"""Export the literal Electric Slide count map and 50 Hz joint references."""

from __future__ import annotations

import argparse
import csv
import json
import math
from pathlib import Path
import sys

import numpy as np

sys.path.insert(0, str(Path(__file__).resolve().parents[1]))

from choreography import BEAT_SECONDS, CONTROL_HZ, SHOW_SECONDS, STAND_POSE
from literal_choreography import (
    LITERAL_COUNTS,
    command_vector,
    count_phase,
    joint_bias,
)


JOINT_ORDER = (
    "left_hip_yaw",
    "left_hip_roll",
    "left_hip_pitch",
    "left_knee",
    "left_ankle",
    "neck_pitch",
    "head_pitch",
    "head_yaw",
    "head_roll",
    "right_hip_yaw",
    "right_hip_roll",
    "right_hip_pitch",
    "right_knee",
    "right_ankle",
)


def main() -> None:
    parser = argparse.ArgumentParser(description=__doc__)
    parser.add_argument("output_dir", type=Path)
    args = parser.parse_args()
    output_dir = args.output_dir.resolve()
    output_dir.mkdir(parents=True, exist_ok=True)

    jsonl_path = output_dir / "literal_joint_targets_50hz.jsonl"
    sample_count = int(math.ceil(SHOW_SECONDS * CONTROL_HZ))
    with jsonl_path.open("w", encoding="utf-8") as stream:
        for sample in range(sample_count):
            time_seconds = sample / CONTROL_HZ
            wall, count, phase = count_phase(time_seconds)
            spec = LITERAL_COUNTS[count]
            bias = joint_bias(time_seconds).astype(float)
            nominal = np.asarray(STAND_POSE, dtype=float) + bias
            row = {
                "sample": sample,
                "time_seconds": time_seconds,
                "beat": time_seconds / BEAT_SECONDS,
                "wall": wall + 1,
                "count": count + 1,
                "phase": phase,
                "label": spec.label,
                "swing_foot": spec.swing,
                "placement": spec.placement,
                "weight_transfer": spec.weight_transfer,
                "command_13d": command_vector(time_seconds).astype(float).tolist(),
                "additive_joint_bias_14d": bias.tolist(),
                "nominal_joint_target_14d": nominal.tolist(),
            }
            stream.write(json.dumps(row, separators=(",", ":")) + "\n")

    csv_path = output_dir / "literal_18_count_choreography.csv"
    with csv_path.open("w", newline="", encoding="utf-8") as stream:
        writer = csv.DictWriter(
            stream,
            fieldnames=("count", "label", "swing_foot", "placement", "weight_transfer"),
        )
        writer.writeheader()
        for index, spec in enumerate(LITERAL_COUNTS, start=1):
            writer.writerow(
                {
                    "count": index,
                    "label": spec.label,
                    "swing_foot": spec.swing,
                    "placement": spec.placement,
                    "weight_transfer": spec.weight_transfer,
                }
            )

    summary = {
        "version": "literal-v2",
        "control_hz": CONTROL_HZ,
        "bpm": 60.0 / BEAT_SECONDS,
        "walls": 4,
        "counts_per_wall": len(LITERAL_COUNTS),
        "duration_seconds": SHOW_SECONDS,
        "sample_count": sample_count,
        "joint_order": JOINT_ORDER,
        "stand_pose_14d": STAND_POSE,
        "command_order_13d": (
            "vx",
            "vy",
            "yaw_rate",
            "neck_pitch",
            "head_pitch",
            "head_yaw",
            "head_roll",
            "body_x",
            "body_y",
            "body_z",
            "body_roll",
            "body_pitch",
            "body_yaw",
        ),
        "important": (
            "nominal_joint_target_14d is STAND_POSE plus the literal choreography bias. "
            "At runtime the official balance-policy action is added before joint-limit clipping. "
            "The free root is never written after reset."
        ),
    }
    (output_dir / "literal_reference_summary.json").write_text(
        json.dumps(summary, indent=2),
        encoding="utf-8",
    )
    print(jsonl_path)
    print(csv_path)


if __name__ == "__main__":
    main()