import os
import json
import numpy as np
from scipy.optimize import linear_sum_assignment
import logging
from collections import defaultdict

class PixelBBoxTracker:
    def __init__(self, max_disappeared=50, max_distance=100, max_pigs=9):
        self.tracks = {}  # Active tracks: {id: {'centroid', 'disappeared', 'bbox'}}
        self.next_id = 1
        self.max_disappeared = max_disappeared
        self.max_distance = max_distance
        self.max_pigs = max_pigs
        self.disappeared_tracks = {}  # Temporarily lost tracks
        self.track_history = defaultdict(list)  # Store recent positions
        self.ambiguous_threshold = 0.1  # Cost difference threshold for ambiguity
        self.iou_weight = 0.4  # Weight for IoU in cost calculation
        self.centroid_weight = 0.4  # Weight for centroid distance
        self.area_weight = 0.2  # Weight for area similarity

    def _get_centroid(self, bbox):
        x, y, w, h = bbox
        return np.array([x + w/2, y + h/2])

    def _calculate_area(self, bbox):
        _, _, w, h = bbox
        return w * h

    def _area_similarity(self, area1, area2):
        """Calculate normalized area similarity (1.0 = identical areas)"""
        if area1 == 0 or area2 == 0:
            return 0.0
        min_area = min(area1, area2)
        max_area = max(area1, area2)
        return min_area / max_area

    def _bbox_iou(self, box1, box2):
        """Calculate Intersection over Union (IoU) of two bounding boxes"""
        # Box format: [x, y, w, h]
        x1, y1, w1, h1 = box1
        x2, y2, w2, h2 = box2
        
        # Calculate intersection coordinates
        xi1 = max(x1, x2)
        yi1 = max(y1, y2)
        xi2 = min(x1 + w1, x2 + w2)
        yi2 = min(y1 + h1, y2 + h2)
        
        # Calculate intersection area
        inter_width = max(0, xi2 - xi1)
        inter_height = max(0, yi2 - yi1)
        inter_area = inter_width * inter_height
        
        # Calculate union area
        box1_area = w1 * h1
        box2_area = w2 * h2
        union_area = box1_area + box2_area - inter_area
        
        return inter_area / union_area if union_area > 0 else 0.0

    def _calculate_cost(self, track, detection_bbox):
        """Calculate combined cost using centroid distance, IoU, and area similarity"""
        # Get track information
        last_centroid = track["centroid"]
        last_bbox = track["bbox"]
        track_area = self._calculate_area(last_bbox)
        
        # Detection information
        detection_centroid = self._get_centroid(detection_bbox)
        detection_area = self._calculate_area(detection_bbox)
        
        # Calculate components
        centroid_distance = np.linalg.norm(detection_centroid - last_centroid)
        normalized_distance = min(centroid_distance / self.max_distance, 1.0)
        
        iou = self._bbox_iou(last_bbox, detection_bbox)
        iou_term = 1.0 - iou
        
        area_sim = self._area_similarity(track_area, detection_area)
        area_term = 1.0 - area_sim
        
        # Combine with weights
        cost = (self.centroid_weight * normalized_distance +
                self.iou_weight * iou_term +
                self.area_weight * area_term)
        
        return cost

    def update(self, detections):
        # Filter out small bounding boxes
        detections = [d for d in detections if self._calculate_area(d['bbox']) >= 100]
        
        # Get current frame information
        current_centroids = [self._get_centroid(d['bbox']) for d in detections]
        detection_bboxes = [d['bbox'] for d in detections]
        track_ids = [-1] * len(detections)  # Initialize all as unmatched
        
        # Stage 1: Match existing tracks to detections
        if self.tracks and detections:
            track_ids_list = list(self.tracks.keys())
            cost_matrix = np.full((len(track_ids_list), len(detections)), 10.0)  # High default cost
            
            # Calculate cost matrix
            for t_idx, track_id in enumerate(track_ids_list):
                track = self.tracks[track_id]
                for d_idx, bbox in enumerate(detection_bboxes):
                    cost = self._calculate_cost(track, bbox)
                    centroid_distance = np.linalg.norm(current_centroids[d_idx] - track["centroid"])
                    
                    # Only consider if within max distance
                    if centroid_distance <= self.max_distance:
                        cost_matrix[t_idx, d_idx] = cost
            
            # Apply Hungarian algorithm for optimal matching
            try:
                row_ind, col_ind = linear_sum_assignment(cost_matrix)
                
                # Process matches
                for t_idx, d_idx in zip(row_ind, col_ind):
                    if cost_matrix[t_idx, d_idx] < 0.8:  # Only accept good matches
                        track_id = track_ids_list[t_idx]
                        track = self.tracks[track_id]
                        bbox = detection_bboxes[d_idx]
                        
                        # Update track information
                        track["centroid"] = current_centroids[d_idx]
                        track["bbox"] = bbox
                        track["disappeared"] = 0
                        self.track_history[track_id].append(current_centroids[d_idx])
                        
                        # Assign track ID to detection
                        track_ids[d_idx] = track_id
            except Exception as e:
                pass

        # Stage 2: Handle unmatched detections
        unmatched_detections = [d_idx for d_idx, tid in enumerate(track_ids) if tid == -1]
        regained_ids = []
        new_track_ids = []
        
        for d_idx in unmatched_detections:
            centroid = current_centroids[d_idx]
            bbox = detection_bboxes[d_idx]
            
            # Try to regain from disappeared tracks
            best_match_id = None
            min_cost = float('inf')
            
            for track_id, track in self.disappeared_tracks.items():
                cost = self._calculate_cost(track, bbox)
                centroid_distance = np.linalg.norm(centroid - track["centroid"])
                
                if cost < min_cost and centroid_distance <= self.max_distance:
                    min_cost = cost
                    best_match_id = track_id
            
            # Regain track if found
            if best_match_id and len(self.tracks) < self.max_pigs:
                # Update track information
                self.tracks[best_match_id] = {
                    "centroid": centroid,
                    "bbox": bbox,
                    "disappeared": 0
                }
                self.track_history[best_match_id].append(centroid)
                track_ids[d_idx] = best_match_id
                regained_ids.append(best_match_id)
                del self.disappeared_tracks[best_match_id]
            
            # Create new track if no match and under capacity
            elif len(self.tracks) < self.max_pigs:
                new_id = self.next_id
                self.tracks[new_id] = {
                    "centroid": centroid,
                    "bbox": bbox,
                    "disappeared": 0
                }
                self.track_history[new_id].append(centroid)
                track_ids[d_idx] = new_id
                new_track_ids.append(new_id)
                self.next_id += 1

        # Stage 3: Update disappeared tracks
        lost_track_ids = []
        
        # Check all active tracks
        for track_id in list(self.tracks.keys()):
            # If track wasn't matched
            if track_id not in track_ids:
                self.tracks[track_id]["disappeared"] += 1
                
                # Move to disappeared if disappeared too long
                if self.tracks[track_id]["disappeared"] > self.max_disappeared:
                    self.disappeared_tracks[track_id] = self.tracks[track_id]
                    del self.tracks[track_id]
                    lost_track_ids.append(track_id)
                    # Keep history for potential regain
        
        # Stage 4: Cap at max pigs
        if len(self.tracks) > self.max_pigs:
            # Remove oldest lost track (highest disappeared count)
            oldest_id = None
            max_disappeared = -1
            for track_id, track in self.tracks.items():
                if track["disappeared"] > max_disappeared:
                    max_disappeared = track["disappeared"]
                    oldest_id = track_id
            
            if oldest_id:
                self.disappeared_tracks[oldest_id] = self.tracks[oldest_id]
                del self.tracks[oldest_id]
                lost_track_ids.append(oldest_id)

        # Return only current detections with track IDs
        all_track_ids = []
        all_bboxes = []
        
        for i, tid in enumerate(track_ids):
            if tid != -1:
                all_track_ids.append(tid)
                all_bboxes.append(detection_bboxes[i])
        
        return all_track_ids, all_bboxes, regained_ids, lost_track_ids


# The rest of your code remains the same (read_json_file, save_json_file, setup_logger, and main)

def read_json_file(json_path):
    with open(json_path, 'r') as f:
        data = json.load(f)

    frame_data = {}
    for item in data:
        frame_id = item['frame_id']
        det = {
            "bbox": item["bbox"],
            "area": item.get("area", 0)
        }

        if frame_id not in frame_data:
            frame_data[frame_id] = {
                "frame_width": item.get("frame_width", 1280),
                "frame_height": item.get("frame_height", 720),
                "detections": []
            }

        frame_data[frame_id]["detections"].append(det)

    return frame_data


def save_json_file(output_path, results):
    coco_output = {
        "images": [],
        "annotations": [],
        "categories": [{"id": 1, "name": "pig"}]
    }

    annotation_id = 1
    for frame_id in sorted(results.keys()):
        frame = results[frame_id]
        width = frame["frame_width"]
        height = frame["frame_height"]
        file_name = f"{frame_id:08d}.jpg"

        coco_output["images"].append({
            "id": frame_id,
            "file_name": file_name,
            "width": width,
            "height": height
        })

        for det in frame["detections"]:
            x, y, w, h = det["bbox"]
            area = det.get("area", w * h)
            coco_output["annotations"].append({
                "id": annotation_id,
                "image_id": frame_id,
                "category_id": 1,
                "bbox": [x, y, w, h],
                "track_id": det["track_id"],
                "area": area,
                "iscrowd": 0
            })
            annotation_id += 1

    with open(output_path, 'w') as f:
        json.dump(coco_output, f, indent=2)


def setup_logger(log_path):
    logger = logging.getLogger('tracking_logger')
    logger.setLevel(logging.INFO)
    
    for handler in logger.handlers[:]:
        logger.removeHandler(handler)
    
    file_handler = logging.FileHandler(log_path)
    file_handler.setLevel(logging.INFO)
    
    console_handler = logging.StreamHandler()
    console_handler.setLevel(logging.INFO)
    
    formatter = logging.Formatter('%(asctime)s - %(message)s')
    file_handler.setFormatter(formatter)
    console_handler.setFormatter(formatter)
    
    logger.addHandler(file_handler)
    logger.addHandler(console_handler)
    
    return logger


if __name__ == "__main__":
    input_dir = "path/to/your/detected_json"
    output_dir = "path/to/your/tracked_json"
    log_dir = "path/to/your/tracking_log"
    os.makedirs(output_dir, exist_ok=True)
    os.makedirs(log_dir, exist_ok=True)

    for file_name in os.listdir(input_dir):
        if not file_name.endswith(".json"):
            continue

        input_path = os.path.join(input_dir, file_name)
        output_path = os.path.join(output_dir, file_name.replace("detection.json", "tracked.json"))
        log_path = os.path.join(log_dir, file_name.replace(".json", ".log"))
        
        logger = setup_logger(log_path)
        logger.info(f"Starting processing for {file_name}")
        
        frames = read_json_file(input_path)
        tracker = PixelBBoxTracker(max_disappeared=180, max_distance=125, max_pigs=9)
        results = {}
        detection_counts = defaultdict(list)

        for frame_id in sorted(frames.keys()):
            frame = frames[frame_id]
            detections = frame["detections"]
            
            # Remove original track ID
            for det in detections:
                det.pop("track_id", None)
            
            # Process tracking
            track_ids, bboxes, regained_ids, lost_track_ids = tracker.update(detections)
            
            # Prepare detections for this frame
            frame_detections = []
            for track_id, bbox in zip(track_ids, bboxes):
                frame_detections.append({
                    "bbox": bbox,
                    "track_id": track_id,
                    "area": bbox[2] * bbox[3]  # w * h
                })
            
            # Store results
            results[frame_id] = {
                "frame_width": frame["frame_width"],
                "frame_height": frame["frame_height"],
                "detections": frame_detections
            }
            
            # Logging
            detection_count = len(frame_detections)
            detection_counts[detection_count].append(frame_id)
            
            if detection_count > 9:
                logger.warning(f"Frame {frame_id}: Too many detections ({detection_count}) - capped to 9")
            elif detection_count < 9:
                logger.info(f"Frame {frame_id}: Only {detection_count} detections")
            
            if lost_track_ids:
                logger.info(f"Frame {frame_id}: Lost tracks - {', '.join(map(str, lost_track_ids))}")
            
            if regained_ids:
                logger.info(f"Frame {frame_id}: Regained tracks - {', '.join(map(str, regained_ids))}")
        
        # Save detection count statistics
        logger.info("\nDetection Count Statistics:")
        for count, frames in sorted(detection_counts.items()):
            logger.info(f"{count} detections: {len(frames)} frames")
        
        # Save results
        save_json_file(output_path, results)
        logger.info(f"Tracking complete. Output saved to {output_path}\n")
    
    print("All files processed successfully.")