import overpy
import subprocess
import numpy as np
from common.params import Params
from selfdrive.mapd.lib.geo import R
from selfdrive.mapd.lib.helpers import is_local_osm_installed, OSM_QUERY

def create_way(way_id, node_ids, from_way):
  """
  Creates and OSM Way with the given `way_id` and list of `node_ids`, copying attributes and tags from `from_way`
  """
  return overpy.Way(way_id, node_ids=node_ids, attributes={}, result=from_way._result,
                    tags=from_way.tags)


class OSM():
  def __init__(self):
    self.api = overpy.Overpass()
    self.areas = None
    self.osm_local_db_enabled = is_local_osm_installed()
    # self.api = overpy.Overpass(url='http://3.65.170.21/api/interpreter')

  def fetch_road_ways_around_location(self, lat, lon, radius):
    # Calculate the bounding box coordinates for the bbox containing the circle around location.
    bbox_angle = np.degrees(radius / R)
    # fetch all ways and nodes on this ways in bbox
    bbox_str = f'{str(lat - bbox_angle)},{str(lon - bbox_angle)},{str(lat + bbox_angle)},{str(lon + bbox_angle)}'
    lat_lon = "(%f,%f)" % (lat, lon)
    q = """
        way(""" + bbox_str + """)
          [highway]
          [highway!~"^(footway|path|corridor|bridleway|steps|cycleway|construction|bus_guideway|escape|service|track)$"];
        (._;>;);
        out;"""
    area_q = """is_in""" + lat_lon + """;area._[admin_level~"[24]"];
        convert area ::id = id(), admin_level = t['admin_level'],
        name = t['name'], "ISO3166-1:alpha2" = t['ISO3166-1:alpha2'];out;
        """
    try:
      if self.osm_local_db_enabled:
        # print("Query OSM from Local Server")
        # q = """
        #     way(""" + bbox_str + """)
        #       [highway]
        #       [highway!~"^(footway|path|corridor|bridleway|steps|cycleway|construction|bus_guideway|escape|service|track)$"];
        #     (._;>;);
        #     out;"""
        cmd = OSM_QUERY
        cmd.append(f"--request={q}")
        completion = subprocess.run(cmd, check=True, capture_output=True)
        ways = self.api.parse_xml(completion.stdout).ways
        if self.areas is None:
          # q =  """is_in""" + lat_lon + """;area._[admin_level~"[24]"];
          #     convert area ::id = id(), admin_level = t['admin_level'],
          #     name = t['name'], "ISO3166-1:alpha2" = t['ISO3166-1:alpha2'];out;
          #     """
          try:
            self.areas = self.api.query(area_q).areas
          except Exception:
            pass
        areas = self.areas
      else:
        # print("Query OSM from remote Server")
        query = self.api.query(q + area_q)
        areas, ways = query.areas, query.ways
    except Exception as e:
      # print(f'Exception while querying OSM:\n{e}')
      areas, ways = [],[]

    return areas, ways