#! /usr/bin/env python

import sys, argparse

#import matplotlib.pyplot as plt
import numpy as np

import ml, utils, storage

parser = argparse.ArgumentParser(description='The program learns prototypes for the motion patterns') #, epilog = ''
#parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file')
parser.add_argument('-d', dest = 'databaseFilename', help = 'name of the Sqlite database file', required = True)
parser.add_argument('-t', dest = 'trajectoryType', help = 'type of trajectories to learn from', choices = ['objectfeatures', 'feature', 'object'], default = 'objectfeatures')
parser.add_argument('--max-nobjectfeatures', dest = 'maxNObjectFeatures', help = 'maximum number of features per object to load', type = int, default = 3)
parser.add_argument('-n', dest = 'nTrajectories', help = 'number of the object or feature trajectories to load', type = int, default = None)
parser.add_argument('-e', dest = 'epsilon', help = 'distance for the similarity of trajectory points', type = float, required = True)
parser.add_argument('--metric', dest = 'metric', help = 'metric for the similarity of trajectory points', default = 'cityblock') # default is manhattan distance
parser.add_argument('-s', dest = 'minSimilarity', help = 'minimum similarity to put a trajectory in a cluster', type = float, required = True)
parser.add_argument('-c', dest = 'minClusterSize', help = 'minimum cluster size', type = int, default = None)
parser.add_argument('--random', dest = 'randomInitialization', help = 'random initialization of clustering algorithm', action = 'store_true')
parser.add_argument('--subsample', dest = 'positionSubsamplingRate', help = 'rate of position subsampling (1 every n positions)', type = int, default = None)
parser.add_argument('--display', dest = 'display', help = 'display trajectories', action = 'store_true')
parser.add_argument('--save-similarities', dest = 'saveSimilarities', help = 'save computed similarities (in addition to prototypes)', action = 'store_true')

args = parser.parse_args()

# TODO parameters (random init?) and what to learn from: objects, features, longest features from objects
# TODO add possibility to cluter with velocities

trajectoryType = args.trajectoryType
prototypeType = args.trajectoryType
if args.trajectoryType == 'objectfeatures':
    trajectoryType = 'object'
    prototypeType = 'feature'

#features = storage.loadTrajectoriesFromSqlite(databaseFilename, args.trajectoryType)
objects = storage.loadTrajectoriesFromSqlite(args.databaseFilename, trajectoryType, withFeatures = (args.trajectoryType == 'objectfeatures'), objectNumbers = args.nTrajectories, timeStep = args.positionSubsamplingRate)

if args.trajectoryType == 'objectfeatures':
    features = []
    for o in objects:
        features += o.getNLongestFeatures(args.maxNObjectFeatures)
    objects = features

trajectories = [o.getPositions().asArray().T for o in objects]

lcss = utils.LCSS(metric = args.metric, epsilon = args.epsilon)
nTrajectories = len(trajectories)

similarities = -np.ones((nTrajectories, nTrajectories))

prototypeIndices, labels = ml.prototypeCluster(trajectories, similarities, args.minSimilarity, lambda x,y : lcss.computeNormalized(x, y), args.minClusterSize, args.randomInitialization) # this line can be called again without reinitializing similarities

clusterSizes = ml.computeClusterSizes(labels, prototypeIndices, -1)
print(clusterSizes)

storage.savePrototypesToSqlite(args.databaseFilename, [objects[i].getNum() for i in prototypeIndices], prototypeType, [clusterSizes[i] for i in prototypeIndices]) # if saving filenames, add for example [objects[i].dbFilename for i in prototypeIndices]

if args.saveSimilarities:
    np.savetxt(utils.removeExtension(args.databaseFilename)+'-prototype-similarities.txt.gz', similarities, '%.4f')

if args.display:
    from matplotlib.pyplot import figure, show, axis
    figure()
    for i,o in enumerate(objects):
        if i not in prototypeIndices:
            if labels[i] < 0:
                o.plot('kx')
            else:
                o.plot(utils.colors[labels[i]])
    for i in prototypeIndices:
            objects[i].plot(utils.colors[i]+'o')
    axis('equal')
    show()

# TODO store the prototypes trajectories, add option so store similarities (the most expensive stuff) with limited accuracy
