import numpy as np

from data_gen_dependencies.action.base import StageTemplate


class TwistStage(StageTemplate):
    DELTA_DISTANCE = 0.01  # 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)
        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)
        free_delta_pose = np.eye(4)
        free_delta_pose[2,3] = -0.03
        self.sub_stages.append([free_delta_pose, None, np.eye(4), 'local_gripper'])

    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