"""One primitive episode: randomise, set up a chess position, run the expert, judge it.

An episode is simulated first without cameras. Only a success is replayed from the
same saved state with rendering, which MuJoCo reproduces exactly, so failures cost
no rendering and never reach the dataset.
"""
from __future__ import annotations

import os
import tomllib
from dataclasses import dataclass, field
from pathlib import Path

import chess
import mujoco
import numpy as np

from chess_world import SYMBOL_KIND, ChessWorld, quat_yaw
from expert import Destination, Expert, PlanningFailed
from overlay import Camera, Jitter, draw
from piece_sets import PieceSet, compile_scene
from randomize import Randomizer

HERE = Path(__file__).resolve().parent
CONFIG = HERE / "phase2_config.toml"
JOINTS = ("shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper")
FEATURE_NAMES = [f"{j}.pos" for j in JOINTS]
BIN_SLOTS_X = (-0.028, 0.0, 0.028)


def _merge(base: dict, over: dict) -> dict:
    out = dict(base)
    for k, v in over.items():
        out[k] = _merge(base[k], v) if isinstance(v, dict) and isinstance(base.get(k), dict) else v
    return out


def load_config(path: Path = CONFIG) -> dict:
    """The phase 2 config; with PHASE2_PROFILE=<name> set, sim/phase2_<name>.toml is merged
    over it (only the keys it lists change). Several comma-separated names are merged in
    order (e.g. baseline,dart). Worker processes inherit the variable."""
    cfg = tomllib.loads(path.read_text())
    profile = os.environ.get("PHASE2_PROFILE")
    if profile:
        for name in profile.split(","):
            cfg = _merge(cfg, tomllib.loads((path.parent / f"phase2_{name.strip()}.toml").read_text()))
        cfg["profile"] = profile
    return cfg


@dataclass
class Task:
    target: str                          # piece body to move
    source: str                          # its square
    dest: Destination
    squares: dict                        # square -> piece body, before the move
    bin_pieces: list
    fen: str
    kind: str = "legal"                  # legal, capture_to_bin, free, validation


@dataclass
class Result:
    success: bool
    reason: str = ""
    frames: int = 0
    centre_error_mm: float | None = None
    tilt_deg: float | None = None
    max_disturbance_mm: float = 0.0
    disturbed: list = field(default_factory=list)
    stray_contacts: dict = field(default_factory=dict)   # unintended arm-piece contacts
    yaw_deg: float | None = None
    dart_offset_mm: list | None = None   # executed sideways offset of a perturbed pick
    pre_close_touch: int = 0             # frames the arm touched the target before the jaws close


class EpisodeRunner:
    def __init__(self, cfg: dict, piece_set: PieceSet, render: bool = False):
        self.cfg = cfg
        self.piece_set = piece_set
        self.m = compile_scene(piece_set)
        self.d = mujoco.MjData(self.m)
        self.w = ChessWorld(self.m)
        self.rand = Randomizer(self.m, self.w, cfg)
        self.expert = Expert(self.m, self.w, cfg)
        fps = cfg["dataset"]["fps"]
        self.n_sub = round(1 / (fps * self.m.opt.timestep))
        assert abs(self.n_sub * self.m.opt.timestep * fps - 1) < 1e-6, "timestep must divide the frame time"
        self.grip_qadr = self.m.jnt_qposadr[self.m.joint("gripper").id]
        self.qadr = np.r_[self.expert.kin.qadr, self.grip_qadr]
        lo, hi = self.m.jnt_range[self.m.joint("gripper").id]
        self.grip_range = (lo, hi)
        self.arm_geoms = set(self.expert.arm_geoms)
        self.finger_geoms = {g for g in self.arm_geoms
                             if self.m.geom_bodyid[g] in (self.m.body("gripper").id, self.m.body("moving_jaw_so101_v1").id)}
        self.piece_of_geom = {g: n for n, gs in self.expert.piece_geoms.items() for g in gs}
        self.renderers = None
        if render:
            ds = cfg["dataset"]
            # SIM_OFFSAMPLES=0 turns the offscreen anti-aliasing off: with it on (4 samples, as the
            # data was rendered) the GPU shades a few wrist-camera edge pixels differently from run
            # to run, which is enough to change closed-loop outcomes (sim/reports/grasp_trace).
            if os.environ.get("SIM_OFFSAMPLES") is not None:
                self.m.vis.quality.offsamples = int(os.environ["SIM_OFFSAMPLES"])
            self.renderers = {c: mujoco.Renderer(self.m, ds["image_height"], ds["image_width"]) for c in ds["cameras"]}
            self.scene_option = mujoco.MjvOption()
            self.scene_option.geomgroup[3] = 0     # contact hulls never appear in policy images

    def close(self):
        if self.renderers:
            for r in self.renderers.values():
                r.close()

    # ------------------------------------------------------------------ units
    def to_lerobot(self, q6) -> np.ndarray:
        """LeRobot SO-101 units: arm joints in degrees (use_degrees=True), gripper 0-100."""
        out = np.degrees(np.asarray(q6[:5], float))
        lo, hi = self.grip_range
        return np.r_[out, (q6[5] - lo) / (hi - lo) * 100].astype(np.float32)

    # ------------------------------------------------------------------ scene setup
    def setup(self, rng: np.random.Generator, task: Task | None = None, board_pose=None) -> Task:
        """Randomise the model, place the pieces and settle. Samples a task if none given.

        `board_pose` = ((dx, dy), yaw) overrides the randomised board placement (offset
        from the nominal centre); the tray and table then keep their randomised poses,
        which were chosen for the randomised board.
        """
        mujoco.mj_resetData(self.m, self.d)
        self.episode_info = self.rand.apply(rng)
        if board_pose is not None:
            self.w.set_board_pose(*board_pose)
            self.episode_info["board"] = dict(offset_m=list(board_pose[0]), yaw_deg=float(np.degrees(board_pose[1])))
        if task is None:
            task = self.sample_task(rng)
        for n in self.w.pieces:
            self.w.park(self.d, n)
        pc = self.cfg["pieces"]
        byaw = self.w.board_yaw()
        for sq, n in task.squares.items():
            r = pc["offcentre_mm"] / 1000 * np.sqrt(rng.uniform())
            a = rng.uniform(0, 2 * np.pi)
            if self.w.kind[n] == "knight":
                face = -np.pi / 2 if self.w.color[n] == "b" else np.pi / 2
                yaw = byaw + face + np.radians(rng.uniform(-pc["knight_yaw_deg"], pc["knight_yaw_deg"]))
            else:
                yaw = rng.uniform(-np.pi, np.pi)
            self.w.place_on_square(self.d, n, sq, (r * np.cos(a), r * np.sin(a)), yaw)
        # Captured pieces lie across the tray in up to three slots (fewer in a small tray).
        spread = min(BIN_SLOTS_X[-1], self.w.bin_half[0] - 0.011)
        slots = np.array(BIN_SLOTS_X) / BIN_SLOTS_X[-1] * spread
        byaw_bin = self.w.bin_yaw()
        for slot, n in zip(rng.permutation(len(slots)), task.bin_pieces):
            k = self.w.kind[n]
            flip = np.pi if rng.random() < 0.5 else 0.0
            lying = np.array([np.cos(-np.pi / 4), np.sin(-np.pi / 4), 0, 0])   # body +z along the tray's +y
            q = np.zeros(4)
            mujoco.mju_mulQuat(q, quat_yaw(byaw_bin + flip + rng.uniform(-0.15, 0.15)), lying)
            along = -self.w.height[k] / 2 if flip == 0 else self.w.height[k] / 2
            self.w.place(self.d, n, self.w.bin_point(slots[slot], along, self.w.foot_radius[k] + 0.001), q)
        e = self.cfg["expert"]
        home = np.array(e["home"]) + rng.uniform(-e["home_jitter"], e["home_jitter"], 5)
        g = rng.uniform(*e["home_gripper"])
        self.d.qpos[self.qadr] = np.r_[home, g]
        self.d.ctrl[:] = np.r_[home, g]
        mujoco.mj_kinematics(self.m, self.d)
        self.rand.place_overhead(self.d, rng, self.episode_info)     # needs the arm at rest
        for _ in range(round(0.4 / self.m.opt.timestep)):
            mujoco.mj_step(self.m, self.d)
        self.home_end = np.array(e["home"]) + rng.uniform(-e["home_jitter"], e["home_jitter"], 5)
        if task.dest.kind == "square":
            task.dest.pos = self.w.square_center(task.dest.square)
        else:
            half = self.w.bin_half - 0.014
            task.dest.pos = self.w.bin_point(*rng.uniform(-half, half))
        return task

    def sample_task(self, rng) -> Task:
        pc = self.cfg["pieces"]
        if pc.get("fixed_moves"):
            board = chess.Board()
            mv = chess.Move.from_uci(pc["fixed_moves"][rng.integers(len(pc["fixed_moves"]))])
            squares = self._assign_bodies(board, rng)
            s = chess.square_name(mv.from_square)
            return Task(squares[s], s, Destination("square", None, chess.square_name(mv.to_square)),
                        squares, [], board.fen(), "fixed")
        for _ in range(100):
            board = chess.Board()
            for _ in range(rng.integers(pc["random_plies"][0], pc["random_plies"][1] + 1)):
                moves = list(board.legal_moves)
                if not moves:
                    break
                board.push(moves[rng.integers(len(moves))])
            kind, captured = "legal", None
            moves = list(board.legal_moves)
            if not moves or rng.random() < pc["free_move_probability"]:
                occupied = list(board.piece_map())
                empty = [s for s in chess.SQUARES if s not in board.piece_map()]
                src, dst, kind = occupied[rng.integers(len(occupied))], empty[rng.integers(len(empty))], "free"
            else:
                mv = moves[rng.integers(len(moves))]
                src, dst = mv.from_square, mv.to_square
                if board.is_en_passant(mv):
                    captured = chess.square(chess.square_file(dst), chess.square_rank(src))
                elif board.is_capture(mv):
                    captured = dst
            to_bin = False
            if captured is not None:
                if rng.random() < pc["capture_to_bin_probability"]:
                    src, to_bin, kind = captured, True, "capture_to_bin"
                else:
                    board.remove_piece_at(captured)
            squares = self._assign_bodies(board, rng)
            if squares is None:
                continue
            off_board = [n for n in self.w.pieces if n not in squares.values()]
            n_bin = min(rng.integers(pc["pieces_in_bin"][0], pc["pieces_in_bin"][1] + 1), len(off_board), len(BIN_SLOTS_X))
            bin_pieces = [off_board[i] for i in rng.permutation(len(off_board))[:n_bin]]
            dest = Destination("bin", None) if to_bin else Destination("square", None, chess.square_name(dst))
            s = chess.square_name(src)
            return Task(squares[s], s, dest, squares, bin_pieces, board.fen(), kind)
        raise RuntimeError("could not sample a position")

    def _assign_bodies(self, board, rng):
        free = {n for n in self.w.pieces}
        squares = {}
        for sq, piece in board.piece_map().items():
            color = "w" if piece.color == chess.WHITE else "b"
            kind = SYMBOL_KIND[piece.symbol().lower()]
            options = sorted(n for n in free if self.w.color[n] == color and self.w.kind[n] == kind)
            if not options:
                return None       # promoted piece without a spare body
            n = options[rng.integers(len(options))]
            free.remove(n)
            squares[chess.square_name(sq)] = n
        return squares

    # ------------------------------------------------------------------ execution
    def _step_frame(self, q5, g, task, recorder, phase, monitor, label=None):
        if recorder is not None:
            recorder.frame(self, task, np.r_[q5 if label is None else label, g])
        self.d.ctrl[:5] = q5
        self.d.ctrl[5] = g
        for _ in range(self.n_sub):
            mujoco.mj_step(self.m, self.d)
        monitor(phase)

    def run(self, task: Task, rng_seed: int, recorder=None, look_s: float = 0.0, pick=None,
            dart_attempt: int = 0) -> Result:
        """Execute the primitive from the current (set-up) state. `look_s` holds the hand
        still above the piece, jaws open, before the descent (the wrist camera sees it).
        `pick`: a ready PickPlan to execute instead of planning one.
        With [expert] dart_probability > 0 the pick is perturbed (Expert.perturb_pick) with that
        probability, drawn from (rng_seed, dart_attempt); dart_attempt < 0 turns it off."""
        rng = np.random.default_rng(rng_seed)
        d, w = self.d, self.w
        start = {n: w.base_pos(d, n) for n in w.pieces}
        watched = [n for n in task.squares.values() if n != task.target]
        stray = {}
        pre_touch = [0]

        def monitor(phase):
            touched = False
            for c in d.contact[:d.ncon]:
                g1, g2 = c.geom1, c.geom2
                for arm_g, other in ((g1, g2), (g2, g1)):
                    if arm_g in self.arm_geoms and other in self.piece_of_geom:
                        piece = self.piece_of_geom[other]
                        touched |= piece == task.target and phase in ("approach", "look", "descend")
                        if piece != task.target or arm_g not in self.finger_geoms:
                            key = f"{phase}:{piece}"
                            stray[key] = stray.get(key, 0) + 1
                if phase in ("lift", "traverse", "place"):
                    p1, p2 = self.piece_of_geom.get(g1), self.piece_of_geom.get(g2)
                    if task.target in (p1, p2) and p1 and p2 and p1 != p2:
                        key = f"carried:{p2 if p1 == task.target else p1}"
                        stray[key] = stray.get(key, 0) + 1
            pre_touch[0] += touched

        frames = 0
        try:
            pick = pick or self.expert.plan_pick(d, task.target, rng)
        except PlanningFailed as exc:
            return Result(False, f"plan {exc}")
        dart = self.cfg["expert"].get("dart_probability", 0.0)
        if dart > 0 and dart_attempt >= 0 and pick.traj.label is None:
            drng = np.random.default_rng([rng_seed, 0xDA27, dart_attempt])
            if drng.random() < dart:
                pick = self.expert.perturb_pick(d, task.target, pick, drng)
        if look_s > 0:
            t = pick.traj
            i = next((k for k, ph in enumerate(t.phase) if ph == "descend"), len(t))
            n = round(look_s * self.cfg["dataset"]["fps"])
            t.q[i:i] = [t.q[i - 1].copy()] * n
            t.g[i:i] = [t.g[i - 1]] * n
            t.phase[i:i] = ["look"] * n
            if t.label is not None:
                t.label[i:i] = [t.label[i - 1].copy()] * n
        labels = pick.traj.label or [None] * len(pick.traj)
        for q, g, ph, ql in zip(pick.traj.q, pick.traj.g, pick.traj.phase, labels):
            self._step_frame(q, g, task, recorder, ph, monitor, label=ql)
        frames += len(pick.traj)

        def result(*a, **k):
            return Result(*a, **k, dart_offset_mm=pick.dart_offset_mm, pre_close_touch=pre_touch[0])
        touching = set()
        for c in d.contact[:d.ncon]:
            if self.piece_of_geom.get(c.geom1) == task.target:
                touching.add(self.m.geom_bodyid[c.geom2])
            if self.piece_of_geom.get(c.geom2) == task.target:
                touching.add(self.m.geom_bodyid[c.geom1])
        jaws = {self.m.body("gripper").id, self.m.body("moving_jaw_so101_v1").id}
        if not jaws <= touching or d.qpos[self.grip_qadr] < self.expert.close_q + 0.01:
            return result(False, "grasp: jaws not both on the piece", frames, stray_contacts=stray)
        try:
            lift = self.expert.plan_lift(d, task.target, pick, task.dest)
        except PlanningFailed as exc:
            return result(False, f"plan {exc}", frames, stray_contacts=stray)
        for q, g, ph in zip(lift.q, lift.g, lift.phase):
            self._step_frame(q, g, task, recorder, ph, monitor)
        frames += len(lift)
        if w.base_pos(d, task.target)[2] < start[task.target][2] + 0.003:
            return result(False, "grasp: piece did not lift", frames, stray_contacts=stray)
        try:
            place = self.expert.plan_place(d, task.target, pick, task.dest, rng, self.home_end)
        except PlanningFailed as exc:
            return result(False, f"plan {exc}", frames, stray_contacts=stray)
        # Carry to above the destination, then re-aim the descent from where the piece
        # actually hangs in the hand (it can slip a few millimetres on the way).
        split = next((i for i, ph in enumerate(place.phase) if ph == "place"), len(place))
        for q, g, ph in zip(place.q[:split], place.g[:split], place.phase[:split]):
            self._step_frame(q, g, task, recorder, ph, monitor)
        rest = None
        if split < len(place):
            try:
                rest = self.expert.refine_descent(d, task.target, rng)
            except PlanningFailed:
                rest = None
        if rest is None:
            rest = type(place)(place.q[split:], place.g[split:], place.phase[split:])
        for q, g, ph in zip(rest.q, rest.g, rest.phase):
            self._step_frame(q, g, task, recorder, ph, monitor)
        frames += split + len(rest)
        r = self._judge(task, start, watched, stray, frames, pick.yaw)
        r.dart_offset_mm, r.pre_close_touch = pick.dart_offset_mm, pre_touch[0]
        return r

    def _judge(self, task, start, watched, stray, frames, yaw) -> Result:
        d, w, v = self.d, self.w, self.cfg["validation"]
        moved = {n: float(np.linalg.norm(w.base_pos(d, n) - start[n]) * 1000) for n in watched}
        disturbed = sorted((n for n, mm in moved.items() if mm > v["disturb_mm"]), key=lambda n: -moved[n])
        worst = max(moved.values(), default=0.0)
        final = w.base_pos(d, task.target)
        tilt = w.tilt_deg(d, task.target)
        r = Result(False, "", frames, max_disturbance_mm=round(worst, 2), disturbed=disturbed,
                   stray_contacts=stray, tilt_deg=round(tilt, 1), yaw_deg=round(float(np.degrees(yaw)), 1))
        if task.dest.kind == "bin":
            ok_place = w.in_bin(final)
            r.centre_error_mm = None
            reason = "" if ok_place else "piece not in the tray"
        else:
            err = float(np.linalg.norm(final[:2] - task.dest.pos[:2]) * 1000)
            r.centre_error_mm = round(err, 2)
            ok_place = err <= v["success_center_mm"] and tilt <= v["success_tilt_deg"] and abs(final[2] - w.board_top) < 0.003
            reason = "" if ok_place else f"placement error {err:.1f} mm, tilt {tilt:.0f} deg"
        if disturbed:
            reason = (reason + "; " if reason else "") + f"disturbed {disturbed[0]} by {moved[disturbed[0]]:.1f} mm"
        r.success = ok_place and not disturbed
        r.reason = reason
        return r

    # ------------------------------------------------------------------ rendering
    def camera(self, name) -> Camera:
        cid = self.m.camera(name).id
        ds = self.cfg["dataset"]
        return Camera(self.d.cam_xpos[cid].copy(), self.d.cam_xmat[cid].reshape(3, 3).copy(),
                      float(self.m.cam_fovy[cid]), ds["image_width"], ds["image_height"])

    def render(self, name) -> np.ndarray:
        r = self.renderers[name]
        r.update_scene(self.d, camera=name, scene_option=self.scene_option)
        return r.render()


class Highlighter:
    """Draws the per-episode red/blue squares with fixed per-camera calibration error."""

    def __init__(self, runner: EpisodeRunner, task: Task, rng):
        cfg = runner.cfg
        o = cfg["overlay"]
        w = runner.w
        self.alpha = o["alpha"]
        self.outline = o.get("outline_px", 0)
        self.wrist_noise = o["wrist_frame_jitter_mm"] / 1000
        self.rng = rng
        src = w.square_corners(task.source)
        dst = w.square_corners(task.dest.square) if task.dest.kind == "square" else w.bin_corners()
        self.polys = [(src + [0, 0, 0.0003], tuple(o["source_rgb"])), (dst + [0, 0, 0.0003], tuple(o["destination_rgb"]))]
        self.jitter = {c: Jitter.sample(rng, cfg) for c in cfg["dataset"]["cameras"]}

    def apply(self, runner: EpisodeRunner, name: str, image: np.ndarray) -> np.ndarray:
        extra = None
        if name == "wrist":
            extra = np.r_[self.rng.normal(0, self.wrist_noise, 2), 0]
        polys = [(self.jitter[name].apply(p, extra), rgb) for p, rgb in self.polys]
        return draw(image, runner.camera(name), polys, self.alpha, self.outline)