# SPDX-License-Identifier: MIT
"""Plot one benchmark session's offline tracks over the static map and the study area.

usage: python quickstart.py [ROOT] [quiet|moderate|busy] [out.png]
"""
import sys
import numpy as np
import matplotlib
matplotlib.use("Agg")
import matplotlib.pyplot as plt
from linger_loaders import load_tracklets, load_static_map, load_study_area

root = sys.argv[1] if len(sys.argv) > 1 else "linger"
level = sys.argv[2] if len(sys.argv) > 2 else "busy"
out = sys.argv[3] if len(sys.argv) > 3 else f"quickstart_{level}.png"

tr = load_tracklets(f"{root}/benchmark/{level}/tracks_final_5hz.csv.gz")
sm = load_static_map(f"{root}/environment/static_map.npz")
area = load_study_area(f"{root}/environment/study_area.json")

h = sm["points"][:, 2] - sm["floor_z"]
walls = sm["points"][(h > 1.4) & (h < 2.3)]                  # structure above the furniture, below the ceiling
fig, ax = plt.subplots(figsize=(8, 6))
ax.scatter(walls[:, 0], walls[:, 1], s=0.05, c="0.6", lw=0)
ax.plot(*np.vstack([area, area[:1]]).T, color="0.3", lw=0.6, ls="--")
for tid in np.unique(tr["track_id"]):
    m = tr["track_id"] == tid
    ax.plot(tr["x"][m], tr["y"][m], lw=0.4, alpha=0.6)
ax.set_aspect("equal"); ax.set_xlabel("x (m)"); ax.set_ylabel("y (m)")
ax.set_title(f"{level} session: {len(np.unique(tr['track_id']))} offline tracks, "
             f"{(~tr['coasting']).mean():.0%} of rows detected")
fig.savefig(out, dpi=150, bbox_inches="tight")
print("wrote", out)