#!/usr/bin/env python

import sys
import os
import math
import numpy as np
import matplotlib.pyplot as plt
from skimage.morphology import remove_small_holes
from PIL import Image
dirname = os.path.dirname(__file__)
svea = os.path.join(dirname, '../../')
sys.path.append(os.path.abspath(svea))


class Map:
    """
    Handle for map message. Contains a subscriber to the map topic and
    processes the map. Numpy array version of the
    map available as member variable.
    """
    def __init__(self, file_path, value_unknown=50, threshold_occupied=90, origin=[-30.0, -24.0], resolution=0.059999):

        self.value_unknown = value_unknown
        self.threshold_occupied = threshold_occupied
        # instantiate member variables
        self.data = np.array(Image.open(file_path))[:, :, 0]  # numpy array containing map data
        #self.process_map()
        self.height = self.data.shape[0]  # height of the map in px
        self.width = self.data.shape[1]  # width of the map in px
        self.resolution = resolution  # resolution of the map in m/px
        self.origin = origin  # x and y coordinates of map origin
        # (bottom-left corner) in m

    def w2m(self, x, y):
        """
        World2Map. Transform coordinates from global coordinate system to
        map coordinates.
        :param x: x coordinate in global coordinate system
        :param y: y coordinate in global coordinate system
        :return: discrete x and y coordinates in px
        """
        d_x = np.floor((x - self.origin[0]) / self.resolution)
        d_y = np.floor((y - self.origin[1]) / self.resolution)

        return int(d_x), int(d_y)

    def m2w(self, dx, dy):
        """
        World2Map. Transform coordinates from global coordinate system to
        map coordinates.
        :param x: x coordinate in global coordinate system
        :param y: y coordinate in global coordinate system
        :return: discrete x and y coordinates in px
        """
        x = dx * self.resolution + self.origin[0]
        y = dy * self.resolution + self.origin[1]

        return x, y

    def process_map(self):
        self.data = remove_small_holes(self.data, area_threshold=5,
                                       connectivity=8).astype(np.int8)


if __name__ == '__main__':
    map = Map('map_floor2.png')
    plt.imshow(map.data, cmap='gray')
    plt.show()