import storage, moving, utils
from math import * #atan2,asin,degrees,sin,cos,pi
import numpy as np

import matplotlib.pyplot as plt

def findNearest(feat, featureSet,t,reverse=True):
	dist={}
	for f in featureSet:
		if reverse:
			dist[f]= moving.Point.distanceNorm2(feat.getPositionAtInstant(t+1),f.getPositionAtInstant(t))
		else:
			dist[f]= moving.Point.distanceNorm2(feat.getPositionAtInstant(t-1),f.getPositionAtInstant(t))
	return min(dist, key=dist.get) # = utils.argmaxDict(dist)
	
def getFeatures(obj):
	longestFeature = utils.argmaxDict({f:f.length() for i,f in enumerate(obj.features)})
	t1,t3 = longestFeature.getFirstInstant(), longestFeature.getLastInstant()
	listFeatures=[[longestFeature,t1,t3,moving.Point(0,0)]]
	# find the features to fill in the beginning of the object existence
	currentFeature = longestFeature
	while t1!=obj.getFirstInstant():
		delta=listFeatures[-1][3]
		featureSet = [f for f in obj.features if f.existsAtInstant(t1-1)]
		feat = findNearest(currentFeature,featureSet,t1-1,reverse=True)
		if feat.existsAtInstant(t1):
			listFeatures.append([feat,feat.getFirstInstant(),t1-1,(currentFeature.getPositionAtInstant(t1)-feat.getPositionAtInstant(t1))+delta])
		else:
			listFeatures.append([feat,feat.getFirstInstant(),t1-1,(currentFeature.getPositionAtInstant(t1)-feat.getPositionAtInstant(t1-1))+delta])
		currentFeature = feat
		t1= feat.getFirstInstant()
	# find the features to fill in the end of the object existence
	delta=moving.Point(0,0)
	currentFeature = longestFeature
	while t3!= obj.getLastInstant():
		featureSet = [f for f in obj.features if f.existsAtInstant(t3+1)]
		feat = findNearest(currentFeature,featureSet,t3+1,reverse=False)
		if feat.existsAtInstant(t3):
			listFeatures.append([feat,t3+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(t3)-feat.getPositionAtInstant(t3))+delta])
		else:
			listFeatures.append([feat,t3+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(t3)-feat.getPositionAtInstant(t3+1))+delta])
		currentFeature = feat
		t3= feat.getLastInstant()
		delta=listFeatures[-1][3]
	return listFeatures
	
def buildFeature(obj,num=1):
	listFeatures= getFeatures(obj)
	tmp={}
	delta={}
	for i in listFeatures:
		for t in xrange(i[1],i[2]+1):
			tmp[t]=[i[0],i[3]]
	newTraj = moving.Trajectory()
	
	for instant in obj.getTimeInterval():
		newTraj.addPosition(tmp[instant][0].getPositionAtInstant(instant)+tmp[instant][1])
	newFeature= moving.MovingObject(num,timeInterval=obj.getTimeInterval(),positions=newTraj)
	return newFeature

def getBearing(p1,p2,p3):
	angle = degrees(atan2(p3.y -p1.y, p3.x -p1.x))
	bearing1 = (90 - angle) % 360
	angle2 = degrees(atan2(p2.y -p1.y, p2.x -p1.x))
	bearing2 = (90 - angle2) % 360	
	dist= moving.Point.distanceNorm2(p1, p2)
	return [dist,bearing1,bearing2,bearing2-bearing1]
	
def smoothObjectTrajectory(obj,newNum,smoothing=False,plotResults=True,halfWidth=3):
	results=[]	
	bearing={}
	feature= buildFeature(obj,1)
	for t in feature.getTimeInterval():
		p1= feature.getPositionAtInstant(t)
		p2= obj.getPositionAtInstant(t)
		if t!=feature.getLastInstant():
			p3= feature.getPositionAtInstant(t+1)
		else:
			p1= feature.getPositionAtInstant(t-1)
			p3= feature.getPositionAtInstant(t)
		bearing[t]= getBearing(p1,p2,p3)[1]		
		results.append(getBearing(p1,p2,p3))
	
	medianResults=np.median(results,0)
	dist= medianResults[0]
	angle= medianResults[3]
	
	for i in sorted(bearing.keys()):
		bearing[i]= bearing[i]+angle

	if smoothing:
		bearingInput=[]
		for i in sorted(bearing.keys()):
			bearingInput.append(bearing[i])
		bearingOut=utils.filterMovingWindow(bearingInput, halfWidth)
		for t,i in enumerate(sorted(bearing.keys())):
			bearing[i]=bearingOut[t]
		
		#solve a smoothing problem in case of big drop in computing bearing (0,360)	
		for t,i in enumerate(sorted(bearing.keys())):
			if i!= max(bearing.keys()) and abs(bearingInput[t] - bearingInput[t+1])>=340:
					for x in xrange(max(i-halfWidth,min(bearing.keys())),min(i+halfWidth,max(bearing.keys()))+1):
						bearing[x]=bearingInput[t-i+x]

	translated = moving.Trajectory()
	for t in feature.getTimeInterval():
		p1= feature.getPositionAtInstant(t)
		p1.x = p1.x + dist*sin(bearing[t]*pi/180)
		p1.y = p1.y + dist*cos(bearing[t]*pi/180)
		translated.addPosition(p1)
		
	#modify first and last un-smoothed positions (half width)
	if smoothing:
		d1= translated[halfWidth]- feature.positions[halfWidth]
		d2= translated[-halfWidth-1]- feature.positions[-halfWidth-1]
		for i in xrange(halfWidth):
			p1 = feature.getPositionAt(i)+d1
			p2 = feature.getPositionAt(-i-1)+d2
			translated.setPosition(i,p1)
			translated.setPosition(-i-1,p2)
		
	newObj= moving.MovingObject(newNum,timeInterval=feature.getTimeInterval(),positions=translated,velocities=obj.getVelocities())
	newObj.features=obj.features
	newObj.userType=obj.userType
	if plotResults:
		plt.figure()
		plt.title('objects_id = {}'.format(obj.num))
		newObj.plot('gx-')
		feature.plot('cx-')
		obj.plot('rx-')
	return newObj