#! /usr/bin/env python
'''Libraries for events
Interactions, pedestrian crossing...'''

import numpy as np
from numpy import arccos

import multiprocessing
import itertools

import moving, prediction, indicators, utils

__metaclass__ = type

class Interaction(moving.STObject):
    '''Class for an interaction between two road users 
    or a road user and an obstacle
    
    link to the moving objects
    contains the indicators in a dictionary with the names as keys
    '''

    categories = {'Head On': 0,
                  'rearend': 1,
                  'side': 2,
                  'parallel': 3}

    indicatorNames = ['Collision Course Dot Product',
                      'Collision Course Angle',
                      'Distance',
                      'Minimum Distance',
                      'Velocity Angle',
                      'Speed Differential',
                      'Collision Probability',
                      'Time to Collision',
                      'Probability of Successful Evasive Action',
                      'predicted Post Encroachment Time']

    indicatorNameToIndices = utils.inverseEnumeration(indicatorNames)

    indicatorShortNames = ['',
                           'CCAng',
                           'Dist',
                           'MinDist',
                           'VA',
                           'SD',
                           'PoC',
                           'TTC',
                           'P(SEA)',
                           'pPET']

    def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, roadUser1 = None, roadUser2 = None, categoryNum = None):
        moving.STObject.__init__(self, num, timeInterval)
        self.roadUserNumbers = set([roaduserNum1, roaduserNum2])
        self.roadUser1 = roadUser1
        self.roadUser2 = roadUser2
        self.categoryNum = categoryNum
        self.indicators = {}

    def getRoadUserNumbers(self):
        return self.roadUserNumbers

    def getIndicator(self, indicatorName):
        return self.indicators.get(indicatorName, None)

    def addIndicator(self, indicator):
        if indicator:
            self.indicators[indicator.name] = indicator

    def computeIndicators(self):
        '''Computes the collision course cosine only if the cosine is positive'''
        collisionCourseDotProducts = {}#[0]*int(self.timeInterval.length())
        collisionCourseAngles = {}
        velocityAngles = {}
        distances = {}#[0]*int(self.timeInterval.length())
        speedDifferentials = {}
        for instant in self.timeInterval:
            deltap = self.roadUser1.getPositionAtInstant(instant)-self.roadUser2.getPositionAtInstant(instant)
            v1 = self.roadUser1.getVelocityAtInstant(instant)
            v2 = self.roadUser2.getVelocityAtInstant(instant)
            deltav = v2-v1
            velocityAngles[instant] = arccos(moving.Point.dot(v1, v2)/(v1.norm2()*v2.norm2()))
            collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav)
            distances[instant] = deltap.norm2()
            speedDifferentials[instant] = deltav.norm2()
            #if collisionCourseDotProducts[instant] > 0:
            collisionCourseAngles[instant] = arccos(collisionCourseDotProducts[instant]/(distances[instant]*speedDifferentials[instant]))

        # todo shorten the time intervals based on the interaction definition
        self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[0], collisionCourseDotProducts))
        self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[1], collisionCourseAngles))
        self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[2], distances))
        self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[4], velocityAngles))
        self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[5], speedDifferentials))

        # todo test for interaction instants and interval, compute indicators

        # if we have features, compute other indicators
        if self.roadUser1.features != None and self.roadUser2.features != None:
            minDistance={}
            for instant in self.timeInterval:
                minDistance[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant)
            self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistance))

    def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None):
        '''Computes all crossing and collision points at each common instant for two road users. '''
        self.collisionPoints={}
        self.crossingZones={}
        TTCs = {}

        if timeInterval:
            commonTimeInterval = timeInterval
        else:
            commonTimeInterval = self.timeInterval
        for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
            self.collisionPoints[i], self.crossingZones[i] = predictionParameters.computeCrossingsCollisionsAtInstant(i, self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug)
            if len(self.collisionPoints[i]) > 0:
                TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(self.collisionPoints[i])
        # add probability of collision, and probability of successful evasive action
        self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs))
        
        if computeCZ:
            pPETs = {}
            for i in list(commonTimeInterval)[:-1]:
                if len(self.crossingZones[i]) > 0:
                    pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(self.crossingZones[i])
            self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs))

    def addVideoFilename(self,videoFilename):
        self.videoFilename= videoFilename	

    def addInteractionType(self,interactionType):
	''' interaction types: conflict or collision if they are known'''
        self.interactionType= interactionType			

def createInteractions(objects):
    '''Create all interactions of two co-existing road users

    todo add test to compute categories?'''
    interactions = []
    num = 0
    for i in xrange(len(objects)):
        for j in xrange(i):
            commonTimeInterval = objects[i].commonTimeInterval(objects[j])
            if not commonTimeInterval.empty():
                interactions.append(Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j]))
                num += 1
    return interactions


# TODO:
#http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class
#http://www.rueckstiess.net/research/snippets/show/ca1d7d90
def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8):  
    collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.roadUser1, pairs.roadUser2, predParam, collisionDistanceThreshold, timeHorizon)      
    #print pairs.num    
    # Ignore empty collision points
    empty = 1
    for i in collisionPoints:
        if(collisionPoints[i] != []):
            empty = 0
    if(empty == 1):
        pairs.hasCP = 0
    else:
        pairs.hasCP = 1
    pairs.CP = collisionPoints
    
    # Ignore empty crossing zones
    empty = 1
    for i in crossingZones:
        if(crossingZones[i] != []):
            empty = 0
    if(empty == 1):
        pairs.hasCZ = 0
    else:
        pairs.hasCZ = 1
    pairs.CZ = crossingZones
    return pairs

def calculateIndicatorPipe_star(a_b):
    """Convert `f([1,2])` to `f(1,2)` call."""
    return calculateIndicatorPipe(*a_b)

class VehPairs():
    '''Create a veh-pairs object from objects list'''
    def __init__(self,objects):
        self.pairs = createInteractions(objects)
        self.interactionCount = 0
        self.CPcount = 0
        self.CZcount = 0
    
    # Process indicator calculation with support for multi-threading
    def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8):       
        if(threads > 1):
            pool = multiprocessing.Pool(threads)
            self.pairs = pool.map(calculateIndicatorPipe_star, itertools.izip(self.pairs, itertools.repeat(predParam)))
            pool.close()
        else:
            #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Removed in traffic-intelligenc port
            for j in xrange(len(self.pairs)):
                #prog.updateAmount(j) #Removed in traffic-intelligenc port
                collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].roadUser1, self.pairs[j].roadUser2, predParam, collisionDistanceThreshold, timeHorizon)      
                
                # Ignore empty collision points
                empty = 1
                for i in collisionPoints:
                    if(collisionPoints[i] != []):
                        empty = 0
                if(empty == 1):
                    self.pairs[j].hasCP = 0
                else:
                    self.pairs[j].hasCP = 1
                self.pairs[j].CP = collisionPoints
                
                # Ignore empty crossing zones
                empty = 1
                for i in crossingZones:
                    if(crossingZones[i] != []):
                        empty = 0
                if(empty == 1):
                    self.pairs[j].hasCZ = 0
                else:
                    self.pairs[j].hasCZ = 1
                self.pairs[j].CZ = crossingZones       
                
        for j in self.pairs:
            self.interactionCount = self.interactionCount + len(j.CP)
        self.CPcount = len(self.getCPlist())
        self.Czcount = len(self.getCZlist())
    
    
    def getPairsWCP(self):
        lists = []
        for j in self.pairs:
            if(j.hasCP):
                lists.append(j.num)
        return lists
        
    def getPairsWCZ(self):
        lists = []
        for j in self.pairs:
            if(j.hasCZ):
                lists.append(j.num)
        return lists
    
    def getCPlist(self,indicatorThreshold=99999):
        lists = []
        for j in self.pairs:
            if(j.hasCP):
                for k in j.CP:
                    if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold):
                        lists.append([k,j.CP[k][0]])
        return lists
     
    def getCZlist(self,indicatorThreshold=99999):
        lists = []
        for j in self.pairs:
            if(j.hasCZ):
                for k in j.CZ:
                    if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold):
                        lists.append([k,j.CZ[k][0]])
        return lists
        
    def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)):
        if(not CPlist):
            CPlist = self.getCPlist()
        if(not CPlist):
            return False
        TTC_list = []
        for i in CPlist:
            TTC_list.append(i[1].indicator)
        histo = np.histogram(TTC_list,bins=bins)
        histo += (histo[0].astype(float)/np.sum(histo[0]),)
        return histo

class Crossing(moving.STObject):
    '''Class for the event of a street crossing

    TODO: detecter passage sur la chaussee
    identifier origines et destination (ou uniquement chaussee dans FOV)
    carac traversee
    detecter proximite veh (retirer si trop similaire simultanement
    carac interaction'''
    
    def __init__(self, roaduserNum = None, num = None, timeInterval = None):
        moving.STObject.__init__(self, num, timeInterval)
        self.roaduserNum = roaduserNum

    

if __name__ == "__main__":
    import doctest
    import unittest
    #suite = doctest.DocFileSuite('tests/moving.txt')
    suite = doctest.DocTestSuite()
    unittest.TextTestRunner().run(suite)