import numpy as np

from data_gen_dependencies.action.base import StageTemplate


class PullRevoluteStage(StageTemplate):
    DELTA_DISTANCE = 0.005  # meter
    def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=np.eye(4), extra_params=None, active_obj=None, passive_obj=None, **kwargs):
        super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
        #======= DEBUG START =======
        print(f'debug: PullRevoluteStage init')
        import ipdb;ipdb.set_trace()
        #=======  DEBUG END  =======
        self.passive_obj = passive_obj
        self.active_obj = active_obj
        self.joint_position_threshold = passive_element.get('joint_position_threshold', 0.7)
        self.correspond_joint_id = passive_element.get('correspond_joint_id', None)
        correspond_joint_info = passive_obj.joints_info[self.correspond_joint_id]
        self.joint_lower_limit = correspond_joint_info["lower_bound"]
        self.joint_upper_limit = correspond_joint_info["upper_bound"]
        self.joint_axis = correspond_joint_info["joint_axis"]
        self.joint_type = correspond_joint_info["joint_type"]
        assert self.joint_type == 'revolute', "joint_type must be revolute for pull_revolute action"
        self.revolute_radius = passive_element.get('revolute_radius', None)
        assert self.revolute_radius is not None, "revolute_radius is required for pull_revolute action"
        if self.joint_position_threshold is None:
            self.joint_position_threshold = 0.7
        assert self.joint_position_threshold >= 0 and self.joint_position_threshold <= 1 

        self.joint_direction = passive_element.get('joint_direction', 1)
        assert self.joint_direction in [-1, 1]

        self.joint_velocity_threshold = passive_element.get('joint_velocity_threshold', 999)
        vector_direction = passive_element['direction']

        self.extra_params = {} if extra_params is None else extra_params
        self.generate_substage(target_pose, vector_direction)

    def generate_substage(self, target_pose, vector_direction):
        vector_direction = vector_direction / np.linalg.norm(vector_direction)
        #trajectory = self.test_generate_trajectory(vector_direction)
        #trajectory = self.test_generate_trajectory(vector_direction)
        total_angle = self.joint_position_threshold * (self.joint_upper_limit - self.joint_lower_limit)
        arc_length = abs(self.revolute_radius * total_angle)
        step = int(arc_length / self.DELTA_DISTANCE)
        from pyboot.utils.log import Log
        Log.debug(f'PullRevoluteStage: total_angle={total_angle}, arc_length={arc_length}, step={step}')
        for i in range(10):
            free_delta_pose = np.eye(4)
            free_delta_pose[2,3] = -self.DELTA_DISTANCE

            self.sub_stages.append([target_pose, None, np.eye(4), 'AvoidObs'])
            self.sub_stages.append([free_delta_pose, None, np.eye(4), 'local_gripper'])
        self.sub_stages.append([None, "open", np.eye(4), 'Simple'])

        free_delta_pose = np.eye(4)
        free_delta_pose[2,3] = -self.DELTA_DISTANCE
        self.sub_stages.append([free_delta_pose, None, np.eye(4), 'local_gripper'])


    def generate_trajectory(self, init_vector_direction):
        trajectory = []
        #======= DEBUG START =======
        print(f'debug: ')
        import ipdb;ipdb.set_trace()
        #=======  DEBUG END  =======
        total_angle = self.joint_position_threshold * (self.joint_upper_limit - self.joint_lower_limit)
        total_angle *= self.joint_direction 

        arc_length = abs(self.revolute_radius * total_angle)

        num_steps = int(np.ceil(arc_length / self.DELTA_DISTANCE))
        if num_steps < 1:
            num_steps = 1

        delta_theta = total_angle / num_steps
        rotation_axis = np.array(self.joint_axis)
        current_pose = start_pose.copy()
        trajectory.append(current_pose)

        for i in range(1, num_steps + 1):
            angle = i * delta_theta
            R = self.axis_angle_to_matrix(rotation_axis, angle)
            move_pose = start_pose @ R
            trajectory.append(move_pose)
        return trajectory

    def axis_angle_to_matrix(self, axis, angle):

        axis = axis / np.linalg.norm(axis)
        K = np.array([[0, -axis[2], axis[1]],
                      [axis[2], 0, -axis[0]],
                      [-axis[1], axis[0], 0]])
        R = np.eye(3) + np.sin(angle) * K + (1 - np.cos(angle)) * (K @ K)
        T = np.eye(4)
        T[:3, :3] = R
        return T

    def check_completion(self, objects):
        if self.__len__() == 0:
            return True

        succ = False
        if self.step_id >= 0:
            succ = True

        if succ:
            self.step_id += 1

        return succ