import json
from pathlib import Path

import matplotlib.pyplot as plt
import numpy as np
import numpy.typing as npt

from flandre.utils.RfFrame import b2t


def match(a: int, b: npt.NDArray[np.int_]):
    arr = b.copy()
    arr -= a
    arr = np.abs(arr)
    argmin = np.argmin(arr)
    m: int = b[argmin]
    return m, argmin, a - m


rec_folder = Path("/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/record2/")

robot_folder = rec_folder / "robot"
device_folder = rec_folder / "device"
camera_folder = rec_folder / "camera"

device_ts_map = {int(file.stem): file for file in device_folder.glob("*.bin")}
camera_ts_map = {int(file.stem): file for file in camera_folder.glob("*.jpg")}

device_host_arr = np.array(sorted(device_ts_map.keys()))[100:-100]
device_host_zero = device_host_arr[0]

robot_ts_map = {
    int(k): v for k, v in json.loads((rec_folder / "robot.json").read_text()).items()
}

device_device_list: list[int] = []
for k in device_host_arr:
    seq, encoder, host_ts, device_deivce, buffer = b2t(
        device_ts_map[k].open("rb").read(100)
    )
    device_device_list.append(device_deivce)
device_device_arr = np.array(device_device_list)
robot_host_arr = np.array(sorted(robot_ts_map.keys()))
robot_device_arr = np.array([robot_ts_map[k]["device_ts"] for k in robot_host_arr])
camera_host_arr = np.array(sorted(camera_ts_map.keys()))

device_host0 = device_host_arr[0]
device_host1 = device_host_arr[-1]
m0, robot_host_id0, robot_d0 = match(device_host0, robot_host_arr)
robot_device0 = robot_ts_map[m0]["device_ts"]
m1, robot_host_id1, robot_d1 = match(device_host1, robot_host_arr)
robot_device1 = robot_ts_map[m1]["device_ts"]

camera_host0, camera_host_id0, camera_d0 = match(device_host0, camera_host_arr)
camera_host1, camera_host_id1, camera_d1 = match(device_host1, camera_host_arr)

seq, encoder, host_ts, device_deivce0, buffer = b2t(
    device_ts_map[device_host0].read_bytes()
)
device_deivce0 *= 10**3
seq, encoder, host_ts, device_deivce1, buffer = b2t(
    device_ts_map[device_host1].read_bytes()
)
device_deivce1 *= 10**3

device_host_diff = device_host1 - device_host0
device_deivce_diff = device_deivce1 - device_deivce0
robot_device_diff = robot_device1 - robot_device0
camera_host_diff = camera_host1 - camera_host0

print(robot_d0 / 10**9, robot_d1 / 10**9)
print(camera_d0 / 10**9, camera_d1 / 10**9)

print("device_host_diff", device_host_diff / 10**9)
print("device_deivce_diff", device_deivce_diff / 10**9)
print("robot_device_diff", robot_device_diff / 10**9)
print("camera_host_diff", camera_host_diff / 10**9)

print("device_host - device_deivce", (device_host_diff - device_deivce_diff) / 10**9)
print("device_host - robot_device", (device_host_diff - robot_device_diff) / 10**9)
print("device_host - camera_host", (device_host_diff - camera_host_diff) / 10**9)
print("device_deivce - robot_device", (device_deivce_diff - robot_device_diff) / 10**9)


x = (device_host_arr - device_host_zero) / 10**9
y = np.zeros_like(x)
plt.scatter(x, y)

x = (robot_host_arr[robot_host_id0 : robot_host_id1 + 1] - device_host_zero) / 10**9
y = np.zeros_like(x) + 1
plt.scatter(x, y)

x = (camera_host_arr[camera_host_id0 : camera_host_id1 + 1] - device_host_zero) / 10**9
y = np.zeros_like(x) + 2
plt.scatter(x, y)
plt.show()

# for i, a in enumerate(ass):

# try:
# # a - func(a, list(robot_ts_map.keys()))
# print(i, a-func(a, list(robot_ts_map.keys())))
# except Exception:
# print(i,a)
# pass
# a = 174945200000000000
# print(func(a, list(robot_ts_map.keys())))

# print(ass[1766-1:1766+2])
# seq, encoder, host_ts, device_ts, buffer = b2t(device_ts_map[1749444627751252600].read_bytes())
# print(seq)
# seq, encoder, host_ts, device_ts, buffer = b2t(device_ts_map[1749442951214858600].read_bytes())
# print(seq)
# seq, encoder, host_ts, device_ts, buffer = b2t(device_ts_map[1749444583738329700].read_bytes())
# print(seq)

# 1766 1749442951214858600
# 2271 1749442950915344400
# 2272 1749442950944313600
# 2273 1749442950961272400
# 2274 1749442950993404700
# 2275 1749442951056585700
# 2276 1749442951061834900
# 2277 1749442951119567900
# 2278 1749442951139249100
# 2279 1749442951144567800
# 2280 1749442951149875300
# 2281 1749442951169837900
# 2282 1749442951197964400