import argparse
import shutil
from distutils.dir_util import copy_tree
import asyncio
from helper.fs import FS
from src.usecases.generate_world import SdfGenerateWorldUseCase
from src.model.sdf_geometry import SdfGeometryModel
from src.usecases.sdf_sub_assembly_usecase import SdfSubAssemblyUseCase

import os
import typing
import xmlformatter

 

# python3 main.py  --generationFolder /Users/idontsudo/robo/Cube3/ --outPath /Users/idontsudo/robo/ --world true
if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument('--generationFolder', help='FreeCad generation folder')
    parser.add_argument('--outPath', help='save SDF path')
    parser.add_argument('--world', help='adding sdf world')

    args = parser.parse_args()

    if args.generationFolder == None or args.outPath == None:
        parser.print_help()
    outPath = args.outPath
    
    geometryFiles = FS.readFilesTypeFolder(args.generationFolder + '/assets/')
    assemblyStructure = FS.readJSON(
        args.generationFolder + '/step-structure.json')

    sdfGeometryModels: list[SdfGeometryModel] = []
    for el in geometryFiles:
        sdfGeometryModels.append(SdfGeometryModel.from_dict(
            FS.readJSON(args.generationFolder + '/assets/' + el)))
    sdfSubAssemblyUseCase = SdfSubAssemblyUseCase().call(
        sdfGeometryModels, assemblyStructure,)
    
    if os.path.exists(outPath + 'sdf-generation/'):
        shutil.rmtree(path=outPath + 'sdf-generation/')
    
    copy_tree(args.generationFolder + 'sdf/', outPath + 'sdf-generation/')
    dirPath = outPath + 'sdf-generation/'
    for el in sdfGeometryModels:
        path = dirPath + el.name + '/'
        os.makedirs(path)
        FS.writeFile(data=el.toSDF(), filePath=path,
                     fileName='/model' + '.sdf')
        FS.writeFile(data=FS.readFile(os.path.dirname(os.path.realpath(__file__))
                                      + '/mocks/sdf/model.config'), filePath=path, fileName='/model' + '.config')
    
     
    if(args.world == None):
        for key, v in sdfSubAssemblyUseCase.items():
            FS.writeFile(data=v['assembly'], filePath=dirPath,
                     fileName='/' + key + '.sdf')
    
    else:
          for key, v in sdfSubAssemblyUseCase.items():
                FS.writeFile(data=SdfGenerateWorldUseCase.call(v['assembly']), filePath=dirPath,
                     fileName='/' + key + '.sdf')
    formatter = xmlformatter.Formatter(indent="1", indent_char="\t", encoding_output="ISO-8859-1", preserve=["literal"])

    files = FS.readFilesTypeFolder(outPath + 'sdf-generation/', fileType= '.sdf')
    for el in files:
        
        FS.writeFile(data=str(formatter.format_file(outPath + 'sdf-generation/' + el) , 'utf-8'), filePath=outPath + 'sdf-generation/', fileName=el)