import json
from typing import Optional, List
from pylabrobot.resources import Coordinate, Resource
from pylabrobot.resources.carrier import Carrier, PlateHolder, ResourceHolder, create_homogeneous_resources
from pylabrobot.resources.deck import Deck


class WareHouse(Carrier[ResourceHolder]):
    """4x4x1堆栈载体类 - 可容纳16个板位的载体（4层x4行x1列）"""

    def __init__(
        self,
        name: str,
        num_items_x: int = 4,
        num_items_y: int = 1,
        num_items_z: int = 4,
        dx: float = 137.0,
        dy: float = 96.0,
        dz: float = 120.0,
        item_dx: float = 10.0,
        item_dy: float = 10.0,
        item_dz: float = 10.0,
        removed_positions: Optional[List[int]] = None,
        category: str = "warehouse",
        model: Optional[str] = None,
    ):
        self.num_items_x = num_items_x
        self.num_items_y = num_items_y
        self.num_items_z = num_items_z
        # 创建16个板架位 (4层 x 4位置)
        locations = []

        for layer in range(num_items_z):  # 4层
            for row in range(num_items_y):  # 4行
                for col in range(num_items_x):  # 1列 (每层4x1=4个位置)
                    # 计算位置
                    x = dx + col * item_dx
                    y = dy + (num_items_y - row - 1) * item_dy
                    z = dz + (num_items_z - layer - 1) * item_dz

                    locations.append(Coordinate(x, y, z))
        if removed_positions:
            locations = [loc for i, loc in enumerate(locations) if i not in removed_positions]

        sites = create_homogeneous_resources(
            klass=ResourceHolder,
            locations=[
                Coordinate(4.0, 8.5, 86.15),
                Coordinate(4.0, 104.5, 86.15),
                Coordinate(4.0, 200.5, 86.15),
                Coordinate(4.0, 296.5, 86.15),
                Coordinate(4.0, 392.5, 86.15),
            ],
            resource_size_x=127.0,
            resource_size_y=86.0,
            name_prefix=name,
        )

        super().__init__(
            name=name,
            size_x=dx + item_dx * num_items_x,
            size_y=dy + item_dy * num_items_y,
            size_z=dz + item_dz * num_items_z,
            sites=sites,
            category=category,
            model=model,
        )

    def get_site_by_layer_position(self, row: int, col: int, layer: int) -> PlateHolder:
        if not (0 <= layer < 4 and 0 <= row < 4 and 0 <= col < 1):
            raise ValueError("无效的位置: layer={}, row={}, col={}".format(layer, row, col))

        site_index = layer * 4 + row * 1 + col
        return self.sites[site_index]

    def add_rack_to_position(self, row: int, col: int, layer: int, rack) -> None:
        site = self.get_site_by_layer_position(row, col, layer)
        site.assign_child_resource(rack)

    def get_rack_at_position(self, row: int, col: int, layer: int):
        site = self.get_site_by_layer_position(row, col, layer)
        return site.resource