"""
Lane Change Analysis — Automatum Data Roundabout Dataset
Analyzes lane change behavior across all vehicles in a recording.

Usage:
    python 01_lane_changes.py <path_to_recording_folder>

Example:
    python 01_lane_changes.py ../Roundabout-St2231-IngolstadtVOC_e63d-e63db143-1e40-4945-8866-464572ebf75d
"""
import sys
import os
from openautomatumdronedata.dataset import droneDataset


def analyze_lane_changes(dataset_path):
    print(f"Loading dataset from: {dataset_path}")
    dataset = droneDataset(dataset_path)
    dynWorld = dataset.dynWorld

    print(f"Vehicles found: {len(dynWorld)}")

    lane_change_counts = []

    for dynObj in dynWorld.dynamicObjects.values():
        lane_ids = dynObj.lane_id_vec
        if len(lane_ids) == 0:
            continue

        changes = 0
        current_lane = lane_ids[0]
        for lane in lane_ids[1:]:
            if lane != current_lane:
                changes += 1
                current_lane = lane

        lane_change_counts.append({
            "uuid": dynObj.UUID,
            "type": dynObj.type,
            "changes": changes,
        })

    sorted_by_changes = sorted(lane_change_counts, key=lambda x: x["changes"], reverse=True)

    print("\n--- Top 10 vehicles with most lane changes ---")
    for idx, item in enumerate(sorted_by_changes[:10]):
        print(f"{idx+1}. Vehicle {item['uuid']} ({item['type']}): {item['changes']} lane changes")


if __name__ == "__main__":
    if len(sys.argv) < 2:
        print("Usage: python 01_lane_changes.py <path_to_recording_folder>")
    else:
        analyze_lane_changes(sys.argv[1])