import warnings

import numpy as np

from .. import pinocchio_pywrap_default as pin
from ..utils import npToTuple
from . import BaseVisualizer

try:
    import coal

    WITH_COAL = True
except ImportError:
    WITH_COAL = False


def create_capsule_markers(marker_ref, oMg, d, fl):
    """Make capsule using two sphere and one cylinder"""
    from copy import deepcopy

    from geometry_msgs.msg import Point
    from visualization_msgs.msg import Marker

    displacment = pin.SE3.Identity()

    displacment.translation[2] = fl / 2.0
    oMsphere_1 = oMg * displacment
    displacment.translation[2] = -fl / 2.0
    oMsphere_2 = oMg * displacment

    marker_cylinder = marker_ref
    marker_cylinder.type = Marker.CYLINDER
    marker_cylinder.scale = Point(d, d, fl)
    marker_cylinder.pose = SE3ToROSPose(oMg)

    marker_sphere_1 = deepcopy(marker_ref)
    marker_sphere_1.id += 10000  # How to ensure this id is not taken ?
    marker_sphere_1.type = Marker.SPHERE
    marker_sphere_1.scale = Point(d, d, d)
    marker_sphere_1.pose = SE3ToROSPose(oMsphere_1)

    marker_sphere_2 = deepcopy(marker_ref)
    marker_sphere_2.id += 20000  # How to ensure this id is not taken ?
    marker_sphere_2.type = Marker.SPHERE
    marker_sphere_2.scale = Point(d, d, d)
    marker_sphere_2.pose = SE3ToROSPose(oMsphere_2)

    return [marker_cylinder, marker_sphere_1, marker_sphere_2]


def SE3ToROSPose(oMg):
    """Converts SE3 matrix to ROS geometry_msgs/Pose format"""
    from geometry_msgs.msg import Point, Pose, Quaternion

    xyz_quat = pin.SE3ToXYZQUATtuple(oMg)
    return Pose(position=Point(*xyz_quat[:3]), orientation=Quaternion(*xyz_quat[3:]))


class RVizVisualizer(BaseVisualizer):
    """A Pinocchio display using RViz"""

    class Viewer:
        app = None
        viz = None
        viz_manager = None

    def initViewer(
        self,
        viewer=None,
        windowName="python-pinocchio",
        loadModel=False,
        initRosNode=True,
    ):
        """
        Init RVizViewer by starting a ros node (or not) and creating an RViz window.
        """
        from python_qt_binding.QtWidgets import QApplication
        from rosgraph import is_master_online
        from rospy import WARN, init_node
        from rviz import bindings as rviz

        if not is_master_online():  # Checks the master uri
            # ROS Master is offline
            warnings.warn(
                "Error while importing the viz client.\n"
                "Check whether ROS master (roscore) is properly started",
                category=UserWarning,
                stacklevel=2,
            )
            return None

        if initRosNode:
            init_node("pinocchio_viewer", anonymous=True, log_level=WARN)

        if viewer is None:
            self.viewer = RVizVisualizer.Viewer()
            self.viewer.app = QApplication([])
            self.viewer.viz = rviz.VisualizationFrame()
            self.viewer.viz.setSplashPath("")
            self.viewer.viz.initialize()
            self.viewer.viz.setWindowTitle(windowName + "[*]")
            self.viewer.viz_manager = self.viewer.viz.getManager()
            self.viewer.viz.show()
        else:
            self.viewer = viewer

        if loadModel:
            self.loadViewerModel()

        return self.viewer

    def loadViewerModel(self, rootNodeName="pinocchio"):
        """Create the displays in RViz and create publishers for the MarkerArray"""
        from rospy import Publisher
        from visualization_msgs.msg import MarkerArray

        # Visuals
        self.visuals_publisher = Publisher(
            rootNodeName + "_visuals", MarkerArray, queue_size=1, latch=True
        )
        self.visual_Display = self.viewer.viz_manager.createDisplay(
            "rviz/MarkerArray", rootNodeName + "_visuals", True
        )
        self.visual_Display.subProp("Marker Topic").setValue(rootNodeName + "_visuals")
        self.visual_ids = []

        # Collisions
        self.collisions_publisher = Publisher(
            rootNodeName + "_collisions", MarkerArray, queue_size=1, latch=True
        )
        self.collision_Display = self.viewer.viz_manager.createDisplay(
            "rviz/MarkerArray", rootNodeName + "_collisions", True
        )
        self.collision_Display.subProp("Marker Topic").setValue(
            rootNodeName + "_collisions"
        )
        self.collision_ids = []

        # Group
        root_group = self.viewer.viz_manager.getRootDisplayGroup()
        self.group_Display = self.viewer.viz_manager.createDisplay(
            "rviz/Group", rootNodeName, True
        )
        self.group_Display.addChild(
            root_group.takeChild(self.visual_Display)
        )  # Remove display from root group and add it to robot group
        self.group_Display.addChild(
            root_group.takeChild(self.collision_Display)
        )  # Remove display from root group and add it to robot group

        self.seq = 0
        self.display()

    def clean(self):
        """Delete all the objects from the whole scene"""
        if hasattr(self, "collisions_publisher"):
            self._clean(self.collisions_publisher)
            self.collision_ids = []

        if hasattr(self, "visuals_publisher"):
            self._clean(self.visuals_publisher)
            self.visual_ids = []

    def display(self, q=None):
        """Display the robot at configuration q in the viz by placing all the bodies."""
        # Update the robot kinematics and geometry.
        if q is not None:
            pin.forwardKinematics(self.model, self.data, q)

        if self.collision_model is not None and hasattr(self, "collisions_publisher"):
            pin.updateGeometryPlacements(
                self.model, self.data, self.collision_model, self.collision_data
            )
            self.collision_ids = self._plot(
                self.collisions_publisher,
                self.collision_model,
                self.collision_data,
                self.collision_ids,
            )

        if self.visual_model is not None and hasattr(self, "visuals_publisher"):
            pin.updateGeometryPlacements(
                self.model, self.data, self.visual_model, self.visual_data
            )
            self.visual_ids = self._plot(
                self.visuals_publisher,
                self.visual_model,
                self.visual_data,
                self.visual_ids,
            )

    def _plot(self, publisher, model, data, previous_ids=()):
        """
        Create markers for each object of the model and publish it as MarkerArray
        (also delete unused previously created markers)
        """
        from geometry_msgs.msg import Point
        from rospy import get_rostime
        from std_msgs.msg import ColorRGBA, Header
        from visualization_msgs.msg import Marker, MarkerArray

        self.seq += 1
        header = Header(
            frame_id="map", seq=self.seq, stamp=get_rostime()
        )  # Common header for every marker

        marker_array = MarkerArray()
        for obj in model.geometryObjects:
            obj_id = model.getGeometryId(obj.name)

            # Prepare marker
            marker = Marker()
            marker.id = obj_id
            marker.header = header
            marker.action = Marker.ADD  # same as Marker.MODIFY
            marker.pose = SE3ToROSPose(data.oMg[obj_id])
            marker.color = ColorRGBA(*obj.meshColor)

            if obj.meshTexturePath != "":
                warnings.warn(
                    "Textures are not supported in RVizVisualizer (for "
                    + obj.name
                    + ")",
                    category=UserWarning,
                    stacklevel=2,
                )

            # Create geometry
            geom = obj.geometry
            if WITH_COAL and isinstance(geom, coal.ShapeBase):
                # append a primitive geometry
                if isinstance(geom, coal.Cylinder):
                    d, fl = 2 * geom.radius, 2 * geom.halfLength
                    marker.type = Marker.CYLINDER
                    marker.scale = Point(d, d, fl)
                    marker_array.markers.append(marker)
                elif isinstance(geom, coal.Box):
                    size = npToTuple(2.0 * geom.halfSide)
                    marker.type = Marker.CUBE
                    marker.scale = Point(*size)
                    marker_array.markers.append(marker)
                elif isinstance(geom, coal.Sphere):
                    d = 2 * geom.radius
                    marker.type = Marker.SPHERE
                    marker.scale = Point(d, d, d)
                    marker_array.markers.append(marker)
                elif isinstance(geom, coal.Capsule):
                    d, fl = 2 * geom.radius, 2 * geom.halfLength
                    marker_array.markers.extend(
                        create_capsule_markers(marker, data.oMg[obj_id], d, fl)
                    )
                else:
                    msg = f"Unsupported geometry type for {obj.name} ({type(geom)})"
                    warnings.warn(msg, category=UserWarning, stacklevel=2)
                    continue
            else:
                # append a mesh
                marker.type = Marker.MESH_RESOURCE  # Custom mesh
                marker.scale = Point(*npToTuple(obj.meshScale))
                marker.mesh_resource = "file://" + obj.meshPath
                marker_array.markers.append(marker)

        # Remove unused markers
        new_ids = [marker.id for marker in marker_array.markers]
        for old_id in previous_ids:
            if old_id not in new_ids:
                marker_remove = Marker()
                marker_remove.header = header
                marker_remove.id = old_id
                marker_remove.action = Marker.DELETE
                marker_array.markers.append(marker_remove)

        # Publish markers
        publisher.publish(marker_array)

        # Return list of markers id
        return new_ids

    def _clean(self, publisher):
        """Delete all the markers from a topic (use one marker with action DELETEALL)"""
        from rospy import get_rostime
        from std_msgs.msg import Header
        from visualization_msgs.msg import Marker, MarkerArray

        # Increment seq number
        self.seq += 1

        # Prepare a clean_all marker
        marker = Marker()
        marker.header = Header(frame_id="map", seq=self.seq, stamp=get_rostime())
        marker.action = Marker.DELETEALL

        # Add the marker to a MarkerArray
        marker_array = MarkerArray(markers=[marker])

        # Publish marker
        publisher.publish(marker_array)

    def displayCollisions(self, visibility):
        """Set whether to display collision objects or not"""
        self.collision_Display.setEnabled(visibility)

    def displayVisuals(self, visibility):
        """Set whether to display visual objects or not"""
        self.visual_Display.setEnabled(visibility)

    def sleep(self, dt):
        from python_qt_binding.QtTest import QTest

        QTest.qWait(1e3 * dt)

    def setBackgroundColor(self):
        raise NotImplementedError()

    def setCameraTarget(self, target):
        raise NotImplementedError()

    def setCameraPosition(self, position: np.ndarray):
        raise NotImplementedError()

    def setCameraZoom(self, zoom: float):
        raise NotImplementedError()

    def setCameraPose(self, pose: np.ndarray):
        raise NotImplementedError()

    def captureImage(self, w=None, h=None):
        raise NotImplementedError()

    def disableCameraControl(self):
        raise NotImplementedError()

    def enableCameraControl(self):
        raise NotImplementedError()

    def drawFrameVelocities(self, *args, **kwargs):
        raise NotImplementedError()


__all__ = ["RVizVisualizer"]
