# -*- coding: utf-8 -*-
"""
Created on Mon Mar  4 18:38:20 2024

@author: ym
"""
import numpy as np
from utils.mergetrack import track_equal_track
from .dotracks import doTracks
from .track_front import frontTrack

class doFrontTracks(doTracks):
    def __init__(self, bboxes, TracksDict):
        super().__init__(bboxes, TracksDict)
        
        self.tracks = [frontTrack(b) for b in self.lboxes]

    def classify(self):
        '''功能：对 tracks 中元素分类 '''
        
        tracks = self.tracks

        '''提取手的 tracks'''
        hand_tracks = [t for t in tracks if t.cls==0]
        
                
        self.Hands.extend(hand_tracks)
        tracks = self.sub_tracks(tracks, hand_tracks)
        
        
        
        '''提取小孩的 tracks'''
        kid_tracks = [t for t in tracks if t.cls==9]        
        tracks = self.sub_tracks(tracks, kid_tracks)


        '''静态 tracks'''        
        static_tracks = [t for t in tracks if t.frnum>1 and t.is_static()] 

        
        '''剔除静止目标后的 tracks'''
        tracks = self.sub_tracks(tracks, static_tracks)
         
        '''轨迹循环归并'''
        merged_tracks = self.merge_tracks_loop(tracks)
        
        tracks = [t for t in merged_tracks if t.frnum > 1]

        for gtrack in tracks:
            # print(f"Goods ID:{gtrack.tid}")
            for htrack in hand_tracks:
                if self.is_associate_with_hand(htrack, gtrack):
                    gtrack.hands.append(htrack)
                    
        freemoved_tracks = [t for t in tracks if t.is_free_move()]
        
        tracks = self.sub_tracks(tracks, freemoved_tracks)
                    

        self.Residual = tracks
  
    def is_associate_with_hand(self, htrack, gtrack):
        '''手部 Track、商品 Track 建立关联的依据：
            a. 运动帧的帧索引有交集
            b. 帧索引交集部分iou均大于0
        '''
        
        assert htrack.cls==0 and gtrack.cls!=0 and gtrack.cls!=9, 'Track cls is Error!'
        
        hboxes = np.empty(shape=(0, 9), dtype = np.float)
        gboxes = np.empty(shape=(0, 9), dtype = np.float)
        
        # start, end 为索引值，需要 start:(end+1)
        for start, end in htrack.dynamic_y2:
            hboxes = np.concatenate((hboxes, htrack.boxes[start:end+1, :]), axis=0)    
        for start, end in gtrack.dynamic_y1:
            gboxes = np.concatenate((gboxes, gtrack.boxes[start:end+1, :]), axis=0)
        
        hfids, gfids = hboxes[:, 7], gboxes[:, 7]
        fids = set(hfids).intersection(set(gfids))
        
        if len(fids)==0:
            return False
        
        
        # print(f"Goods ID: {gtrack.tid}, Hand ID: {htrack.tid}")
        ious = []
        for f in fids:
            h = np.where(hfids==f)[0][0]
            g = np.where(gfids==f)[0][0]
            
            x11, y11, x12, y12 = hboxes[h, 0:4]
            x21, y21, x22, y22 = gboxes[g, 0:4]
            
            x1, y1 = max((x11, x21)), max((y11, y21))
            x2, y2 = min((x12, x22)), min((y12, y22))
            
            union = (x2 - x1).clip(0) * (y2 - y1).clip(0)
            area1 = (x12 - x11) * (y12 - y11)
            area2 = (x22 - x21) * (y22 - y21)
            
            iou = union / (area1 + area2 - union + 1e-6)
            
            if iou>0: 
                ious.append(iou)
        
        return len(ious)
    
    
    
    def merge_tracks(self, Residual):
        """
        对不同id，但可能是同一商品的目标进行归并
        """ 
# =============================================================================
#         mergedTracks = []
#         alist = [t for t in Residual]
#         while alist:
#             atrack = alist[0]
#             cur_list = []
#             cur_list.append(atrack)
#             alist.pop(0)
#             
#             blist = [b for b in alist]
#             alist = []
#             for btrack in blist:
#                 if track_equal_track(atrack, btrack, self.TracksDict):
#                     cur_list.append(btrack)
#                 else:
#                     alist.append(btrack)
#                     
#             mergedTracks.append(cur_list)
# =============================================================================
        mergedTracks = self.base_merge_tracks(Residual)
        
        oldtracks, newtracks = [], []
        for tracklist in mergedTracks:
            if len(tracklist) > 1:
                boxes = np.empty((0, 9), dtype=np.float32)
                for i, track in enumerate(tracklist):
                    if i==0: ntid, ncls=track.boxes[0, 4], track.boxes[0, 6]
                    iboxes = track.boxes.copy()
                    iboxes[:, 4], iboxes[:, 6] = ntid, ncls
                    boxes = np.concatenate((boxes, iboxes), axis=0)
                    oldtracks.append(track)
                
                fid_indices = np.argsort(boxes[:, 7])
                boxes_fid = boxes[fid_indices]
                
                newtracks.append(frontTrack(boxes_fid))
            elif len(tracklist) == 1:
                oldtracks.append(tracklist[0])
                newtracks.append(tracklist[0])
                

        redu = self.sub_tracks(Residual, oldtracks)
        merged = self.join_tracks(redu, newtracks)

        return merged
            
        
    
        
# =============================================================================
#     def array2list(self):
#         '''
#             将 bboxes 变换为 track 列表
#             bboxes: [x1, y1, x2, y2, track_id, score, cls, frame_index, box_index]
#         Return：
#             lboxes：列表，列表中元素具有同一 track_id，x1y1x2y2 格式
#                     [x1, y1, x2, y2, track_id, score, cls, frame_index, box_index]        
#         '''
#         track_ids = set(self.bboxes[:, 4])
#         lboxes = []
#         for t_id in track_ids: 
#             # print(f"The ID is: {t_id}")
#             idx = np.where(self.bboxes[:, 4] == t_id)[0]
#             box = self.bboxes[idx, :]     
# 
#             lboxes.append(box)
#         
#         return lboxes
# =============================================================================