package com.fdkk.sxz;


import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.fdkk.sxz.util.FileUtils;

import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;

public class main {
    public static void main(String[] args) throws IOException {
        String json = "{\n" +
                "    \"sweepLocations\": [\n" +
                "        {\n" +
                "            \"subgroup\": 0,\n" +
                "            \"pose\": {\n" +
                "                \"rotation\": {\n" +
                "                    \"w\": 0.95928264,\n" +
                "                    \"x\": -0.0017092235,\n" +
                "                    \"y\": -0.0016763769,\n" +
                "                    \"z\": -0.28243768\n" +
                "                },\n" +
                "                \"translation\": {\n" +
                "                    \"x\": 3.6112025,\n" +
                "                    \"y\": 0.12166519,\n" +
                "                    \"z\": 1\n" +
                "                }\n" +
                "            },\n" +
                "            \"visibles3\": [\n" +
                "                1,\n" +
                "                2,\n" +
                "                3\n" +
                "            ],\n" +
                "            \"visibles2\": [\n" +
                "                1,\n" +
                "                2,\n" +
                "                3\n" +
                "            ],\n" +
                "            \"puck\": {\n" +
                "                \"x\": 3.6112025,\n" +
                "                \"y\": 0.12166519,\n" +
                "                \"z\": -1.39718955\n" +
                "            },\n" +
                "            \"uuid\": \"0\",\n" +
                "            \"visibles\": [\n" +
                "                1,\n" +
                "                2,\n" +
                "                3\n" +
                "            ],\n" +
                "            \"group\": 1\n" +
                "        },\n" +
                "        {\n" +
                "            \"subgroup\": 0,\n" +
                "            \"pose\": {\n" +
                "                \"rotation\": {\n" +
                "                    \"w\": 0.97998166,\n" +
                "                    \"x\": -0.00051350286,\n" +
                "                    \"y\": -0.00007887775,\n" +
                "                    \"z\": -0.19908713\n" +
                "                },\n" +
                "                \"translation\": {\n" +
                "                    \"x\": 1.6813623,\n" +
                "                    \"y\": 0.20879818,\n" +
                "                    \"z\": 1\n" +
                "                }\n" +
                "            },\n" +
                "            \"visibles3\": [\n" +
                "                0,\n" +
                "                2,\n" +
                "                3\n" +
                "            ],\n" +
                "            \"visibles2\": [\n" +
                "                0,\n" +
                "                2,\n" +
                "                3\n" +
                "            ],\n" +
                "            \"puck\": {\n" +
                "                \"x\": 1.6813623,\n" +
                "                \"y\": 0.20879818,\n" +
                "                \"z\": -1.50\n" +
                "            },\n" +
                "            \"uuid\": \"2\",\n" +
                "            \"visibles\": [\n" +
                "                0,\n" +
                "                2,\n" +
                "                3\n" +
                "            ],\n" +
                "            \"group\": 1\n" +
                "        },\n" +
                "        {\n" +
                "            \"subgroup\": 0,\n" +
                "            \"pose\": {\n" +
                "                \"rotation\": {\n" +
                "                    \"w\": 0.7688388,\n" +
                "                    \"x\": -0.0022818057,\n" +
                "                    \"y\": 0.0016657045,\n" +
                "                    \"z\": -0.6394364\n" +
                "                },\n" +
                "                \"translation\": {\n" +
                "                    \"x\": -1.0941758,\n" +
                "                    \"y\": -0.15828772,\n" +
                "                    \"z\": 2\n" +
                "                }\n" +
                "            },\n" +
                "            \"visibles3\": [\n" +
                "                0,\n" +
                "                1,\n" +
                "                3\n" +
                "            ],\n" +
                "            \"visibles2\": [\n" +
                "                0,\n" +
                "                1,\n" +
                "                3\n" +
                "            ],\n" +
                "            \"puck\": {\n" +
                "                \"x\": -1.0941758,\n" +
                "                \"y\": -0.15828772,\n" +
                "                \"z\": -1.39718955\n" +
                "            },\n" +
                "            \"uuid\": \"4\",\n" +
                "            \"visibles\": [\n" +
                "                0,\n" +
                "                1,\n" +
                "                3\n" +
                "            ],\n" +
                "            \"group\": 1\n" +
                "        },\n" +
                "        {\n" +
                "            \"subgroup\": 1,\n" +
                "            \"pose\": {\n" +
                "                \"rotation\": {\n" +
                "                    \"w\": 0.75378096,\n" +
                "                    \"x\": -0.00085483055,\n" +
                "                    \"y\": 0.0011985971,\n" +
                "                    \"z\": -0.6571241\n" +
                "                },\n" +
                "                \"translation\": {\n" +
                "                    \"x\": -4.213454,\n" +
                "                    \"y\": -0.17369196,\n" +
                "                    \"z\": 0.07516695\n" +
                "                }\n" +
                "            },\n" +
                "            \"visibles3\": [\n" +
                "                0,\n" +
                "                1,\n" +
                "                2\n" +
                "            ],\n" +
                "            \"visibles2\": [\n" +
                "                0,\n" +
                "                1,\n" +
                "                2\n" +
                "            ],\n" +
                "            \"puck\": {\n" +
                "                \"x\": -4.213454,\n" +
                "                \"y\": -0.17369196,\n" +
                "                \"z\": -1.39718955\n" +
                "            },\n" +
                "            \"uuid\": \"6\",\n" +
                "            \"visibles\": [\n" +
                "                0,\n" +
                "                1,\n" +
                "                2\n" +
                "            ],\n" +
                "            \"group\": 1\n" +
                "        }\n" +
                "    ]\n" +
                "}";

        JSONObject visionJson = JSON.parseObject(json);
        FileUtils.writeFile("D:\\test\\vision.txt", visionJson.toString());


        JSONArray sweepArray = visionJson.getJSONArray("sweepLocations");
        List<JSONObject> roamingPoint = new ArrayList();
        for (int i = 0; i < sweepArray.size(); i++) {
            JSONObject objectJson = sweepArray.getJSONObject(i);
            JSONObject newJson = new JSONObject();
            JSONObject puck = objectJson.getJSONObject("puck");
            JSONObject pose = objectJson.getJSONObject("pose");
            newJson.put("puck", puck);
            newJson.put("pose", pose);
            newJson.put("subgroup", objectJson.getInteger("subgroup"));
            roamingPoint.add(newJson);
        }
        Map<String, List<JSONObject>> subgroup = roamingPoint.stream().collect(
                        Collectors.groupingBy(x -> x.getString("subgroup"))).entrySet().stream()
                .collect(Collectors.toMap(e -> "floor" + e.getKey(), Map.Entry::getValue));
        Map<String, Map<String, Double>> avg = new HashMap<>();
        if (subgroup.size() == 1) {
            for (String s : subgroup.keySet()) {
                List<JSONObject> jsonObjects = subgroup.get(s);
                Map<String, Double> avgMath = new HashMap<>();
                double puckTotal = jsonObjects.stream().collect(Collectors.averagingDouble(item -> item.getJSONObject("puck").getDouble("z")));
                double translationTotal = jsonObjects.stream().collect(Collectors.averagingDouble(item -> item.getJSONObject("pose").getJSONObject("translation").getDouble("z")));
                avgMath.put("translationTotalAvg", translationTotal);
                avgMath.put("puckTotalAvg", puckTotal);
                avg.put(s, avgMath);
            }
        }

        System.out.println(JSON.toJSONString(subgroup));
    }


}