import json
from typing import List, Dict, Tuple

import numpy as np
import pandas as pd

        
def dict2json(data_dict: Dict, file_path: str) -> None:
    """
    将字典转换为JSON格式并保存到文件中。

    参数:
    data_dict (dict): 要转换的字典。
    file_path (str): 保存JSON文件的路径。
    """
    try:
        with open(file_path, "w", encoding="utf-8") as json_file:
            json.dump(data_dict, json_file, ensure_ascii=False, indent=4)
        print(f"JSON文件已保存到 {file_path}")
    except Exception as e:
        print(f"保存JSON文件时出错: {e}")


def get_interpolation(x: float, point1: Tuple[float, float], point2: Tuple[float, float]) -> float:
    """
    根据两个点确定一元一次方程，并在定义域内求解。

    参数:
        x: 自变量的值。
        point1: 第一个点的坐标。
        point2: 第二个点的坐标。

    返回:
        y: 因变量的值。
    """
    try:
        k = (point1[1] - point2[1]) / (point1[0] - point2[0])
        b = (point1[0] * point2[1] - point1[1] * point2[0]) / (point1[0] - point2[0])
        return x * k + b
    except Exception as e:
        return f"Error: {str(e)}"


def get_frame_with_time(df1: pd.DataFrame, df2: pd.DataFrame) -> pd.DataFrame:
    """
    将两个DataFrame按照时间列进行合并，并返回结果。

    参数:
        df1: 包含start_time和end_time的DataFrame。
        df2: 包含simTime和simFrame的DataFrame。

    返回:
        合并后的DataFrame。
    """
    df1_start = df1.merge(df2[["simTime", "simFrame"]], left_on="start_time", right_on="simTime")
    df1_start = df1_start[["start_time", "simFrame"]].rename(columns={"simFrame": "start_frame"})

    df1_end = df1.merge(df2[["simTime", "simFrame"]], left_on="end_time", right_on="simTime")
    df1_end = df1_end[["end_time", "simFrame"]].rename(columns={"simFrame": "end_frame"})

    return pd.concat([df1_start, df1_end], axis=1)


class PolynomialCurvatureFitting:
    def __init__(self, data_path: str, degree: int = 3):
        self.data_path = data_path
        self.degree = degree
        self.data = pd.read_csv(self.data_path)
        self.points = self.data[['centerLine_x', 'centerLine_y']].values
        self.x_data, self.y_data = self.points[:, 0], self.points[:, 1]

    def curvature(self, coefficients: np.ndarray, x: float) -> float:
        """
        计算多项式在x处的曲率。

        参数:
            coefficients: 多项式系数。
            x: 自变量的值。

        返回:
            曲率值。
        """
        first_derivative = np.polyder(coefficients)
        second_derivative = np.polyder(first_derivative)
        return np.abs(np.polyval(second_derivative, x)) / (1 + np.polyval(first_derivative, x) ** 2) ** (3 / 2)

    def polynomial_fit(self, x_window: np.ndarray, y_window: np.ndarray) -> Tuple[np.ndarray, np.poly1d]:
        """
        对给定的窗口数据进行多项式拟合。

        参数:
            x_window: 窗口内的x数据。
            y_window: 窗口内的y数据。

        返回:
            多项式系数和多项式对象。
        """
        coefficients = np.polyfit(x_window, y_window, self.degree)
        return coefficients, np.poly1d(coefficients)

    def find_best_window(self, point: Tuple[float, float], window_size: int) -> int:
        """
        找到最佳窗口的起始索引。

        参数:
            point: 目标点的坐标。
            window_size: 窗口大小。

        返回:
            最佳窗口的起始索引。
        """
        x1, y1 = point
        window_means = np.array([
            (np.mean(self.x_data[start:start + window_size]), np.mean(self.y_data[start:start + window_size]))
            for start in range(len(self.x_data) - window_size + 1)
        ])
        distances = np.sqrt((x1 - window_means[:, 0]) ** 2 + (y1 - window_means[:, 1]) ** 2)
        return np.argmin(distances)

    def find_projection(self, x_point: float, y_point: float, polynomial: np.poly1d, x_data_range: Tuple[float, float], search_step: float = 0.0001) -> Tuple[float, float, float]:
        """
        找到目标点在多项式曲线上的投影点。

        参数:
            x_point: 目标点的x坐标。
            y_point: 目标点的y坐标。
            polynomial: 多项式对象。
            x_data_range: x的取值范围。
            search_step: 搜索步长。

        返回:
            投影点的坐标和最小距离。
        """
        x_values = np.arange(x_data_range[0], x_data_range[1], search_step)
        y_values = polynomial(x_values)
        distances = np.sqrt((x_point - x_values) ** 2 + (y_point - y_values) ** 2)
        min_idx = np.argmin(distances)
        return x_values[min_idx], y_values[min_idx], distances[min_idx]

    def fit_and_project(self, points: List[Tuple[float, float]], window_size: int) -> List[Dict]:
        """
        对每个点进行多项式拟合和投影计算。

        参数:
            points: 目标点列表。
            window_size: 窗口大小。

        返回:
            包含投影点、曲率、曲率变化和最小距离的字典列表。
        """
        results = []
        for point in points:
            best_start = self.find_best_window(point, window_size)
            x_window = self.x_data[best_start:best_start + window_size]
            y_window = self.y_data[best_start:best_start + window_size]
            coefficients, polynomial = self.polynomial_fit(x_window, y_window)
            proj_x, proj_y, min_distance = self.find_projection(point[0], point[1], polynomial, (min(x_window), max(x_window)))
            curvature_value = self.curvature(coefficients, proj_x)
            second_derivative_coefficients = np.polyder(np.polyder(coefficients))
            curvature_change_value = np.polyval(second_derivative_coefficients, proj_x)

            results.append({
                'projection': (proj_x, proj_y),
                'curvHor': curvature_value,
                'curvHorDot': curvature_change_value,
                'coefficients': coefficients,
                'laneOffset': min_distance
            })

        return results

    

if __name__ == "__main__":
    data_path = "/home/kevin/kevin/zhaoyuan/zhaoyuan/data/raw/data/LaneMap.csv"
    point_path = "/home/kevin/kevin/zhaoyuan/zhaoyuan/data/raw/data/EgoMap.csv"

    points_data = pd.read_csv(point_path)
    points = points_data[['posX', 'posY']].values

    window_size = 4

    fitting_instance = PolynomialCurvatureFitting(data_path)
    projections = fitting_instance.fit_and_project(points, window_size)
    fitting_instance.plot_results(points, projections)