import math
from copy import deepcopy
import json
from dijkstra.dijkstra_algorithm import Graph
import numpy as np
import scipy.spatial as spt
import message_pb2 as message
import uuid


class Node(object):
    def __init__(self, id, x, y):
        self.id_ = id
        self.x_ = x
        self.y_ = y

    def distance(self, other):
        if not isinstance(other, (Node, StreetNode, SpaceNode)):
            print(" node must be Node,street_node,space_node")
            return -1
        return math.sqrt(math.pow(other.x_ - self.x_, 2) + math.pow(other.y_ - self.y_, 2))


class StreetNode(Node):
    def __init__(self, id, x, y):
        Node.__init__(self, id, x, y)


class SpaceNode(Node):
    def __init__(self, id, x, y, yaw):
        Node.__init__(self, id, x, y)
        self.yaw_ = yaw

    def frontPoint(self, wheelBase):
        x = self.x_ + wheelBase / 2.0 * math.cos(self.yaw_)
        y = self.y_ + wheelBase / 2.0 * math.sin(self.yaw_)
        return [x, y]

    def backPoint(self, wheelBase):
        x = self.x_ - wheelBase / 2.0 * math.cos(self.yaw_)
        y = self.y_ - wheelBase / 2.0 * math.sin(self.yaw_)
        return [x, y]


def singleton(cls):
    _instance = {}

    def inner():
        if cls not in _instance:
            _instance[cls] = cls()
        return _instance[cls]

    return inner


'''
map 采用单例
'''


class DijikstraMap(object):
    def __init__(self):
        self.nodes_ = {}  # dict ,{id: StreetNode/SpaceNode}
        self.graph_ = Graph()

    def GetVertex(self, id):
        return self.nodes_.get(id)

    def AddVertex(self, node):
        if isinstance(node, (StreetNode)):
            print("add street node :%s " % (node.id_))
            self.nodes_[node.id_] = node

        if isinstance(node, (SpaceNode)):
            print("add space node :%s  " % (node.id_))
            self.nodes_[node.id_] = node

        self.graph_.AddVertex(node.id_, [node.x_, node.y_])
        return True

    def ResetVertexValue(self, node):
        self.graph_.ResetVertexValue(node.id_, [node.x_, node.y_])
        self.nodes_[node.id_].x_ = node.x_
        self.nodes_[node.id_].y_ = node.y_

    def AddEdge(self, id1, id2, direct=False):
        if self.nodes_.get(id1) == None or self.nodes_.get(id2) == None:
            print("Exceptin: Add edge failed")
            print(id1, id2)
            raise ("Add edge failed %s or %s node is not exist" % (id1, id2))
        print("Add Edge :%s-%s" % (id1, id2))
        self.graph_.AddEdge(id1, id2)
        if direct == False:
            self.graph_.AddEdge(id2, id1)

    def VertexDict(self):
        return self.nodes_

    def Edges(self):
        return self.graph_.graph_edges

    def findNeastNode(self, pt):
        labels = []
        pts = []
        for item in self.nodes_.items():
            [label, node] = item
            labels.append(label)
            pts.append([node.x_, node.y_])
        points = np.array(pts)
        ckt = spt.KDTree(data=points, leafsize=10)
        find_pt = np.array(pt)
        d, i = ckt.query(find_pt)
        if i >= 0 and i < len(pts):
            return [labels[i], pts[i]]

    def GetShortestPath(self, beg, end):
        [pathId, distance] = self.graph_.shortest_path(beg, end)
        print("distance:", distance)
        print("path:", pathId)
        path = []
        for nodeId in pathId:
            node = self.nodes_[nodeId]
            path.append(node)
        return path

    @staticmethod
    def CreatePath(pathNodes, delta):
        last_node = None
        trajectry = []
        for node in pathNodes:
            if last_node == None:
                last_node = node
                continue
            dis = last_node.distance(node)
            if dis < 0.5:
                last_node = node
                continue  # 同一点
            else:
                vector = [node.x_ - last_node.x_, node.y_ - last_node.y_]

                dx = vector[0]
                dy = vector[1]
                yaw = math.asin(dy / math.sqrt(dx * dx + dy * dy))
                if yaw >= 0:
                    if dx < 0:
                        yaw = math.pi - yaw
                if yaw < 0:
                    if dx < 0:
                        yaw = -math.pi - yaw
                len = int(math.sqrt(dx * dx + dy * dy) / delta)
                ax = math.cos(yaw) * delta
                ay = math.sin(yaw) * delta
                poses = []
                if isinstance(last_node, (SpaceNode)):
                    yaw = yaw + math.pi
                for i in range(len + 1):
                    pose = [last_node.x_ + i * ax, last_node.y_ + i * ay, yaw]
                    poses.append(pose)
                trajectry.append(poses)
                last_node = node
        return trajectry

    @staticmethod
    def CreateNavCmd(pose, path):
        if len(path) <= 1:
            return None

        cmd = message.NavCmd()
        cmd.action = 0  # 新导航
        key = str(uuid.uuid4())
        cmd.key = (key)
        adjustdiff = message.Pose2d()
        node_mpcdiff = message.Pose2d()
        enddiff = message.Pose2d()
        lastAdjustDiff = message.Pose2d()

        # 目标点精度设置
        # 原地调整精度
        adjustdiff.x = (0.1)
        adjustdiff.y = (0.1)
        adjustdiff.theta = (0.5 * math.pi / 180.0)

        # 过程点巡线目标精度
        node_mpcdiff.x = (0.05)
        node_mpcdiff.y = (0.05)
        node_mpcdiff.theta = (10 * math.pi / 180.0)

        # 最后一个巡线目标点精度
        enddiff.x = (0.02)
        enddiff.y = (0.02)
        enddiff.theta = (0.5 * math.pi / 180.0)

        # 最后一个原地调整精度
        lastAdjustDiff.x = (0.03)
        lastAdjustDiff.y = (0.01)
        lastAdjustDiff.theta = (0.7 * math.pi / 180.0)

        # 速度限制
        v_limit = message.SpeedLimit()
        angular_limit = message.SpeedLimit()
        horize_limit = message.SpeedLimit()
        v_limit.min = (0.1)
        v_limit.max = (0.2)
        horize_limit.min = (0.05)
        horize_limit.max = (0.2)
        angular_limit.min = (2)
        angular_limit.max = (40.0)
        # mpc速度限制
        mpc_x_limit = message.SpeedLimit()
        last_MPC_v = message.SpeedLimit()
        mpc_angular_limit = message.SpeedLimit()
        mpc_x_limit.min = (0.05)
        mpc_x_limit.max = (1.2)
        last_MPC_v.min = 0.03
        last_MPC_v.max = 0.4

        mpc_angular_limit.min = (0 * math.pi / 180.0)
        mpc_angular_limit.max = (3 * math.pi / 180.0)

        # 创建动作集----------------------

        last_node = None
        count = 0
        for node in path:
            if last_node == None:
                last_node = node
                count += 1
                continue

            # 运动到上一点
            vector = [node.x_ - last_node.x_, node.y_ - last_node.y_]
            dx = vector[0]
            dy = vector[1]
            yaw = math.asin(dy / math.sqrt(dx * dx + dy * dy))
            if yaw >= 0:
                if dx < 0:
                    yaw = math.pi - yaw
            if yaw < 0:
                if dx < 0:
                    yaw = -math.pi - yaw
            if isinstance(last_node, (SpaceNode)):
                yaw = yaw + math.pi
            # 添加调整动作
            act_adjust = message.Action()
            act_adjust.type = (1)

            act_adjust.target.x = (last_node.x_)
            act_adjust.target.y = (last_node.y_)
            act_adjust.target.theta = (yaw)
            # 最后一个调整点
            if count == len(path) - 2:
                act_adjust.target_diff.CopyFrom(lastAdjustDiff)
            else:
                act_adjust.target_diff.CopyFrom(adjustdiff)
            act_adjust.velocity_limit.CopyFrom(v_limit)
            act_adjust.horize_limit.CopyFrom(horize_limit)
            act_adjust.angular_limit.CopyFrom(angular_limit)
            cmd.actions.add().CopyFrom(act_adjust)

            # 添加mpc动作
            act_along = message.Action()
            act_along.type = (2)

            act_along.begin.x = (last_node.x_)
            act_along.begin.y = (last_node.y_)
            act_along.begin.theta = (yaw)
            act_along.target.x = (node.x_)
            act_along.target.y = (node.y_)
            act_along.target.theta = (yaw)
            if count == len(path) - 1:
                act_along.target_diff.CopyFrom(enddiff)

            else:
                act_along.target_diff.CopyFrom(node_mpcdiff)
            if isinstance(node, (SpaceNode)) or isinstance(last_node, (SpaceNode)):
                act_along.velocity_limit.CopyFrom(last_MPC_v)
            else:
                act_along.velocity_limit.CopyFrom(mpc_x_limit)
            act_along.angular_limit.CopyFrom(mpc_angular_limit)
            cmd.actions.add().CopyFrom(act_along)

            last_node = node
            count += 1

        return cmd


@singleton
class MapManager(object):
    def __init__(self):
        self.default_wheel_base = 2.6
        self.maps = {}
        self.maps["Base"] = DijikstraMap()
        self.maps["Front"] = DijikstraMap()
        self.maps["Back"] = DijikstraMap()

    def readJson(self, file):
        with open(file, 'r', encoding='utf-8') as fp:
            map = json.load(fp)
            return map

    def LoadJson(self, file):

        self.maps["Base"] = DijikstraMap()
        self.maps["Front"] = DijikstraMap()
        self.maps["Back"] = DijikstraMap()

        map = self.readJson(file)

        for node in map['street_nodes'].items():
            [id, point] = node
            street_node = StreetNode(id, point[0], point[1])
            self.maps["Base"].AddVertex(street_node)

        for node in map['space_nodes'].items():
            [id, point] = node
            [x, y, yaw] = point
            space_node = SpaceNode(id, point[0], point[1], yaw)
            self.maps["Base"].AddVertex(space_node)

        for road in map['roads'].items():
            [roadName, points] = road
            for pt1 in points:
                for pt2 in points:
                    if not pt1 == pt2:
                        self.maps["Base"].AddEdge(pt1, pt2)
        self.ResetMap("Front", 0, self.default_wheel_base/2)
        self.ResetMap("Back", 0, -self.default_wheel_base/2)

    def ResetMap(self, mapName, dx, dy):
        self.maps[mapName] = deepcopy(self.maps["Base"])
        for id in self.maps[mapName].nodes_:
            if id.find("R_") >= 0:
                node = self.maps["Base"].GetVertex(id)
                self.maps[mapName].ResetVertexValue(StreetNode(node.id_, node.x_ + dx, node.y_ + dy))
        return self.maps[mapName]

    def GetVertex(self, mapName, id):
        return self.maps[mapName].GetVertex(id)

    def AddVertex(self, mapName, node):
        self.maps[mapName].AddVertex(node)

    def AddEdge(self, mapName, id1, id2, direct=False):
        self.maps[mapName].AddEdge(id1, id2, direct)

    def Reset(self, mapName):
        self.maps[mapName] = DijikstraMap()

    def VertexDict(self, mapName):
        return self.maps[mapName].VertexDict()

    def Edges(self, mapName):
        return self.maps[mapName].Edges()

    def findNeastNode(self, mapName, pt):
        return self.maps[mapName].findNeastNode(pt)

    def GetShortestPath(self, mapName, beg, end):
        print("beg: ", self.maps[mapName].graph_.points[beg])
        print("end: ", self.maps[mapName].graph_.points[end])
        return self.maps[mapName].GetShortestPath(beg, end)