import ast
import sys
import numpy as np
import json
import time
import redis
from collections import deque

radiusLen = None

# 将字符串转换为浮点型数组
def convert_to_float_array(str_array):
    if isinstance(str_array, str):
        return np.array(ast.literal_eval(str_array), dtype=float)
    return str_array

def getWaveScopeByCode_iterative(x, y):
    """
    使用广度优先搜索（BFS）来代替递归，以避免递归深度过大的问题。
    """
    includeList = []
    existNodes = set()
    queue = deque()

    originNode = {"x": x, "y": y}
    currNode = {"x": x, "y": y}
    queue.append(currNode)
    existNodes.add((x, y))

    while queue:
        node = queue.popleft()
        node_x, node_y = node['x'], node['y']
        neighbors = [
            (node_x + 1, node_y),
            (node_x - 1, node_y),
            (node_x, node_y + 1),
            (node_x, node_y - 1)
        ]

        for neighbor in neighbors:
            nx, ny = neighbor
            # 检查边界条件
            if (nx < 0 or nx >= codeMatrix.shape[0] or ny < 0 or ny >= codeMatrix.shape[1]):
                continue
            if (nx, ny) in existNodes:
                continue

            existNodes.add((nx, ny))
            neighbor_code = codeMatrix[nx, ny]

            if neighbor_code == 'NONE':
                queue.append({"x": nx, "y": ny})
            else:
                o1Cda = convert_to_float_array(cdaMatrix[x, y])
                o2Cda = convert_to_float_array(cdaMatrix[nx, ny])

                num1 = (o1Cda[0] - o2Cda[0]) ** 2
                num2 = (o1Cda[1] - o2Cda[1]) ** 2
                if num1 + num2 <= radiusLen ** 2:
                    includeList.append({
                        "x": int(nx),
                        "y": int(ny),
                        "code": str(codeMatrix[nx, ny])
                    })
                    queue.append({"x": nx, "y": ny})

    return includeList

def find_value_in_matrix(value):
    indices = np.where(codeMatrix == value)
    return list(zip(indices[0], indices[1]))

def initWaveMatrix():
    waveMatrix = np.empty_like(codeMatrix, dtype=object)

    for x in range(codeMatrix.shape[0]):
        for y in range(codeMatrix.shape[1]):
            if codeMatrix[x][y] == 'NONE':
                waveMatrix[x][y] = "-"
            else:
                waveMatrix[x][y] = '[]'

    return waveMatrix

# 优化版本：使用集合来提高性能
def mergeWave(originWave, vehicle):
    # 将字符串解析为集合
    try:
        set_data = set(ast.literal_eval(originWave))
    except (ValueError, SyntaxError):
        set_data = set()
    # 如果 vehicle 不在集合中，则添加
    set_data.add(vehicle)
    # 返回序列化后的字符串
    return json.dumps(list(set_data))

# 将 dynamicMatrix 转换为 numpy 结构化数组
def convert_to_structured_array(dynamicMatrix):
    # 定义结构化数组的 dtype
    dtype = [('serial', int), ('vehicle', 'U2'), ('time', int)]

    # 确保每个字典包含所有字段
    structured_list = []
    for row in dynamicMatrix:
       for d in row:
           # 提取字段，确保 'time' 存在，否则设置为默认值（例如 0.0）
           serial = d.get('serial', 0)
           vehicle = d.get('vehicle', '0')
           time_val = d.get('time', 0)
           structured_list.append((serial, vehicle, time_val))

    # 将嵌套的列表转换为结构化数组
    structured_array = np.array(structured_list, dtype=dtype)
    # 重塑为原始的二维形状
    return structured_array.reshape(len(dynamicMatrix), -1)

# 使用 numpy 加速的代码
def process_dynamic_matrix(dynamicMatrix, codeMatrix):
    global waveMatrix  # 确保 waveMatrix 是全局变量

    # 将 dynamicMatrix 转换为结构化数组
    dynamicMatrix = convert_to_structured_array(dynamicMatrix)

    # 获取 dynamicMatrix 的形状
    rows, cols = dynamicMatrix.shape

    # 创建一个布尔掩码，用于筛选出 vehicle 不为 '0' 和 '-1' 的元素
    mask = (dynamicMatrix['vehicle'] != '0') & (dynamicMatrix['vehicle'] != '-1')

    # 获取满足条件的 x 和 y 坐标
    x_indices, y_indices = np.where(mask)

    # 遍历满足条件的坐标
    for x, y in zip(x_indices, y_indices):
        vehicle = dynamicMatrix[x][y]['vehicle']
        includeList = getWaveScopeByCode_iterative(x, y)
        for include in includeList:
            originWave = waveMatrix[include['x']][include['y']]
            waveMatrix[include['x']][include['y']] = mergeWave(originWave, vehicle)

def main():
    global radiusLen, codeMatrix, cdaMatrix, waveMatrix  # 声明为全局变量

    if len(sys.argv) != 6:
        print("Usage: python script.py <radiusLen> <redisHost> <redisPwd> <redisPort> <redisIdx>")
        sys.exit(1)

    radiusLenStr = sys.argv[1]
    radiusLen = float(radiusLenStr)

    redisHost = sys.argv[2]
    redisPwd = sys.argv[3]
    redisPort = sys.argv[4]
    redisIdx = sys.argv[5]

    startTime = time.perf_counter()

    # 创建一个连接池
    pool = redis.ConnectionPool(host=redisHost, port=int(redisPort), password=redisPwd, db=int(redisIdx))
    r = redis.Redis(connection_pool=pool)

    # 获取并加载 codeMatrix
    codeMatrixStr = r.get('KV.AGV_MAP_ASTAR_CODE_FLAG.1')
    if codeMatrixStr is None:
        print("Error: 'KV.AGV_MAP_ASTAR_CODE_FLAG.1' not found in Redis.")
        sys.exit(1)
    codeMatrix = np.array(json.loads(codeMatrixStr))

    # 获取并加载 cdaMatrix
    cdaMatrixStr = r.get('KV.AGV_MAP_ASTAR_CDA_FLAG.1')
    if cdaMatrixStr is None:
        print("Error: 'KV.AGV_MAP_ASTAR_CDA_FLAG.1' not found in Redis.")
        sys.exit(1)
    cdaMatrix = np.array(json.loads(cdaMatrixStr))

    # 获取并加载 dynamicMatrix
    dynamicMatrixStr = r.get('KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1')
    if dynamicMatrixStr is None:
        print("Error: 'KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1' not found in Redis.")
        sys.exit(1)
    dynamicMatrix = np.array(json.loads(dynamicMatrixStr))

    # 初始化 waveMatrix
    waveMatrix = initWaveMatrix()

    # 处理 dynamicMatrix
    process_dynamic_matrix(dynamicMatrix, codeMatrix)

    # 将 numpy.ndarray 转换为嵌套列表
    waveMatrixList = waveMatrix.tolist()
    # 将嵌套列表转换为 JSON 字符串
    waveMatrixJsonStr = json.dumps(waveMatrixList)

    # 将结果保存回 Redis
    r.set("KV.AGV_MAP_ASTAR_WAVE_FLAG.1", waveMatrixJsonStr)

    end = time.perf_counter()
    # 打印程序运行时间
#     print(f"程序运行时间为: {end - startTime} Seconds")
    print("1")

if __name__ == "__main__":
    main()