# -*- coding: utf-8 -*-
#!/usr/bin/env python
'''
DESCRIPTION.
Convert and setup FreeCAD solid objects to 3d assets.
Support Blender compiled as a Python Module only!
'''
__version__ = '0.6'
import collections
import json
import logging
import os
from itertools import zip_longest

from blender.utils.remove_collections import remove_collections
from blender.utils.cleanup_orphan_data import cleanup_orphan_data
from blender.utils.collection_tools import copy_collections_recursive
from utils.cmd_proc import cmd_proc
from blender.import_cad.build_blender_scene import json_to_blend
from blender.processing.restruct_hierarchy_by_lcs import restruct_hierarchy
from blender.processing.highpoly_setup import setup_meshes
from blender.processing.midpoly_setup import hightpoly_collections_to_midpoly
from blender.processing.lowpoly_setup import parts_to_shells
from blender.processing.uv_setup import uv_unwrap
from blender.texturing.bake_submitter import bw_submit
from blender.export.dae import export_dae
from blender.export.stl import export_stl
import bpy
import mathutils

logger = logging.getLogger(__name__)
logging.basicConfig(level=logging.INFO)

'''
IMPORT COLLECTIONS NAMIG CONVENTION:
Parts - collection for mesh objects
LCS - collection for location points
Hierarchy - collection for hierarchy locators

LCS POINT'S SUFFIXES CONVENTION:
'_in' - inlet suffix
'_out' - outlet suffix
'_root' - root suffix

CG ASSETS SUFFIXES CONVENTION:
'_hp' - hightpoly asset (reference baking source)
'_lp' - lowpoly asset   (prepared for game engines)
'_render' - root suffix (prepared for render engines)
'''

# ENV
freecadcmd = 'freecadcmd'
fcstd_data_script = 'freecad_to_json.py'
# COLLECTIONS NAMIG CONVENTION
parts_col_name = 'Parts'
lcs_col_name = 'LCS'
hierarchy_col_name = 'Hierarchy'
lowpoly_col_name = 'Lowpoly'
# LCS POINT'S SUFFIXES CONVENTION
inlet = '_in'
outlet = '_out'
root = '_root'
# CG ASSETS SUFFIXES CONVENTION
hightpoly = '_hp'
midpoly = 'mp'
lowpoly = '_lp'
render = '_render'


def cg_pipeline(**kwargs):
    ''' CG asset creation pipeline '''

    blend_path = kwargs.pop('blend_path', None)
    mesh_export_path = kwargs.pop('mesh_export_path', None)
    config = kwargs.pop('config', None)

    # prepare blend file

    remove_collections()
    cleanup_orphan_data()

    # convert FreeCAD scene to Blender scene
    imported_objects = json_to_blend(
        json.loads(
            cmd_proc(freecadcmd,
                     fcstd_data_script,
                     '--',
                     **kwargs
                     ).split('FreeCAD ')[0]
        )
    )

    # save import in blender scene
    if blend_path is not None:
        if not os.path.isdir(os.path.dirname(blend_path)):
            os.makedirs(os.path.dirname(blend_path))
        bpy.ops.wm.save_as_mainfile(filepath=blend_path)

    # restructuring hierarchy by lcs points
    if imported_objects['objs_lcs']:
        restruct_hierarchy(imported_objects['objs_lcs'])

    # prepare highpoly
    if imported_objects['objs_foreground']:
        setup_meshes(imported_objects['objs_foreground'], sharpness=True, shading=True)
    else:
        setup_meshes(imported_objects['objs_background'], sharpness=True, shading=True)

    # TODO Part's names from LCS names?
    part_names = [lcs_name.split(inlet)[0]
                  for lcs_name in imported_objects['objs_lcs']
                  if lcs_name.endswith(inlet)]

    # prepare midpoly
    copy_collections_recursive(
        bpy.data.collections[parts_col_name], suffix=midpoly
    )
    hightpoly_collections_to_midpoly(part_names)

    # prepare lowpoly
    lowpoly_obj_names = parts_to_shells(part_names)
    uv_unwrap(lowpoly_obj_names)

    # save lowpoly in blender scene
    if blend_path is not None:
        if not os.path.isdir(os.path.dirname(blend_path)):
            os.makedirs(os.path.dirname(blend_path))
        bpy.ops.wm.save_as_mainfile(filepath=blend_path)

    # bake textures
    bpy.ops.wm.open_mainfile(filepath=blend_path)
    bw_submit(lowpoly_obj_names)

    # export object meshes and urdf
    to_urdf = collections.defaultdict(list)

    if lowpoly_obj_names:
        export_obj_names = lowpoly_obj_names
    else:
        export_obj_names = sum([imported_objects['objs_foreground'],
                          imported_objects['objs_background']], [])

    link = {}
    for export_obj_name in export_obj_names:
        link_prop = {}
        if mesh_export_path is not None:
            link_prop['visual'] = export_dae(
                obj_name=export_obj_name, path=mesh_export_path, subdir='visual')
            link_prop['collision'] = export_stl(
                obj_name=export_obj_name, path=mesh_export_path, subdir='collision')

        link[export_obj_name] = link_prop

    to_urdf['links'].append(link)

    #config = {'sequences': [['cube1', 'cube2', 'cube3', 'cube4'], ['cube2', 'cube1', 'cube4', 'cube3']]}
    if config:
        for sequence in config['sequences']:
            joint = {}
            # TODO collect pairs 0_1, 1_2, 2_3, 3_4, ...
            for pair in zip_longest(sequence[0::2], sequence[1::2]):
                joint_prop = {}
                if pair[1]:
                    joint_prop['type'] = 'fixed'
                    location = list(bpy.data.objects.get(pair[1]).location)
                    rotation = list(bpy.data.objects.get(pair[0]).rotation_euler)
                    # origin
                    # round location values
                    for idx, axis in enumerate(location):
                        location[idx] = round(axis, 5)
                    joint_prop['location'] = location
                    joint_prop['rotation'] = rotation
                    # parent
                    joint_prop['parent'] = pair[0]
                    # child
                    joint_prop['child'] = pair[1]

                    joint['_'.join(pair)] = joint_prop

            to_urdf['sequence'].append(joint)

    print(json.dumps(to_urdf, indent=4))


if __name__ == '__main__':
    import argparse

    parser = argparse.ArgumentParser(
         description='Convert and setup FreeCAD solid objects to 3d assets mesh files.'
    )
    parser.add_argument(
        '--fcstd_path',
        type=str,
        help='Path to source FreeCAD scene',
        required=True
    )
    parser.add_argument(
        '--tesselation_method',
        type=str,
        help='Select tesselation method: Standard or FEM.',
        default='Standard',
        required=False
    )
    parser.add_argument(
        '--linear_deflection',
        type=float,
        help='Max linear distance error',
        default=0.1,
        required=False
    )
    parser.add_argument(
        '--angular_deflection',
        type=float,
        help='Max angular distance error',
        default=20.0,
        required=False
    )
    parser.add_argument(
        '--fem_size',
        type=float,
        help='For FEM method only! Finite element size in mm',
        default=50.0,
        required=False
    )
    parser.add_argument(
        '--skiphidden',
        type=bool,
        help='Skip processing for hidden FreeCAD objects',
        default=True,
        required=False
    )
    parser.add_argument(
        '--property_forse_nonsolid',
        type=str,
        help='FreeCAD property to enable processing for nonsolid objects',
        default='Robossembler_NonSolid',
        required=False
    )
    parser.add_argument(
        '--mesh_export_path',
        type=str, help='Path for export meshes',
        required=False
    )
    parser.add_argument(
        '--blend_path',
        type=str,
        help='Path for export blend assembly file',
        required=False
    )

    args = parser.parse_args()

    kwargs = {key: getattr(args, key) for key in dir(args) if not key.startswith('_')}

    cg_pipeline(**kwargs)

    logger.info('CG Pipeline Completed!')