

  //#region 区域
  /** 画布上所有区域对象列表，响应式更新 */
  public readonly areas = useObservable<MapPen[], MapPen[]>(
    this.#change$$.pipe(
      filter((v) => v),
      debounceTime(100),
      map(() => this.find('area')),
    ),
    { initialValue: new Array<MapPen>() },
  );

  public getBoundAreas(id: string = '', name: 'point' | 'line', type: MapAreaType): MapPen[] {
    return this.areaManager.getBoundAreas(id, name, type);
  }

  public async addArea(p1: Point, p2: Point, type = MapAreaType.库区, id?: string): Promise<void> {
    await this.areaManager.addArea(p1, p2, type, id);
  }

  public updateArea(id: string, info: Partial<MapAreaInfo>): void {
    this.areaManager.updateArea(id, info);
  }

  //#endregion

  /**
   * 构造函数 - 初始化场景编辑器
   * @param container 编辑器容器DOM元素
   */
  constructor(container: HTMLDivElement, sceneId: string) {
    super(container, EDITOR_CONFIG);
    this.#sceneId = sceneId;

    // 初始化图层管理服务
    this.layerManager = new LayerManagerService(this);

    // 初始化区域操作服务
    this.areaOperationService = new AreaOperationService();

    // 初始化库位服务
    this.storageLocationService = new StorageLocationService(this, '');
    this.robotService = new EditorRobotService(this);

    // 初始化自动生成库位工具
    this.autoStorageGenerator = new AutoStorageGenerator(this);

    // 初始化BinTask管理服务
    this.binTaskManager = new BinTaskManagerService(this);

    this.pointManager = new PointManager(this, this.layerManager);
    this.routeManager = new RouteManager(this);
    this.areaManager = new AreaManager(this, this.autoStorageGenerator);

    // 设置颜色配置服务的编辑器实例
    colorConfig.setEditorService(this);

    // 禁用第6个子元素的拖放功能
    (<HTMLDivElement>container.children.item(5)).ondrop = null;
    // 监听所有画布事件
    this.on('*', (e, v) => this.#listen(e, v));

    // 添加额外的右键事件监听器，确保阻止默认行为
    const canvasElement = this.canvas as unknown as HTMLCanvasElement;
    if (canvasElement && canvasElement.addEventListener) {
      canvasElement.addEventListener(
        'contextmenu',
        (event) => {
          event.preventDefault(); // 仅屏蔽浏览器默认菜单，保留 Meta2D 的事件派发
        },
        true,
      );
    }

    // 注册自定义绘制函数和锚点
    this.#register();

    // 监听主题变化并重新加载样式
    watch(
      () => sTheme.theme,
      (v) => this.#load(v),
      { immediate: true },
    );

    // 订阅防抖处理后的区域大小变化事件
    this.#debouncedAreaSizeChange.subscribe((pen: MapPen) => {
      this.areaOperationService.handleAreaSizeChange(
        pen,
        (type) => this.find(type),
        (id, info) => this.updateArea(id, info),
      );
    });
  }

  #load(theme: string): void {
    this.setTheme(theme);

    this.setOptions({ color: get(sTheme.editor, 'color') });
    this.pointManager.refreshPointImages();
    this.find('robot').forEach((pen) => {
      if (!pen.robot?.type) return;
      // 从pen的text属性获取机器人名称
      const robotName = pen.text || '';
      this.canvas.updateValue(pen, this.robotService.mapRobotImage(pen.robot.type, pen.robot.active, robotName));
    });
    this.render();
  }

  /**
   * 重新加载主题和图片配置
   * 用于批量编辑后确保大点位图片正确显示
   * 异步执行，避免阻塞UI
   */
  public reloadTheme(): void {
    const currentTheme = this.data().theme || 'light';
    // 使用 requestAnimationFrame 确保在下一个渲染帧执行，避免阻塞UI
    requestAnimationFrame(() => {
      this.#load(currentTheme);
    });
  }

  #onDelete(pens?: MapPen[]): void {
    pens?.forEach((pen) => {
      switch (pen.name) {
        case 'point':
          this.delete(this.getLines(pen), true, false);
          break;
        default:
          break;
      }
    });
  }

  #listen(e: unknown, v: any) {
    switch (e) {
      case 'opened':
        this.#load(sTheme.theme);
        this.#change$$.next(true);
        break;

      case 'add':
        this.#change$$.next(true);
        break;
      case 'delete':
        this.#onDelete(v);
        this.#change$$.next(true);
        break;
      case 'update':
        this.#change$$.next(true);
        break;
      case 'valueUpdate':
        this.#change$$.next(true);
        // 检查是否是区域属性更新
        if (v && v.area?.type && ['area'].includes(v.tags?.[0] || '')) {
          // 发送到防抖流，避免频繁触发
          this.#areaSizeChange$$.next(v);
        }
        break;

      case 'active':
      case 'inactive':
        this.#change$$.next(false);
        break;

      case 'click':
      case 'mousedown':
      case 'mouseup':
        this.#mouse$$.next({ type: e, value: pick(this.getPenRect(v), 'x', 'y') });
        break;
      case 'contextmenu':
        // 右键菜单事件由 Meta2D 自动处理，不需要额外处理
        // 事件会直接传递给外部监听器
        console.log('EditorService 捕获到右键菜单事件:', v);
        // 触发自定义的右键菜单事件，传递画布数据
        this.emit('customContextMenu', v);
        break;
      // 监听区域调整大小事件
      case 'resizePens': {
        // resizePens 事件的目标可能是 undefined，需要从 store.active 获取
        const activePens = this.store.active;
        if (activePens && activePens.length > 0) {
          activePens.forEach((pen: MapPen) => {
            if (pen.area?.type && ['area'].includes(pen.tags?.[0] || '')) {
              // 发送到防抖流，避免频繁触发
              this.#areaSizeChange$$.next(pen);
            }
          });
        }
        break;
      }

      // 监听区域线条更新事件，这通常是区域位置变化时触发的
      case 'updateLines':
        if (v && v.area?.type && ['area'].includes(v.tags?.[0] || '')) {
          // 发送到防抖流，避免频繁触发
          this.#areaSizeChange$$.next(v);
        }
        break;

      default:
        break;
    }
  }

  /**
   * 手动检查并更新指定区域的点位绑定
   * 当用户调整区域大小后，可以调用此方法手动触发检查
   * @param areaId 区域ID
   */
  public checkAndUpdateAreaPoints(areaId: string): void {
    this.areaOperationService.checkAndUpdateAreaPoints(
      areaId,
      (id) => this.getPenById(id),
      (type) => this.find(type),
      (id, info) => this.updateArea(id, info),
    );
  }

  /**
   * 检查并更新所有互斥区和非互斥区的点位绑定
   * 用于批量检查和更新
   */
  public checkAndUpdateAllAreas(): void {
    this.areaOperationService.checkAndUpdateAllAreas(
      (type) => this.find(type),
      (type) => this.find(type),
      (id, info) => this.updateArea(id, info),
    );
  }

  /**
   * 批量更新点位类型
   * @param pointIds 点位ID数组
   * @param pointType 新的点位类型
   */
  public batchUpdatePointType(pointIds: string[], pointType: MapPointType): void {
    pointIds.forEach((id) => {
      const pen = this.getPenById(id);
      if (pen?.name === 'point') {
        this.updatePen(id, {
          point: {
            ...pen.point,
            type: pointType,
          },
        });
      }
    });
  }

  /**
   * 批量更新路线类型
   * @param routeIds 路线ID数组
   * @param routeType 新的路线类型
   */
  public batchUpdateRouteType(routeIds: string[], routeType: MapRouteType): void {
    routeIds.forEach((id) => {
      const pen = this.getPenById(id);
      if (pen?.name === 'line' && pen.route) {
        this.updatePen(id, {
          route: {
            ...pen.route,
            type: routeType,
          },
        });
      }
    });
  }

  /**
   * 批量更新路线通行类型
   * @param routeIds 路线ID数组
   * @param passType 新的通行类型
   */
  public batchUpdateRoutePassType(routeIds: string[], passType: MapRoutePassType): void {
    routeIds.forEach((id) => {
      const pen = this.getPenById(id);
      if (pen?.name === 'line' && pen.route) {
        this.updatePen(id, {
          route: {
            ...pen.route,
            pass: passType,
          },
        });
      }
    });
  }

  /**
   * 批量更新路线方向
   * @param routeIds 路线ID数组
   * @param direction 新的方向
   */
  public batchUpdateRouteDirection(routeIds: string[], direction: 1 | -1): void {
    routeIds.forEach((id) => {
      const pen = this.getPenById(id);
      if (pen?.name === 'line' && pen.route) {
        this.updatePen(id, {
          route: {
            ...pen.route,
            direction,
          },
        });
      }
    });
  }

  /**
   * 批量更新多个属性
   * @param updates 更新配置数组
   */
  public batchUpdate(updates: Array<{ id: string; updates: Partial<MapPen> }>): void {
    // 批量更新所有点位，避免多次渲染
    updates.forEach(({ id, updates }) => {
      this.updatePen(id, updates, true, false); // 记录历史但不立即渲染
    });
    // 统一渲染一次
    this.render();
  }

  #register() {
    this.register({ line: () => new Path2D() });
    this.registerCanvasDraw({
      point: drawPoint,
      line: drawLine,
      area: drawArea,
      robot: drawRobot,
      'storage-location': drawStorageLocation,
      'storage-more': drawStorageMore,
      'storage-background': drawStorageBackground,
    });
    this.registerAnchors({ point: anchorPoint });
    this.addDrawLineFn('bezier2', lineBezier2);
    this.addDrawLineFn('bezier3', lineBezier3);
  }
}

//#region 自定义绘制函数
// 已拆分至 ./editor/editor-drawers.ts
//#endregion