import asyncio
import json
import logging
import time
from typing import Dict, List, Any

from middleware.entity.camera_para import read_camera_params
from touying.ImageReproject_python.cal_func import red_line_reproject, read_txt
from touying.read_hongxian_file import process_geojson_data, convert_processed_to_points, \
    add_result_to_prcessdata

# 配置日志
logging.basicConfig(
    level=logging.INFO,
    format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
)
logger = logging.getLogger(__name__)



# 自定义计算类 - 处理接收到的MQTT消息
class CalTouYing:
    def __init__(self,local_file_path, camera_file_path,img_width=1920, img_height=1080):
        self.img_width = img_width
        self.img_height = img_height
#        self.points = read_txt(r"D:\project\test-touying\ImageReproject_python\points.txt")
        self.processed_data=process_geojson_data(local_file_path) #将json文本读取到内存
        self.camera_para=read_camera_params(camera_file_path)
        self.processed_points=convert_processed_to_points(self.processed_data) #做格式转为Point的集合

    def process(self, data: Dict) -> None | dict[str, int | float | Any] | dict[str, str | dict]:
        """处理接收到的数据并进行计算"""
        try:
            # 提取参数（如果不存在则使用默认值）
            # 提取参数（如果不存在则使用默认值）

            # print(f"datadatadata2  {data.get("data")}")
            # print(f"datadatadata3  {data.get("data").get("gimbal_yaw", 0)}")

            # if data.get("data").get("gimbal_yaw") is None:



            gimbal_yaw = data.get("data").get("gimbal_yaw")
            # print("1")
            gimbal_pitch = data.get("data").get("gimbal_pitch")
            # print("2")
            gimbal_roll = data.get("data").get("gimbal_roll")
            # print("3")
            height = data.get("data").get("height")
            # print("4")
            cam_longitude = data.get("data").get("longitude")
            # print("5")
            cam_altitude = data.get("data").get("latitude")
            # print("6")

            # # # 提取参数（根据实际 MQTT 消息结构调整）
            # gimbal_yaw = data.get("data", {}).get("gimbal_yaw", 66.40)
            # gimbal_pitch = data.get("data", {}).get("gimbal_pitch", -90)
            # gimbal_roll = data.get("data", {}).get("gimbal_roll", 0)
            # height = data.get("data", {}).get("height", 590.834)
            # cam_longtitude = data.get("data", {}).get("cam_longtitude", 103.592606)
            # cam_altitude = data.get("data", {}).get("cam_altitude", 30.454648)
            # img_width = data.get("data", {}).get("img_width", 4032)
            # img_height = data.get("data", {}).get("img_height", 3024)

            if gimbal_yaw is not None and gimbal_pitch is not None and gimbal_roll is not None and height is not None and cam_longitude is not None and cam_altitude is not None:
                # gimbal_yaw=float(gimbal_yaw)
                # gimbal_pitch=float(gimbal_pitch)
                # print(f"datadatadata1  {data}")
                # # 临时特殊处理，gimbal_pitch收到了0的异常值
                # if gimbal_pitch <0.01:
                #     gimbal_pitch=0.01

                # gimbal_roll=float(gimbal_roll)
                # # height=float(height)-30
                # height=float(height)
                # cam_longitude=float(cam_longitude)
                # cam_altitude=float(cam_altitude)
                # 坐标转换计算示例
                # 这里是一个简化的示例，实际应用中可能需要更复杂的算法

                # result = red_line_reproject(
                #     gimbal_yaw, gimbal_pitch, gimbal_roll,
                #     height, longitude, latitude,
                #     1440, 1080,
                #     points
                # )

                result = red_line_reproject(
                    gimbal_yaw, gimbal_pitch, gimbal_roll,
                    height, cam_longitude, cam_altitude,
                    self.img_width, self.img_height,
                    # self.points
                    self.processed_points,
                    self.camera_para
                )
                # print("3")
                # print(f"result  {result}")
                # if len(result)<1:
                #     return None
                procc_data=self.processed_data
                add_result_to_prcessdata(procc_data, result)


                # 构建发送给前端的消息
                response = {
                    "step": 1,
                    # "param": mess,  # 原始参数
                    "data":data.get("data"),
                    "result": procc_data,  # 计算结果
                    # "result": result,  # 计算结果
                    "timestamp": time.time()
                }

                return response

        except Exception as e:
            return {
                "status": "error",
                "message": str(e),
                "original_data": data
            }