#!/usr/bin/env python3
import argparse
import base64
import io
import os
import json
import time
from collections import defaultdict
from pathlib import Path

import matplotlib.pyplot as plt
from openpilot.tools.lib.logreader import LogReader


# TODO any import for this?
REALDATA = Path('/home/batman/.comma/media/0/realdata')


def report(platform, maneuvers):
  output_path = Path(__file__).resolve().parent / "longitudinal_reports"
  output_fn = output_path / f"{platform}_{time.strftime('%Y%m%d-%H_%M_%S')}.html"
  output_path.mkdir(exist_ok=True)
  with open(output_fn, "w") as f:
    f.write("<h1>Longitudinal maneuver report</h1>\n")
    f.write(f"<h3>{platform}</h3>\n")
    # if args.desc:
    #   f.write(f"<h3>{args.desc}</h3>")
    for description, runs in maneuvers:
      print('using description:', description)
      f.write("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
      f.write(f"<h2>{description}</h2>\n")
      for run, msgs in enumerate(runs):
        t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'])
        t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'])
        t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'])

        f.write(f"<h3>Run #{int(run)+1}</h3>\n")
        plt.rcParams['font.size'] = 40
        fig = plt.figure(figsize=(30, 25))
        ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'hspace': 0, 'height_ratios': [5, 3, 1, 1]})

        ax[0].grid(linewidth=4)
        ax[0].plot(t_carControl, [m.actuators.accel for m in carControl], label='accel command', linewidth=6)
        ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='accel target', linewidth=6)
        ax[0].plot(t_carState, [m.aEgo for m in carState], label='aEgo', linewidth=6)
        ax[0].set_ylabel('Acceleration (m/s^2)')
        #ax[0].set_ylim(-6.5, 6.5)
        ax[0].legend()

        ax[1].grid(linewidth=4)
        ax[1].plot(t_carState, [m.vEgo for m in carState], 'g', label='vEgo', linewidth=6)
        ax[1].set_ylabel('Velocity (m/s)')
        ax[1].legend()

        ax[2].plot(t_carControl, [m.enabled for m in carControl], label='enabled', linewidth=6)
        ax[3].plot(t_carState, [m.gasPressed for m in carState], label='gasPressed', linewidth=6)
        ax[3].plot(t_carState, [m.brakePressed for m in carState], label='brakePressed', linewidth=6)
        for i in (2, 3):
          ax[i].set_yticks([0, 1], minor=False)
          ax[i].set_ylim(-1, 2)
          ax[i].legend()

        ax[-1].set_xlabel("Time (s)")
        fig.tight_layout()

        buffer = io.BytesIO()
        fig.savefig(buffer, format='png')
        buffer.seek(0)
        f.write(f"<img src='data:image/png;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")

    # f.write(f"<p style='display: none'>{json.dumps(logs)}</p>")
  print(f"\nReport written to {output_fn}\n")


if __name__ == '__main__':
  parser = argparse.ArgumentParser(description='Generate longitudinal maneuver report from route')
  parser.add_argument('route', type=str, help='Route name (e.g. 00000000--5f742174be)')

  args = parser.parse_args()

  logs = defaultdict(dict)

  segs = []
  for seg in os.listdir(REALDATA):
    if args.route == seg[:20]:
      print(seg)
      segs.append(seg)

  lr = LogReader([str(REALDATA / seg / 'rlog') for seg in segs])

  CP = lr.first('carParams')
  platform = CP.carFingerprint
  print('got platform', platform)

  maneuvers: list[tuple[str, list[list]]] = []
  active_prev = False
  description_prev = None

  for msg in lr:
    if msg.which() == 'alertDebug':
      active = 'Maneuver Active' in msg.alertDebug.alertText1
      if active and not active_prev:
        if msg.alertDebug.alertText2 == description_prev:
          maneuvers[-1][1].append([])
        else:
          maneuvers.append((msg.alertDebug.alertText2, [[]]))
        description_prev = maneuvers[-1][0]
      active_prev = active
      # print((msg.alertDebug.alertText1, msg.alertDebug.alertText2))

    if active_prev:
      maneuvers[-1][1][-1].append(msg)

  # print(len(list(lr)))
  for desc, msgs in maneuvers:
    print(desc, len(msgs))

  report(platform, maneuvers)