import os
import time
import tempfile
import threading
import queue
import numpy as np
import cv2
from collections import defaultdict
from pcu import compute_pcu, MODEL_CLASSES
from tracker_config import get_tracker_path
from speed import estimate_speeds


def _side(p, a, b):
    return np.sign((b[0] - a[0]) * (p[1] - a[1]) - (b[1] - a[1]) * (p[0] - a[0]))


def _point_to_segment_dist(px, py, ax, ay, bx, by):
    A = np.array([ax, ay], dtype=float)
    B = np.array([bx, by], dtype=float)
    P = np.array([px, py], dtype=float)
    AB = B - A
    t = np.clip(np.dot(P - A, AB) / np.dot(AB, AB), 0, 1)
    return np.linalg.norm(P - (A + t * AB))


# Lightweight drawing colors (BGR for OpenCV)
_CLR_BOX = (230, 180, 50)     # teal-ish
_CLR_LINE = (80, 220, 100)    # green
_CLR_TEXT_BG = (30, 30, 30)   # dark bg for text

class ThreadedVideoWriter:
    def __init__(self, path, fps, size):
        self.path = path
        self.fps = fps
        self.size = size
        self.queue = queue.Queue(maxsize=128)
        self.stopped = False
        self.writer = cv2.VideoWriter(path, cv2.VideoWriter_fourcc(*"mp4v"), fps, size)
        self.thread = threading.Thread(target=self._run, daemon=True)
        self.thread.start()

    def _run(self):
        while not self.stopped or not self.queue.empty():
            try:
                frame = self.queue.get(timeout=1.0)
                if frame is not None:
                    self.writer.write(frame)
                self.queue.task_done()
            except queue.Empty:
                continue
        self.writer.release()
        print(f"[BACKEND] Threaded writer finished: {self.path}")

    def write(self, frame):
        if not self.stopped:
            try:
                self.queue.put(frame)   # no copy — frame ownership transfers to queue
            except Exception as e:
                print(f"[BACKEND] Writer queue error: {e}")

    def stop(self):
        self.stopped = True
        self.thread.join()


def _draw_annotations(frame, boxes, ids, clses, line_pts, options):
    """Draw bounding boxes, track IDs, and counting line on frame in-place."""
    # Counting line (Spatial Boundary)
    if options.get("spatial", True):
        cv2.line(frame, tuple(line_pts[0]), tuple(line_pts[1]), _CLR_LINE, 3, cv2.LINE_AA)

    if boxes is not None and ids is not None and clses is not None:
        for box, obj_id, cls_idx in zip(boxes, ids, clses):
            x1, y1, x2, y2 = map(int, box)
            
            # Bounding Box
            if options.get("bbox", True):
                cv2.rectangle(frame, (x1, y1), (x2, y2), _CLR_BOX, 2)

            # Labels
            labels = []
            if options.get("track_id", True):
                labels.append(f"ID:{int(obj_id)}")
            if options.get("class_name", True):
                labels.append(MODEL_CLASSES.get(int(cls_idx), "Unknown"))
            elif options.get("class_id", False):
                labels.append(f"C:{int(cls_idx)}")
            
            if labels:
                label_text = " | ".join(labels)
                (tw, th), _ = cv2.getTextSize(label_text, cv2.FONT_HERSHEY_SIMPLEX, 0.4, 1)
                cv2.rectangle(frame, (x1, y1 - th - 6), (x1 + tw + 6, y1), _CLR_TEXT_BG, -1)
                cv2.putText(frame, label_text, (x1 + 3, y1 - 4), cv2.FONT_HERSHEY_SIMPLEX, 0.4, (255, 255, 255), 1, cv2.LINE_AA)


def run(model, video_path, line, config, on_frame, save_annotated=False, annotated_options=None):
    """
    Runs YOLO tracking on video. Calls on_frame(update_dict) after each processed frame.
    line: [[x1,y1], [x2,y2]]
    save_annotated: if True, writes annotated MP4 with boxes + IDs + counting line
    annotated_options: dict of toggleable visual overlays
    """
    if annotated_options is None:
        annotated_options = {"bbox": True, "track_id": True, "spatial": True}
    
    # Force bbox to True if export is enabled (user requirement)
    if save_annotated:
        annotated_options["bbox"] = True

    cap = cv2.VideoCapture(video_path)
    fps = cap.get(cv2.CAP_PROP_FPS)
    total = int(cap.get(cv2.CAP_PROP_FRAME_COUNT))
    out_w = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
    out_h = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
    cap.release()

    # Dynamic crossing threshold: 5% of frame height, min 40px
    cross_dist = max(40, int(out_h * 0.05))

    stride = config["detect_stride"]
    total_iters = total // stride

    # Annotated video writer (temp directory — auto-cleaned on container shutdown)
    annotated_path = None
    writer = None
    if save_annotated:
        annotated_dir = os.path.join(tempfile.gettempdir(), "funky_reports")
        os.makedirs(annotated_dir, exist_ok=True)
        annotated_path = os.path.join(annotated_dir, f"annotated_{os.path.basename(video_path)}.mp4")
        writer_fps = max(1.0, fps / stride)
        writer = ThreadedVideoWriter(annotated_path, writer_fps, (out_w, out_h))

    prev_side = {}
    counted_ids = set()
    class_in = defaultdict(int)
    class_out = defaultdict(int)
    congestion = []
    flow_times = []
    conf_scores = []
    heatmap_points = []
    track_positions = defaultdict(list)
    raw_events = [["frame_index", "timestamp_sec", "vehicle_id", "class_name", "direction"]]

    start = time.time()

    # https://docs.ultralytics.com/modes/predict/#inference-sources
    # https://docs.ultralytics.com/modes/track/#why-choose-ultralytics-yolo-for-object-tracking
    # ExecuTorch: https://docs.ultralytics.com/integrations/executorch/#what-are-the-system-requirements-for-executorch-export
    results = model.track(
        source=video_path,
        tracker=get_tracker_path(),
        imgsz=736,    # MUST match OpenVINO export imgsz — compiled graph is fixed shape
        conf=config.get("conf", 0.12),
        iou=config.get("iou", 0.6),
        vid_stride=stride,
        stream=True,
        verbose=False,
        persist=False, # MUST be False — True causes ByteTracker state leak across runs
        batch=2       # MUST match OpenVINO export batch size
    )

    a = line[0]
    b = line[1]

    iterator = iter(enumerate(results))
    while True:
        try:
            frame_idx, r = next(iterator)
        except StopIteration:
            break
        except RuntimeError as e:
            if "incompatible" in str(e) and "shape=" in str(e):
                print(f"[BACKEND] Ignored OpenVINO shape mismatch on final trailing batch.")
                break
            raise e
        active = 0
        cur_boxes = None
        cur_ids = None

        if r.boxes.id is not None:
            ids = r.boxes.id.cpu().numpy()
            cls = r.boxes.cls.cpu().numpy()
            xyxy = r.boxes.xyxy.cpu().numpy()

            active = len(ids)
            confs = r.boxes.conf.cpu().numpy().tolist()
            conf_scores.extend(confs)

            cur_boxes = xyxy
            cur_ids = ids

            for obj_id, c, box in zip(ids, cls, xyxy):
                cx = int((box[0] + box[2]) / 2)
                cy = int((box[1] + box[3]) / 2)

                heatmap_points.append([cx, cy])
                track_positions[obj_id].append((frame_idx, cx, cy))

                current = _side((cx, cy), a, b)

                # Skip if centroid is exactly on the line (cross-product == 0)
                # — avoids misfired crossings due to floating-point boundary hits
                if current == 0:
                    continue

                if obj_id in prev_side and obj_id not in counted_ids:
                    if prev_side[obj_id] != current:
                        dist = _point_to_segment_dist(cx, cy, a[0], a[1], b[0], b[1])
                        if dist < cross_dist:
                            t = frame_idx * stride / fps
                            flow_times.append(round(t, 2))

                            if current > 0:
                                class_in[int(c)] += 1
                                raw_events.append([frame_idx + 1, round(t, 2), int(obj_id), MODEL_CLASSES.get(int(c), f"cls_{int(c)}"), "IN"])
                            else:
                                class_out[int(c)] += 1
                                raw_events.append([frame_idx + 1, round(t, 2), int(obj_id), MODEL_CLASSES.get(int(c), f"cls_{int(c)}"), "OUT"])

                            counted_ids.add(obj_id)

                prev_side[obj_id] = current

        # Write annotated frame
        cur_clses = cls if r.boxes.id is not None else None
        if writer is not None:
            frame = r.orig_img.copy()
            _draw_annotations(frame, cur_boxes, cur_ids, cur_clses, [a, b], annotated_options)
            writer.write(frame)

        congestion.append(active)

        elapsed = time.time() - start

        update = {
            "frame_index": frame_idx + 1,
            "total_iters": total_iters,
            "total_frames": total,
            "active": active,
            "congestion_len": len(congestion),           # just the length, not the full list
            "congestion_last": congestion[-1] if congestion else 0,  # only latest value
            "class_in": {str(k): v for k, v in class_in.items()},
            "class_out": {str(k): v for k, v in class_out.items()},
            "flow_count": len(flow_times),               # just the count
            "elapsed": round(elapsed, 2),
            "fps": round((frame_idx + 1) / elapsed, 2) if elapsed > 0 else 0,
        }

        on_frame(update)

    if writer is not None:
        writer.stop()

    processing_time = round(time.time() - start, 2)
    actual_fps = round(total / processing_time, 2) if processing_time > 0 else 0
    speed_vs_rt = round(actual_fps / fps, 2) if fps > 0 else 0

    speed_data = estimate_speeds(dict(track_positions))
    pcu_data = compute_pcu(
        {str(k): v for k, v in class_in.items()},
        {str(k): v for k, v in class_out.items()},
    )

    result = {
        "class_in": dict(class_in),
        "class_out": dict(class_out),
        "congestion": congestion,
        "flow_times": flow_times,
        "conf_scores": conf_scores,
        "heatmap_points": heatmap_points,
        "raw_events": raw_events,
        "processing_time": processing_time,
        "actual_fps": actual_fps,
        "speed_vs_realtime": speed_vs_rt,
        "speed": speed_data,
        "pcu": pcu_data,
    }

    if annotated_path and os.path.exists(annotated_path):
        result["annotated_video"] = annotated_path

    return result