"""
ZF LIFETEC 乘员分类与约束策略仿真
InCabin Europe 2026 展示系统

硬件配置：
- 双轮廓气囊 (Dual Contour Airbag): 60L-90L可变体积
- ACR.8 主动控制卷收器: 可逆预紧力 + 火药锁定
- 多传感器融合: 摄像头 + 载荷 + 安全带 + ToF

Euro NCAP 2026 要求：
- 乘员状态监测 (Occupant Status Monitoring)
- 自动乘客气囊禁用
- 安全带使用跟踪
- 体型分类
"""

from dataclasses import dataclass
from enum import Enum
from typing import Optional
import numpy as np

class OccupantClass(Enum):
    """乘员体型分类（Euro NCAP 2026标准）"""
    EMPTY = 0        # 空座
    CHILD = 1        # 儿童 CRS
    SMALL_FEMALE = 2  # 5th percentile female (~50kg)
    MID_MALE = 3     # 50th percentile male (~78kg)
    LARGE_MALE = 4   # 95th percentile male (~101kg)
    UNKNOWN = 5

class PostureState(Enum):
    """坐姿状态（OOP检测）"""
    NORMAL = 0       # 正常坐姿
    RECLINED = 1     # 后仰
    LEANING_FWD = 2  # 前倾
    FEET_DASH = 3    # 脚放仪表台 ⚠️
    SIDEWAYS = 4     # 侧向
    OUT_OF_POSITION = 5  # 严重OOP

@dataclass
class OccupantState:
    """实时乘员状态"""
    occupant_class: OccupantClass
    posture: PostureState
    weight_kg: float
    stature_cm: float
    distance_to_airbag_cm: float
    seatbelt_on: bool
    seatbelt_lap_ok: bool  # 腰带位置正确
    seatbelt_chest_ok: bool  # 肩带位置正确
    confidence: float

class ZFAdaptiveRestraint:
    """
    ZF LIFETEC 自适应约束系统控制器
    
    输入: 乘员状态 + 碰撞参数
    输出: 气囊体积 + 张力曲线 + 点火时序
    """
    
    # Dual Contour Airbag 体积范围
    AIRBAG_MIN_L = 60.0
    AIRBAG_MAX_L = 90.0
    
    # ACR.8 张力范围
    PRETENSION_MIN_N = 200.0   # 最小预紧力
    PRETENSION_MAX_N = 2000.0  # 最大可逆预紧力
    PYRO_LOAD_LIMIT_N = 6000.0  # 火药级最大力
    
    # 碰撞到点火的最大延迟
    DEPLOY_WINDOW_MS = 30.0
    
    def compute_restraint_strategy(
        self, 
        occupant: OccupantState,
        crash_severity_ms2: float,
        crash_angle_deg: float
    ) -> dict:
        """
        计算自适应约束策略
        
        Args:
            occupant: 乘员状态
            crash_severity_ms2: 碰撞加速度 (m/s²)
            crash_angle_deg: 碰撞角度 (°)
            
        Returns:
            dict: 气囊/安全带/禁用决策
        """
        strategy = {}
        
        # 1. 气囊体积决策
        if occupant.occupant_class == OccupantClass.CHILD:
            # 儿童座椅：禁用乘客气囊
            strategy['airbag_disabled'] = True
            strategy['airbag_volume_L'] = 0
            strategy['reason'] = 'Child restraint detected'
        elif occupant.posture == PostureState.FEET_DASH:
            # OOP: 脚放仪表台 → 减小气囊体积
            strategy['airbag_disabled'] = False
            strategy['airbag_volume_L'] = self.AIRBAG_MIN_L
            strategy['reason'] = 'OOP feet on dashboard - minimize volume'
        elif occupant.distance_to_airbag_cm < 25:
            # 距离过近 → 最小体积
            strategy['airbag_disabled'] = False
            strategy['airbag_volume_L'] = self.AIRBAG_MIN_L
            strategy['reason'] = f'Close proximity ({occupant.distance_to_airbag_cm:.0f}cm)'
        elif occupant.occupant_class == OccupantClass.LARGE_MALE:
            # 大体型 → 最大体积
            strategy['airbag_disabled'] = False
            strategy['airbag_volume_L'] = self.AIRBAG_MAX_L
            strategy['reason'] = 'Large occupant - max volume'
        else:
            # 标准计算
            ratio = min(1.0, occupant.weight_kg / 101.0)
            strategy['airbag_volume_L'] = (
                self.AIRBAG_MIN_L + 
                ratio * (self.AIRBAG_MAX_L - self.AIRBAG_MIN_L)
            )
            strategy['airbag_disabled'] = False
            strategy['reason'] = 'Adaptive volume'
        
        # 2. 安全带预紧力决策
        if not occupant.seatbelt_on:
            strategy['pretension_N'] = 0
            strategy['seatbelt_warning'] = True
        elif occupant.occupant_class == OccupantClass.CHILD:
            # 儿童：低张力
            strategy['pretension_N'] = self.PRETENSION_MIN_N
        elif occupant.posture in [PostureState.RECLINED, PostureState.LEANING_FWD]:
            # 异常姿态：中等张力 + 提前介入
            strategy['pretension_N'] = 800.0
            strategy['early_deploy'] = True
        else:
            # 基于质量的自适应张力
            strategy['pretension_N'] = min(
                self.PRETENSION_MAX_N,
                occupant.weight_kg * 15.0  # 15N/kg
            )
        
        # 3. 胸部载荷限制
        # Euro NCAP: 胸部压缩量 < 50mm (良好)
        strategy['chest_load_limit_N'] = min(
            3500.0,  # 安全上限
            occupant.weight_kg * 40.0  # 自适应
        )
        
        # 4. 点火时序
        if occupant.posture == PostureState.OUT_OF_POSITION:
            # 严重OOP：延迟点火（等乘员回到正常位置）
            strategy['deploy_delay_ms'] = 10.0
        else:
            strategy['deploy_delay_ms'] = 0.0
        
        # 5. 安全带位置检测
        strategy['belt_misuse'] = not (
            occupant.seatbelt_lap_ok and 
            occupant.seatbelt_chest_ok
        )
        
        return strategy


# ==================== 测试场景 ====================
if __name__ == "__main__":
    controller = ZFAdaptiveRestraint()
    
    test_scenarios = [
        # 场景1: 正常成年男性，正常坐姿
        OccupantState(
            occupant_class=OccupantClass.MID_MALE,
            posture=PostureState.NORMAL,
            weight_kg=78.0, stature_cm=175,
            distance_to_airbag_cm=35,
            seatbelt_on=True,
            seatbelt_lap_ok=True, seatbelt_chest_ok=True,
            confidence=0.95
        ),
        # 场景2: 小体型女性，后仰
        OccupantState(
            occupant_class=OccupantClass.SMALL_FEMALE,
            posture=PostureState.RECLINED,
            weight_kg=50.0, stature_cm=160,
            distance_to_airbag_cm=45,
            seatbelt_on=True,
            seatbelt_lap_ok=True, seatbelt_chest_ok=False,  # 肩带位置异常
            confidence=0.88
        ),
        # 场景3: 儿童（CRS），正常
        OccupantState(
            occupant_class=OccupantClass.CHILD,
            posture=PostureState.NORMAL,
            weight_kg=15.0, stature_cm=100,
            distance_to_airbag_cm=60,
            seatbelt_on=True,
            seatbelt_lap_ok=True, seatbelt_chest_ok=True,
            confidence=0.92
        ),
        # 场景4: 成人脚放仪表台
        OccupantState(
            occupant_class=OccupantClass.MID_MALE,
            posture=PostureState.FEET_DASH,
            weight_kg=75.0, stature_cm=170,
            distance_to_airbag_cm=15,
            seatbelt_on=True,
            seatbelt_lap_ok=True, seatbelt_chest_ok=True,
            confidence=0.75
        ),
        # 场景5: 空座
        OccupantState(
            occupant_class=OccupantClass.EMPTY,
            posture=PostureState.NORMAL,
            weight_kg=0, stature_cm=0,
            distance_to_airbag_cm=0,
            seatbelt_on=False,
            seatbelt_lap_ok=False, seatbelt_chest_ok=False,
            confidence=0.99
        ),
    ]
    
    scenario_names = [
        "标准成年男性（正常坐姿）",
        "小体型女性（后仰+肩带异常）",
        "儿童CRS（正常）",
        "成年男性（脚放仪表台）",
        "空座"
    ]
    
    crash = 350  # m/s² (约35g)
    angle = 0    # 正面碰撞
    
    print("=" * 80)
    print("ZF LIFETEC 自适应约束系统 - 测试场景")
    print(f"碰撞参数: {crash} m/s² ({crash/9.8:.0f}g), 角度: {angle}°")
    print("=" * 80)
    
    for i, (scenario, name) in enumerate(zip(test_scenarios, scenario_names)):
        strategy = controller.compute_restraint_strategy(scenario, crash, angle)
        print(f"\n场景 {i+1}: {name}")
        print(f"  乘员: {scenario.occupant_class.name}, "
              f"{scenario.weight_kg}kg, "
              f"姿态: {scenario.posture.name}")
        print(f"  距离气囊: {scenario.distance_to_airbag_cm}cm")
        print(f"  安全带: {'佩戴' if scenario.seatbelt_on else '未佩戴'}, "
              f"位置正确: {scenario.seatbelt_lap_ok and scenario.seatbelt_chest_ok}")
        print(f"  --- 约束策略 ---")
        print(f"  气囊: {'禁用' if strategy['airbag_disabled'] else f'{strategy[\"airbag_volume_L\"]:.0f}L'}")
        print(f"  预紧力: {strategy['pretension_N']:.0f}N")
        print(f"  胸部载荷限制: {strategy['chest_load_limit_N']:.0f}N")
        print(f"  点火延迟: {strategy.get('deploy_delay_ms', 0)}ms")
        print(f"  安全带误用: {'是' if strategy['belt_misuse'] else '否'}")
        print(f"  原因: {strategy['reason']}")