from typing import Any, List, TypeVar, Type, cast, Callable
import numpy as np
import pybullet as p
import time
import pybullet_data
import os
import json

from time import sleep


T = TypeVar("T")


def from_str(x):
    assert isinstance(x, str)
    return x


def from_float(x: Any) -> float:
    assert isinstance(x, (float, int)) and not isinstance(x, bool)
    return float(x)


def to_float(x: Any) -> float:
    assert isinstance(x, float)
    return x


def from_int(x: Any) -> int:
    assert isinstance(x, int) and not isinstance(x, bool)
    return x


def to_class(c: Type[T], x: Any) -> dict:
    assert isinstance(x, c)
    return cast(Any, x).to_dict()


def from_list(f: Callable[[Any], T], x: Any) -> List[T]:
    assert isinstance(x, list)
    return [f(y) for y in x]


class Coords:
    x: float
    y: float
    z: float

    def __init__(self, x: float, y: float, z: float) -> None:
        self.x = x
        self.y = y
        self.z = z

    @staticmethod
    def from_dict(obj: Any) -> 'Coords':
        assert isinstance(obj, dict)
        x = from_float(obj.get("x"))
        y = from_float(obj.get("y"))
        z = from_float(obj.get("z"))
        return Coords(x, y, z)

    def to_dict(self) -> dict:
        result: dict = {}
        result["x"] = to_float(self.x)
        result["y"] = to_float(self.y)
        result["z"] = to_float(self.z)
        return result


class SimulatorStabilityResultModel:
    id: str
    quaternion: Coords
    position: Coords

    def __init__(self, id: int, quaternion: Coords, position: Coords) -> None:
        self.id = id
        self.quaternion = quaternion
        self.position = position

    @staticmethod
    def from_dict(obj: Any) -> 'SimulatorStabilityResultModel':
        assert isinstance(obj, dict)
        id = from_str(obj.get("id"))
        quaternion = Coords.from_dict(obj.get("quaternion"))
        position = Coords.from_dict(obj.get("position"))
        return SimulatorStabilityResultModel(id, quaternion, position)

    def to_dict(self) -> dict:
        result: dict = {}
        result["id"] = from_str(self.id)
        result["quaternion"] = to_class(Coords, self.quaternion)
        result["position"] = to_class(Coords, self.position)
        return result


def SimulatorStabilityModelfromdict(s: Any) -> List[SimulatorStabilityResultModel]:
    return from_list(SimulatorStabilityResultModel.from_dict, s)


def SimulatorStabilityModeltodict(x: List[SimulatorStabilityResultModel]) -> Any:
    return from_list(lambda x: to_class(SimulatorStabilityResultModel, x), x)


class StabilityCheckUseCase:
    def urdfLoader(self, assembly: list[str], outPath: str, urdfGeneration: dict[str:str]):

        urdfs = []
        for assemblyCount in range(len(assembly)):

            urdf = urdfGeneration.get(assembly[assemblyCount])
            file_to_open = outPath + '/sdf-generation/' + \
                str(assemblyCount) + '.urdf'
            f = open(file_to_open, 'w', encoding='utf-8',
                     errors='ignore')
            f.write(urdf)
            f.close()
            urdfs.append(os.path.abspath(f.name))
        return urdfs

    def executeSimulation(self, assembly: list[str], outPath: str, urdfGeneration: dict[str:str], duration: int) -> list['SimulatorStabilityResultModel']:

        p.connect(p.DIRECT)
        p.setGravity(0, 0, -10)
        p.setAdditionalSearchPath(pybullet_data.getDataPath())
        p.loadURDF("plane.urdf")
        resultCoords = []

        urdfs = self.urdfLoader(assembly=assembly,
                                urdfGeneration=urdfGeneration, outPath=outPath)
        bulletIds = []
        for el in urdfs:
            id = p.loadURDF(el)
            bulletIds.append(id)
        for i in range(duration):
            if (i + 200 == duration):
                inc = 0
                for bulletUUID in bulletIds:
                    pos, rot = p.getBasePositionAndOrientation(bulletUUID)
                    resultCoords.append(SimulatorStabilityResultModel(id=assembly[inc], quaternion=Coords(
                        x=rot[0], y=rot[1], z=rot[2]), position=Coords(x=pos[0], y=pos[1], z=pos[2])))
                    p.removeBody(bulletUUID)
                    inc += 1

            p.stepSimulation()

            time.sleep(1./240.)
        return resultCoords

    def call(self, aspPath: str):
        try:
            assemblyFolder = aspPath
            assemblesStructures = json.loads(
                (open(assemblyFolder + 'sequences.json')).read()).get('sequences')
            tasks = len(assemblesStructures) * len(assemblesStructures[0])
            taskCounter = 0
            urdfGeneration = json.loads(
                (open(assemblyFolder + 'sdf-generation/urdf-generation.json')).read())
            for activeAssemblyNumber in range(len(assemblesStructures)):
                pathSaveResultAssemblyFolder = aspPath + 'stability' + \
                    '/' + str(activeAssemblyNumber + 1) + '/'
                if not os.path.exists(pathSaveResultAssemblyFolder):
                    os.makedirs(pathSaveResultAssemblyFolder)

                for subAssemblyNumber in range(len(assemblesStructures[activeAssemblyNumber])):
                    taskCounter += 1
                    subAssembly = assemblesStructures[activeAssemblyNumber][0:subAssemblyNumber+1]
                    asm = []
                    for el in subAssembly:
                        asm.append(el)

                    resultSimulationStates = self.executeSimulation(
                        assembly=asm, outPath=aspPath, urdfGeneration=urdfGeneration, duration=1000)

                    pathSaveResultSubAssemblyFolder = aspPath + 'stability' + '/' + \
                        str(activeAssemblyNumber + 1) + \
                        '/' + str(subAssemblyNumber) + '/'
                    if not os.path.exists(pathSaveResultSubAssemblyFolder):
                        os.makedirs(pathSaveResultSubAssemblyFolder)
                    results = {}
                    for state in resultSimulationStates:
                        results[state.id] = state.to_dict()
                    f = open(pathSaveResultSubAssemblyFolder + '/' +
                             'motion_result.json', 'w', encoding='utf-8', errors='ignore')
                    f.write(json.dumps(results,
                                       ensure_ascii=False, indent=4))
                    f.close()
                    percentageOfCompletion = taskCounter / tasks * 100
                    print('process complete: ' +
                          str(percentageOfCompletion) + '%')
        except Exception as e:
            print(e)