#include <map>
#include <vector>
#include <memory>
#include <chrono>
#include <algorithm>
#include <cstring>

#include "node.h"
#include "frame/frame.h"
#include "utils/logger.h"
#include "utils/simple_json.h"

#include "spatial_matcher.h"
#include "color_analyzer.h"

namespace rk3588 {

// 违规类型
enum class ViolationType {
    NONE,
    MISSING_BOOTS,      // 没有鞋
    WRONG_COLOR_BOOTS,  // 鞋颜色不对
};

// 违规信息
struct ViolationInfo {
    ViolationType type = ViolationType::NONE;
    std::string description;
    int track_id = -1;
    float confidence = 0.0f;
    Rect violation_region;
};

// Logic Gate 配置
struct LogicGateConfig {
    std::string mode = "ppe_boots_check";
    int anchor_class = 6;                   // Person
    int boots_class = 3;                    // boots
    
    ColorConfig color;
    bool enable_color_check = true;
    
    std::string violation_key = "ppe_violation";
    bool pass_through = true;
    bool debug = false;
};

class LogicGateNode : public INode {
public:
    LogicGateNode() = default;
    ~LogicGateNode() override = default;
    
    std::string Id() const override { return id_; }
    std::string Type() const override { return "logic_gate"; }
    
    bool Init(const SimpleJson& config, const NodeContext& ctx) override {
        id_ = config.ValueOr<std::string>("id", "logic_gate");
        config_ = ParseConfig(config);
        output_queues_ = ctx.output_queues;
        
        // 初始化颜色分析器
        if (config_.enable_color_check) {
            color_analyzer_ = std::make_unique<ColorAnalyzer>(config_.color);
        }
        
        LogInfo("[LogicGateNode] Initialized, id=" + id_ + " mode=" + config_.mode + 
               " output_queues=" + std::to_string(output_queues_.size()));
        return true;
    }
    
    bool Start() override {
        LogInfo("[LogicGateNode] started id=" + id_);
        return true;
    }
    
    void Stop() override {
    }
    
    NodeStatus Process(FramePtr frame) override {
        if (!frame || !frame->det) {
            PushToDownstream(frame);
            return NodeStatus::OK;
        }
        
        if (config_.mode == "ppe_boots_check") {
            ProcessPpeBootsCheck(frame);
        }
        
        PushToDownstream(frame);
        return NodeStatus::OK;
    }

private:
    std::string id_;
    LogicGateConfig config_;
    std::unique_ptr<ColorAnalyzer> color_analyzer_;
    std::vector<std::shared_ptr<SpscQueue<FramePtr>>> output_queues_;
    
    LogicGateConfig ParseConfig(const SimpleJson& cfg) {
        LogicGateConfig config;
        
        config.mode = cfg.ValueOr<std::string>("mode", "ppe_boots_check");
        config.anchor_class = cfg.ValueOr<int>("anchor_class", 6);
        config.boots_class = cfg.ValueOr<int>("boots_class", 3);
        config.violation_key = cfg.ValueOr<std::string>("violation_key", "ppe_violation");
        config.pass_through = cfg.ValueOr<bool>("pass_through", true);
        config.debug = cfg.ValueOr<bool>("debug", false);
        // 解析颜色配置
        if (const SimpleJson* color = cfg.Find("color_check")) {
            config.enable_color_check = color->ValueOr<bool>("enable", true);
            std::string method = color->ValueOr<std::string>("method", "hsv");
            if (method == "hsv") config.color.method = ColorMethod::HSV;
            else if (method == "rgb") config.color.method = ColorMethod::RGB;
            else if (method == "brightness") config.color.method = ColorMethod::BRIGHTNESS;
            
            config.color.dark_threshold = color->ValueOr<int>("dark_threshold", 80);
            config.color.roi_expand = color->ValueOr<float>("roi_expand", 1.0f);
            config.color.debug_output = config.debug;
        }
        
        return config;
    }
    
    void PushToDownstream(FramePtr frame) {
        for (auto& q : output_queues_) {
            if (q) q->Push(frame);
        }
    }
    
    // 将检测坐标（相对于原始图像）映射到当前帧坐标
    Rect MapDetCoordToFrame(const Rect& det_bbox, FramePtr frame) {
        if (!frame->transform_meta || !frame->transform_meta->valid) {
            return det_bbox;  // 无变换信息，直接使用
        }
        
        const auto& meta = *frame->transform_meta;
        if (meta.src_w <= 0 || meta.src_h <= 0 || frame->width <= 0 || frame->height <= 0) {
            return det_bbox;
        }
        
        // 计算缩放因子：检测坐标是基于 src_w x src_h 的
        float scale_x = static_cast<float>(frame->width) / meta.src_w;
        float scale_y = static_cast<float>(frame->height) / meta.src_h;
        
        Rect mapped;
        mapped.x = det_bbox.x * scale_x;
        mapped.y = det_bbox.y * scale_y;
        mapped.w = det_bbox.w * scale_x;
        mapped.h = det_bbox.h * scale_y;
        
        return mapped;
    }
    
    void ProcessPpeBootsCheck(FramePtr frame) {
        const auto& detections = frame->det->items;
        
        // 收集所有人和鞋
        std::vector<Detection> persons;
        std::vector<Detection> boots;
        
        for (const auto& det : detections) {
            if (det.cls_id == config_.anchor_class) {
                persons.push_back(det);
            } else if (det.cls_id == config_.boots_class) {
                boots.push_back(det);
            }
        }
        
        if (config_.debug) {
            LogInfo("[LogicGateNode] Persons=" + std::to_string(persons.size()) + 
                    " Boots=" + std::to_string(boots.size()) +
                    " Frame=" + std::to_string(frame->width) + "x" + std::to_string(frame->height));
            if (frame->transform_meta && frame->transform_meta->valid) {
                LogInfo("[LogicGateNode] TransformMeta: src=" + std::to_string(frame->transform_meta->src_w) + 
                        "x" + std::to_string(frame->transform_meta->src_h));
            }
        }
        
        // 简化逻辑：必须同时检测到人和鞋，才开始判断
        if (persons.empty() || boots.empty()) {
            return;
        }
        
        std::vector<ViolationInfo> violations;
        
        // 对每只鞋进行颜色检查
        for (const auto& boot : boots) {
            if (config_.enable_color_check && color_analyzer_) {
                // 将检测坐标映射到当前帧坐标
                Rect mapped_bbox = MapDetCoordToFrame(boot.bbox, frame);
                
                if (config_.debug) {
                    LogInfo("[LogicGateNode] Boot bbox: [" + std::to_string(static_cast<int>(boot.bbox.x)) + 
                            "," + std::to_string(static_cast<int>(boot.bbox.y)) + 
                            " " + std::to_string(static_cast<int>(boot.bbox.w)) + 
                            "x" + std::to_string(static_cast<int>(boot.bbox.h)) + 
                            "] -> Mapped: [" + std::to_string(static_cast<int>(mapped_bbox.x)) + 
                            "," + std::to_string(static_cast<int>(mapped_bbox.y)) + 
                            " " + std::to_string(static_cast<int>(mapped_bbox.w)) + 
                            "x" + std::to_string(static_cast<int>(mapped_bbox.h)) + "]");
                }
                
                auto color_result = color_analyzer_->Analyze(*frame, mapped_bbox);
                
                if (config_.debug) {
                    LogInfo("[LogicGateNode] Boot brightness=" + 
                           std::to_string(color_result.brightness) +
                           " is_dark=" + (color_result.is_dark ? "true" : "false"));
                }
                
                if (!color_result.is_dark) {
                    // 颜色不对，添加 no_boots 检测框
                    Detection no_boots_det;
                    no_boots_det.cls_id = 10;  // no_boots
                    no_boots_det.track_id = std::max(0, boot.track_id);
                    no_boots_det.score = std::max(0.5f, color_result.confidence);
                    no_boots_det.bbox = boot.bbox;
                    
                    frame->det->items.push_back(no_boots_det);
                    
                    if (config_.debug) {
                        LogInfo("[LogicGateNode] VIOLATION: Non-compliant boots color (brightness=" + 
                               std::to_string(static_cast<int>(color_result.brightness)) + 
                               ") added no_boots(cls=10) track_id=" + std::to_string(no_boots_det.track_id));
                    }
                }
            }
        }
    }
};

REGISTER_NODE(LogicGateNode, "logic_gate");

} // namespace rk3588