import heapq
import os
import random
import tkinter as tk
from collections import deque
from tkinter import messagebox

import cv2
import numpy as np

# 停车场布局数据
left_side = list(range(119, 132))
right_side = list(range(99, 87, -1))

# 将右侧车位编号转换为三位数格式（例如：099, 098, ...）
right_side = [str(number).zfill(3) for number in right_side]

entry_left = [117, 115, 113]
entry_right = [108, 106, 104, 102, 101, 100]
p_row1 = [118, 116, 114, 112, 111, 110, None, 109, 107, 105, 103]
middle_bottom_row1 = [292, 290, 288, 286, 284, 282, 280, 278, 276, 274, 272]
middle_top_row2 = [293, 291, 289, 287, 285, 283, 281, 279, 277, 275, 273, 271]
middle_bottom_row2 = list(range(259, 271))
middle_top_row3 = [None] * 10 + [00] + [None]
middle_bottom_row3 = [258, 257, 256, None, None,
                      None, None, None, None, 255, 254, None]

# 样式参数
car_space_width = 40
car_space_height = 80
road_width = 40
margin = 0
canvas_width = 12 * car_space_width + road_width * \
    2 + 2 * car_space_height + 11 * margin
canvas_height = 4 * road_width + 7 * car_space_height + 3 * margin
middle_area_offset_y = 100  # 中间区域整体下移

# 车位状态对应颜色
status_color = {
    "free": "lightgreen",
    "occupied": "tomato",
}

default_color = "white"
selected_color = "cyan"  # 搜索高亮颜色

# 设置 YOLO 检测结果路径
detection_folder = r"D:\car2\parking_folders"


# A*算法的启发式函数
def heuristic(a, b):
    return abs(a[0] - b[0]) + abs(a[1] - b[1])  # 曼哈顿距离


class ParkingLot(tk.Tk):
    def __init__(self):
        super().__init__()
        self.title("停车场平面图 🚗")
        self.geometry(f"{canvas_width}x{canvas_height}")
        self.canvas = tk.Canvas(self, width=canvas_width,
                                height=canvas_height, bg="#CCCCCC")
        self.canvas.pack()

        # 搜索部分
        self.search_entry = tk.Entry(self)
        self.search_entry.pack(pady=5)
        self.search_button = tk.Button(
            self, text="搜索车位", command=self.search_spot)
        self.search_button.pack(pady=5)

        self.spots = {}  # 存储车位信息
        self.path = []  # 存储路径
        self.parkpot = {}
        self.grid = self.get_grid()
        self.obstacles = []  # 存储障碍物坐标
        self.get_parkpot()
        self.current_path = []
        self.draw_parking_lot()

    def get_grid(self):
        row = int(canvas_height / 40)
        column = int(canvas_width / 40)
        grid = np.zeros((row, column), np.int64)
        for i in range(4):
            for j in range(14):
                grid[2 + 5 * i][2 + j] = 1
        for i in range(2):
            grid[3:, 2 + i * 13] = 1
        grid[:2, 8] = 1
        return grid

    def get_parkpot(self):
        """获取车位入口坐标"""
        for idx, name in enumerate(left_side):
            self.parkpot[name] = (3 + idx, 2, "left")
        for idx, name in enumerate(right_side):
            self.parkpot[name] = (3 + idx, 15, "right")
        for idx, name in enumerate(entry_left):
            self.parkpot[name] = (2, 4 + idx, "up")
        for idx, name in enumerate(entry_right):
            self.parkpot[name] = (2, 10 + idx, "up")
        for idx, name in enumerate(p_row1):
            self.parkpot[name] = (2, 4 + idx, "down")
        for idx, name in enumerate(middle_bottom_row1):
            self.parkpot[name] = (7, 4 + idx, "up")
        for idx, name in enumerate(middle_top_row2):
            self.parkpot[name] = (7, 3 + idx, "down")
        for idx, name in enumerate(middle_bottom_row2):
            self.parkpot[name] = (12, 3 + idx, "up")
        for idx, name in enumerate(middle_top_row3):
            self.parkpot[name] = (12, 3 + idx, "down")
        for idx, name in enumerate(middle_bottom_row3):
            self.parkpot[name] = (17, 3 + idx, "up")

    def draw_parking_lot(self):
        # 入口灰色路
        inx_start = 5 * car_space_width + road_width + car_space_height + 5 * margin
        self.canvas.create_rectangle(
            inx_start, 0, inx_start + road_width, car_space_height, fill="gray", outline="gray"
        )
        self.canvas.create_text(
            inx_start + road_width / 2, 20, text="入口", fill="red", font=("Arial", 16))
        self.canvas.create_rectangle(
            car_space_height,
            car_space_height,
            canvas_width - car_space_height,
            car_space_height + road_width,
            fill="gray",
            outline="gray",
        )
        self.canvas.create_rectangle(
            car_space_height,
            car_space_height + road_width,
            car_space_height + road_width,
            canvas_height,
            fill="gray",
            outline="gray",
        )
        self.canvas.create_rectangle(
            canvas_width - car_space_height - road_width,
            car_space_height + road_width,
            canvas_width - car_space_height,
            canvas_height,
            fill="gray",
            outline="gray",
        )
        self.canvas.create_rectangle(
            car_space_height,
            3 * car_space_height + margin + road_width,
            canvas_width - car_space_height,
            3 * car_space_height + margin + road_width + road_width,
            fill="gray",
            outline="gray",
        )
        self.canvas.create_rectangle(
            car_space_height,
            5 * car_space_height + 2 * margin + 2 * road_width,
            canvas_width - car_space_height,
            5 * car_space_height + 2 * margin + 2 * road_width + road_width,
            fill="gray",
            outline="gray",
        )
        self.canvas.create_rectangle(
            car_space_height,
            canvas_height - road_width,
            canvas_width - car_space_height,
            canvas_height,
            fill="gray",
            outline="gray",
        )
        self.canvas.create_line(inx_start + road_width / 2, 30,
                                inx_start + road_width / 2, 100, fill="blue", width=5)

        # 入口两边车位
        for idx, number in enumerate(entry_left):
            x = car_space_height + road_width + car_space_width + \
                idx * (car_space_width + margin) + margin
            y = 0
            self.draw_parking_spot(x, y, number, direction="down")

        for idx, number in enumerate(entry_right):
            x = inx_start + road_width + car_space_width + \
                idx * (car_space_width + margin) + margin * 2
            y = 0
            self.draw_parking_spot(x, y, number, direction="down")

        # 左右两列
        for idx, number in enumerate(left_side):
            x = 0
            y = car_space_height + road_width + \
                idx * (car_space_width + margin)
            self.draw_parking_spot(x, y, number, direction="right")

        for idx, number in enumerate(right_side):
            x = canvas_width - car_space_height
            y = road_width + car_space_height + \
                idx * (car_space_width + margin)
            self.draw_parking_spot(x, y, number, direction="left")

        # 中间区域
        start_y = car_space_height + road_width
        start_x = car_space_height + road_width + margin + car_space_width
        self.draw_middle_row(start_x, start_y, p_row1, up=True)
        self.draw_middle_row(
            start_x,
            start_y + car_space_height + margin,
            middle_bottom_row1,
            up=False,
        )

        start_y += road_width + margin + 2 * car_space_height
        start_x -= car_space_width + margin
        self.draw_middle_row(start_x, start_y, middle_top_row2, up=True)
        self.draw_middle_row(
            start_x, start_y + car_space_height + margin, middle_bottom_row2, up=False)

        start_y += road_width + margin + 2 * car_space_height
        self.draw_middle_row(start_x, start_y, middle_top_row3, up=True)
        self.draw_middle_row(
            start_x, start_y + car_space_height + margin, middle_bottom_row3, up=False)

    def draw_middle_row(self, start_x, start_y, row_data, up=True):
        """
        绘制中间行的停车位。
        :param start_y: 行起始的y坐标
        :param row_data: 行数据，包含停车位编号的列表
        :param up: 布尔值，指示停车位的头部方向，默认为True（向上）
        """
        current_x = start_x

        for number in row_data:
            # 绘制停车位矩形，去掉边框
            rect = self.canvas.create_rectangle(
                current_x,
                start_y,
                current_x + car_space_width,
                start_y + car_space_height,
                fill=default_color,
                # outline="#CCCCCC",  # 修改：将边框颜色设置为与背景相同的颜色
            )

            if number is not None:
                # 初始随机给状态
                status = random.choice(["free", "occupied"])
                # 存储停车位信息
                self.spots[rect] = {"number": number, "status": status}
                # 绘制指向停车位的箭头
                self.draw_arrow(current_x, start_y, "up" if up else "down")
                # 绘制停车位编号
                self.canvas.create_text(
                    current_x + car_space_width / 2,
                    start_y + car_space_height / 2,
                    text=str(number),
                    font=("Arial", 8),
                )
                # 绑定点击事件以切换停车位状态
                self.canvas.tag_bind(rect, "<Button-1>", self.toggle_spot)
                # 按状态上色
                fill_color = status_color.get(status, default_color)
                self.canvas.itemconfig(rect, fill=fill_color)

                # 添加障碍物坐标
                self.obstacles.append((current_x, start_y))

            # 更新当前x坐标以绘制下一个停车位
            current_x += car_space_width + margin

    def draw_arrow(self, x, y, direction):
        if direction == "up":
            points = [
                x + car_space_width / 2,
                y + 10,
                x + 10,
                y + 30,
                x + car_space_width - 10,
                y + 30,
            ]
        elif direction == "down":
            points = [
                x + car_space_width / 2,
                y + car_space_height - 10,
                x + 10,
                y + car_space_height - 30,
                x + car_space_width - 10,
                y + car_space_height - 30,
            ]
        elif direction == "right":
            points = [
                x + car_space_height - 5,
                y + car_space_width / 2,
                x + car_space_height - 20,
                y + 5,
                x + car_space_height - 20,
                y + car_space_width - 5,
            ]
        else:
            points = [
                x + 5,
                y + car_space_width / 2,
                x + 20,
                y + 5,
                x + 20,
                y + car_space_width - 5,
            ]
        self.canvas.create_polygon(points, fill="black")

    def draw_parking_spot(self, x, y, number, direction="up"):
        if direction not in ["left", "right"]:
            rect = self.canvas.create_rectangle(
                x, y, x + car_space_width, y + car_space_height, fill=default_color, outline="black"
            )
        elif direction == "left":
            rect = self.canvas.create_rectangle(
                x, y, x + car_space_height, y + car_space_width, fill=default_color, outline="black"
            )
        else:
            rect = self.canvas.create_rectangle(
                x, y, x + car_space_height, y + car_space_width, fill=default_color, outline="black"
            )
        # 获取车位编号对应的YOLO检测结果图像路径
        detection_image_path = os.path.join(
            detection_folder, f"{number}.jpg")  # 假设图像以车位编号命名

        # 检查文件是否存在
        if os.path.exists(detection_image_path):
            # 读取 YOLO 检测结果图像（假设是红绿图像，红色表示有车，绿色表示空位）
            detection_image = cv2.imread(detection_image_path)

            # 检查图片是否为空
            if detection_image is not None:
                # 假设检测图像中左上角是车位的检测状态，我们可以检查该区域的颜色
                # 获取车位区域的颜色
                region_color = detection_image[10, 10]  # 假设检测图像左上角有车位状态信息

                # 判断颜色，红色表示有车，绿色表示空位
                if np.array_equal(region_color, [0, 0, 255]):  # 红色
                    status = "occupied"
                elif np.array_equal(region_color, [0, 255, 0]):  # 绿色
                    status = "free"
                else:
                    status = "free"  # 默认状态为免费
            else:
                status = "free"  # 默认状态为免费，如果读取失败
        else:
            status = "free"  # 默认状态为免费，如果没有检测结果

        self.spots[rect] = {"number": number, "status": status}

        # 绘制箭头
        self.draw_arrow(x, y, direction)

        # 绘制车位编号
        if direction not in ["left", "right"]:
            self.canvas.create_text(
                x + car_space_width / 2,
                y + car_space_height / 2,
                text=str(number),
                font=("Arial", 8),
            )
        else:
            self.canvas.create_text(
                x + car_space_height / 2,
                y + car_space_width / 2,
                text=str(number),
                font=("Arial", 8),
            )
        # 绑定点击事件
        self.canvas.tag_bind(rect, "<Button-1>", self.toggle_spot)

        # 按状态设置颜色
        fill_color = status_color.get(status, default_color)
        self.canvas.itemconfig(rect, fill=fill_color)

    def find_path(self, matrix):
        # 定义起点和终点
        start = (0, 8)
        end = None
        for i in range(len(matrix)):
            for j in range(len(matrix[0])):
                if matrix[i][j] == 2:
                    end = (i, j)
                    break
            if end:
                break

        # 定义方向数组，表示上下左右四个方向
        directions = [(-1, 0), (1, 0), (0, -1), (0, 1)]

        # 初始化队列，存储当前坐标和路径
        queue = deque()
        queue.append((start, [start]))

        # 初始化访问标记数组
        visited = [[False for _ in range(len(matrix[0]))]
                   for _ in range(len(matrix))]
        visited[start[0]][start[1]] = True

        # 开始 BFS
        while queue:
            (x, y), path = queue.popleft()

            # 如果当前点是终点，返回路径
            if (x, y) == end:
                return path  # 返回找到的路径

            # 检查四个方向
            for dx, dy in directions:
                nx, ny = x + dx, y + dy
                # 判断新坐标是否在矩阵范围内，并且是路径或目的地且未被访问过
                if 0 <= nx < len(matrix) and 0 <= ny < len(matrix[0]):
                    if matrix[nx][ny] in [1, 2] and not visited[nx][ny]:
                        visited[nx][ny] = True
                        queue.append(((nx, ny), path + [(nx, ny)]))

        return []  # 如果没有找到路径，返回空列表

    def toggle_spot(self, event):
        clicked = event.widget.find_withtag("current")[0]
        spot = self.spots.get(clicked)

        if spot["status"] != "free":
            messagebox.showinfo("提示", "该车位已满，请选择其他车位！")
        else:
            messagebox.showinfo(
                "车位信息",
                f"车位编号: {spot['number']}\n状态: {spot['status']}",
            )
            coords = self.canvas.coords(clicked)
            X1, Y1, X2, Y2 = coords
            # X1 = X1*40+20
            # Y1 = Y1*40+20
            # X2=X2*40+20
            # Y2=Y2*40+20
            number = spot["number"]
            parkspot = self.parkpot[number]

            # 清除之前的路径
            self.clear_previous_path()

            matrix = self.grid.copy()
            matrix[parkspot[0]][parkspot[1]] = 2
            path = self.find_path(matrix)
            direction = parkspot[2]
            if path:
                # 转换为像素坐标
                path_coords = [(x * 40 + 20, y * 40 + 20) for (x, y) in path]
                if direction == 'left':
                    path_coords.append((X2, (Y1+Y2)/2))
                elif direction == 'right':
                    path_coords.append((X1, (Y1+Y2)/2))
                elif direction == 'up':
                    path_coords.append(((X1+X2)/2, Y2))
                else:
                    path_coords.append(((X1+X2)/2, Y1))
                # 保存路径图形项ID
                self.current_path = []
                print(path_coords)
                # 绘制路径并记录图形项ID
                for i in range(len(path_coords) - 1):
                    y1, x1 = path_coords[i]
                    y2, x2 = path_coords[i + 1]
                    if i == len(path_coords) - 2:
                        line_id = self.canvas.create_line(
                            x1, y1, y2, x2, fill="blue", width=5, arrow=tk.LAST)
                    else:
                        line_id = self.canvas.create_line(
                            x1, y1, x2, y2, fill="blue", width=5)
                    self.current_path.append(line_id)
            else:
                messagebox.showinfo("提示", "未找到到达该车位的路径！")

    def clear_previous_path(self):
        """清除之前绘制的路径"""
        for item_id in self.current_path:
            self.canvas.delete(item_id)
        self.current_path.clear()

    def search_spot(self):
        query = self.search_entry.get()
        found = False
        for rect, spot in self.spots.items():
            if str(spot["number"]) == query:
                self.canvas.itemconfig(rect, fill=selected_color)
                self.find_path(rect)
                found = True
            else:
                # 恢复成状态颜色
                self.canvas.itemconfig(rect, fill=status_color.get(
                    spot["status"], default_color))

        if not found:
            messagebox.showwarning("提示", "未找到该车位编号！")

    def is_obstacle(self, coords):
        # 判断当前位置是否为车位（障碍物）
        for x, y in self.obstacles:
            if x <= coords[0] <= x + car_space_width and y <= coords[1] <= y + car_space_height:
                return True
        return False


if __name__ == "__main__":
    app = ParkingLot()
    app.mainloop()