# agv_path_planner.py  (v1.1)
# ------------------------------------------------------------
# AGV 경로 계획 + F/B(전/후진) 주석 출력 (단일 해답 보장)
# - 입력: 현재 RFID, 직전 RFID, 마지막 모터(F/B), 목표 RFID
# - MapData.json에서 맵/좌표/도킹/연결 파싱
# - 결정 규칙: 목적지 근접 TP(갈림길) 우선 + 포크 루프(Left>Right>Straight) + 최종 도킹 모터 강제
# - robust: utf-8-sig 로딩, RFID 정규화(007/7 등), --debug 모드
# ------------------------------------------------------------
import re, math, argparse, sys
from collections import defaultdict, deque
from pathlib import Path

# ---------- RFID 정규화 ----------
def norm_rfid_token(s: str) -> str:
    """
    숫자만 추출하여 3자리 zero-pad (예: '7'->'007', '007'->'007').
    숫자가 하나도 없으면 원문 반환.
    """
    if s is None: return s
    digits = re.sub(r'\D+', '', s)
    return digits.zfill(3) if digits else s.strip()

def make_rfid_aliases(raw: str):
    """
    한 RFID에 대해 가능한 별칭 세트를 만듭니다.
    예: '007' -> {'007','7'}
        '40'  -> {'040','40'}
    """
    if raw is None: return set()
    raw = raw.strip()
    z3  = norm_rfid_token(raw)
    nz  = raw.lstrip('0') or '0'
    znz = z3.lstrip('0') or '0'
    return {raw, z3, nz, znz}

# ---------- Map 파서 ----------
import json

def parse_map_json(text: str):
    """JSON 형식 맵 데이터 파싱 (MapData.json, NewMap.agvmap용)"""
    try:
        data = json.loads(text)
        nodes = {}

        for node_data in data.get("Nodes", []):
            nid = node_data.get("NodeId")
            if not nid:
                continue

            # Position 파싱 "x, y" → (x, y)
            pos_str = node_data.get("Position", "0, 0")
            try:
                x, y = map(int, pos_str.split(", "))
                pos = (x, y)
            except:
                pos = (0, 0)

            nodes[nid] = {
                'NodeId': nid,
                'RfidId': node_data.get('RfidId'),
                'Type': node_data.get('Type', 0),
                'DockDirection': node_data.get('DockDirection', 0),
                'Position': pos,
                'ConnectedNodes': node_data.get('ConnectedNodes', []),
            }

        # 양방향 인접
        adj = defaultdict(set)
        for u, d in nodes.items():
            for v in d['ConnectedNodes']:
                if v in nodes:
                    adj[u].add(v); adj[v].add(u)

        # RFID 인덱스(별칭 포함)
        nid2rfid = {}
        rfid2nid = {}
        for nid, nd in nodes.items():
            rf = nd.get('RfidId')
            if rf:
                nid2rfid[nid] = norm_rfid_token(rf)  # 표준 3자리로 보관
                for alias in make_rfid_aliases(rf):
                    rfid2nid[alias] = nid

        return nodes, adj, nid2rfid, rfid2nid

    except json.JSONDecodeError:
        # JSON 파싱 실패 시 텍스트 파서로 폴백
        return parse_map_text(text)

def parse_map_text(text: str):
    parts = re.split(r'\bNodeId\s+', text)
    nodes = {}
    for part in parts:
        part = part.strip()
        if not part:
            continue
        m = re.match(r'(\S+)', part)
        if not m:
            continue
        nid = m.group(1)

        def find_num(key):
            m = re.search(fr'\b{key}\s+(-?\d+)', part)
            return int(m.group(1)) if m else None

        def find_str(key):
            m = re.search(fr'\b{key}\s+([^\s\r\n]+)', part)
            return m.group(1).strip() if m else None

        mpos = re.search(r'\bPosition\s+(-?\d+)\s*,\s*(-?\d+)', part)
        pos = (int(mpos.group(1)), int(mpos.group(2))) if mpos else None

        mconn = re.search(r'\bConnectedNodes\s+([^\r\n]+)', part)
        conns = []
        if mconn:
            seg = mconn.group(1)
            seg = re.split(r'\b(CanRotate|StationId|StationType|CreatedDate|ModifiedDate|IsActive|DisplayColor|RfidId|RfidStatus|RfidDescription|LabelText|FontFamily|FontSize|FontStyle|ForeColor|BackColor|ShowBackground|ImagePath|Scale|Opacity|Rotation|DisplayText|Name|Type|DockDirection|Position|NodeId)\b', seg)[0]
            conns = re.findall(r'N\d+', seg)

        nodes[nid] = {
            'NodeId': nid,
            'RfidId': find_str('RfidId'),
            'Type': find_num('Type'),              # 2=Station/Buffer, 3=Charger 등
            'DockDirection': find_num('DockDirection'),  # 1=전면(F), 2=후면(B)
            'Position': pos,
            'ConnectedNodes': conns,
        }

    # 양방향 인접
    adj = defaultdict(set)
    for u, d in nodes.items():
        for v in d['ConnectedNodes']:
            if v in nodes:
                adj[u].add(v); adj[v].add(u)

    # RFID 인덱스(별칭 포함)
    nid2rfid = {}
    rfid2nid = {}
    for nid, nd in nodes.items():
        rf = nd.get('RfidId')
        if rf:
            nid2rfid[nid] = norm_rfid_token(rf)  # 표준 3자리로 보관
            for alias in make_rfid_aliases(rf):
                rfid2nid[alias] = nid

    return nodes, adj, nid2rfid, rfid2nid

# ---------- 기하/유틸 ----------
def is_fork(adj, n): return len(adj[n]) >= 3

def vec(nodes, a, b):
    ax, ay = nodes[a]['Position']; bx, by = nodes[b]['Position']
    return (bx-ax, by-ay)

def angle_between(u, v):
    ux,uy=u; vx,vy=v
    du=max((ux*ux+uy*uy)**0.5,1e-9); dv=max((vx*vx+vy*vy)**0.5,1e-9)
    ux/=du; uy/=du; vx/=dv; vy/=dv
    dot=max(-1.0,min(1.0,ux*vx+uy*vy))
    ang=math.degrees(math.acos(dot))
    cross=ux*vy-uy*vx
    return ang, cross

def classify_at_fork(nodes, adj, fork, came_from):
    vin = vec(nodes, fork, came_from)
    cand=[]
    for nb in adj[fork]:
        if nb==came_from: continue
        v=vec(nodes, fork, nb)
        ang,cross=angle_between(vin, v)
        dev=abs(180-ang)
        side='left' if cross>0 else 'right'  # y-down 화면 기준 보정
        cand.append((nb,dev,side))
    if not cand:
        return {'straight':None,'left':None,'right':None}
    straight=min(cand, key=lambda x:x[1])[0]
    lefts=[x for x in cand if x[2]=='left' and x[0]!=straight]
    rights=[x for x in cand if x[2]=='right'and x[0]!=straight]
    left=min(lefts, key=lambda x:x[1])[0] if lefts else None
    right=min(rights, key=lambda x:x[1])[0] if rights else None
    return {'straight':straight,'left':left,'right':right}

def shortest_path(adj, s, t):
    q=deque([s]); prev={s:None}
    while q:
        u=q.popleft()
        if u==t: break
        for v in adj[u]:
            if v not in prev:
                prev[v]=u; q.append(v)
    if t not in prev: return None
    path=[]; cur=t
    while cur is not None:
        path.append(cur); cur=prev[cur]
    return list(reversed(path))

def desired_final_motor(nodes, goal_nid):
    dd = nodes[goal_nid].get('DockDirection')
    ty = nodes[goal_nid].get('Type')
    if dd in (1,2): return 'F' if dd==1 else 'B'
    if ty==3: return 'F'
    if ty==2: return 'B'
    return 'F'

def choose_turning_point(nodes, adj, nid2rfid, rfid2nid, goal_nid, current_nid, preferred_tp_rfids=('004','039','040','038','005')):
    forks=[n for n in adj if is_fork(adj,n) and n!=goal_nid and n!=current_nid]
    if not forks: return None
    # 목표에서 BFS 거리
    q=deque([goal_nid]); dist={goal_nid:0}
    while q:
        u=q.popleft()
        for v in adj[u]:
            if v not in dist:
                dist[v]=dist[u]+1; q.append(v)
    pref_index={rfid2nid.get(rf, None):i for i,rf in enumerate(preferred_tp_rfids) if rf in rfid2nid}
    best=None; best_key=None
    for n in forks:
        if n in dist:
            key=(dist[n], pref_index.get(n, 9999))
            if best_key is None or key<best_key:
                best_key=key; best=n
    return best

# ---------- 플래너(단일 해답) ----------
def plan_route_with_fb(nodes, adj, nid2rfid, rfid2nid, current_rfid, prev_rfid, last_motor, goal_rfid,
                       preferred_tp_rfids=('004','039','040','038','005')):
    # 입력 RF 정규화
    cur_key = norm_rfid_token(current_rfid)
    prv_key = norm_rfid_token(prev_rfid)
    goal_key= norm_rfid_token(goal_rfid)

    # 노드 찾기(별칭 허용)
    def resolve(rf):
        if rf in rfid2nid: return rfid2nid[rf]
        # 별칭 생성 후 재시도
        for alias in make_rfid_aliases(rf):
            if alias in rfid2nid: return rfid2nid[alias]
        return None

    cur  = resolve(cur_key)
    prv  = resolve(prv_key)
    goal = resolve(goal_key)
    if cur is None:  raise SystemExit(f"[오류] 미등록 RFID: {current_rfid}")
    if prv is None:  raise SystemExit(f"[오류] 미등록 RFID: {prev_rfid}")
    if goal is None: raise SystemExit(f"[오류] 미등록 RFID: {goal_rfid}")

    sp = shortest_path(adj, cur, goal)
    if not sp: raise SystemExit("[오류] 최단경로가 존재하지 않습니다.")

    final_motor = desired_final_motor(nodes, goal)
    last_motor  = 'F' if str(last_motor).lower().startswith('f') else 'B'
    annotated=[]

    def push(a,b,m):
        annotated.append((nid2rfid[a], m, nid2rfid[b]))

    # 모터 일치 -> 바로 최단경로
    if last_motor == final_motor:
        for i in range(len(sp)-1):
            a,b=sp[i], sp[i+1]
            push(a,b,final_motor)
        rpath=[nid2rfid[n] for n in sp]
        return rpath, annotated

    # 모터 불일치 -> TP 사용 + 포크 루프
    tp = choose_turning_point(nodes, adj, nid2rfid, rfid2nid, goal, cur, preferred_tp_rfids)
    if tp is None:
        # 비권장 fallback: 마지막 홉만 final_motor
        for i in range(len(sp)-1):
            a,b=sp[i], sp[i+1]
            motor = final_motor if i==len(sp)-2 else last_motor
            push(a,b,motor)
        rpath=[nid2rfid[n] for n in sp]
        return rpath, annotated

    # A) cur -> TP : F
    path_to_tp = shortest_path(adj, cur, tp)
    for i in range(len(path_to_tp)-1):
        a,b=path_to_tp[i], path_to_tp[i+1]
        push(a,b,'F')

    # B) TP 포크 루프 결정(결정적): exit_to_goal, came_from
    path_back = shortest_path(adj, tp, goal)
    exit_to_goal = path_back[1] if len(path_back)>=2 else None
    came_from    = path_to_tp[-2] if len(path_to_tp)>=2 else None

    loop_branch=None
    if is_fork(adj, tp) and came_from is not None:
        cls = classify_at_fork(nodes, adj, tp, came_from)
        for cand in [cls.get('left'), cls.get('right'), cls.get('straight')]:
            if cand and cand != came_from and cand != exit_to_goal:
                loop_branch = cand; break
        if loop_branch is None:
            for nb in adj[tp]:
                if nb != came_from and nb != exit_to_goal:
                    loop_branch=nb; break

    if loop_branch:
        push(tp, loop_branch, 'F')  # 가지로 전진
        push(loop_branch, tp, 'B')  # TP로 역진입

    # C) TP -> goal : final_motor
    path_back = shortest_path(adj, tp, goal)
    for i in range(len(path_back)-1):
        a,b=path_back[i], path_back[i+1]
        push(a,b, final_motor)

    # RFID 경로 구성 (annotated 기반)
    rpath=[annotated[0][0]] if annotated else [nid2rfid[cur]]
    for (_,_,to_rfid) in annotated: rpath.append(to_rfid)
    return rpath, annotated

def format_annotated(annotated):
    return " ".join([f"{a} -({m})-> {b}" for (a,m,b) in annotated])

# ---------- CLI ----------
def main():
    ap = argparse.ArgumentParser(description="AGV RFID 경로 계획 + F/B 주석 (단일 해답)")
    ap.add_argument("--map", default="MapData.json", help="맵 데이터 파일 (기본: MapData.json)")
    ap.add_argument("--current", required=True, help="현재 RFID (예: 007)")
    ap.add_argument("--prev",    required=True, help="직전 RFID (예: 006)")
    ap.add_argument("--last",    required=True, help="마지막 모터(F/B 또는 forward/backward)")
    ap.add_argument("--goal",    required=True, help="목표 RFID (예: 040)")
    ap.add_argument("--tp-order", default="004,039,040,038,005", help="TP 우선순위 RFID(쉼표구분)")    
    args = ap.parse_args()

    # 파일 읽기: utf-8-sig (BOM 안전)
    map_path = Path(args.map).resolve()
    try:
        text = map_path.read_text(encoding="utf-8-sig", errors="ignore")
    except Exception as e:
        print(f"[오류] 맵 파일을 읽을 수 없습니다: {map_path}\n{e}", file=sys.stderr)
        sys.exit(1)

    nodes, adj, nid2rfid, rfid2nid = parse_map_json(text)

    if getattr(args, "debug", False):
        rfids = sorted({*rfid2nid.keys()})
        # 숫자형 RFID만 보기 좋게 필터(3자리 패드)
        rfids_num = sorted({norm_rfid_token(r) for r in rfids if re.fullmatch(r'\d+', re.sub(r'\D','','r'))})
        print(">> DEBUG")
        print(f"   Map path   : {map_path}")
        print(f"   RFID count : {len({nid2rfid[n] for n in nid2rfid})}")
        print(f"   Sample RFIDs (정규화) :", ", ".join(sorted({nid2rfid[n] for n in nid2rfid})[:20]))
        print()

    last_motor = 'F' if str(args.last).lower().startswith('f') else 'B'
    tp_pref = tuple([x.strip() for x in args.tp_order.split(",") if x.strip()])

    rpath, annotated = plan_route_with_fb(
        nodes, adj, nid2rfid, rfid2nid,
        args.current, args.prev, last_motor, args.goal,
        preferred_tp_rfids=tp_pref
    )

    print("\n=== 결과 ===")
    print("RFID Path :", " → ".join(rpath))
    print("F/B Path  :", format_annotated(annotated))

if __name__ == "__main__":
    main()