"""Close look at the policy's grasps: where the jaws are when it closes them, and what follows.

For each episode (the settings profile's scene, a random one of its moves) the expert
first plans its own grasp of the marked piece, without executing it: jaw yaw, pinch
point and the offset of the pinch point in the gripper frame. The policy then drives.
The moment it starts closing (gripper command below 3 of 100 after being open), the
pinch point is compared with the expert's:

- sideways error along the jaws' closing direction and across it (mm),
- height error (mm, positive = too high),
- jaw yaw error (deg, modulo 180: the jaws are nearly symmetric),
- the piece's tilt, whether the arm already touches it or a neighbour,
- how far any other piece had been pushed.

It then watches 2 s more: lifted (8 mm), toppled (tilt over 45 deg), dropped.
Writes grasp_report.md, grasp_results.json and wrist/overhead snapshots of the moment of
closing for the failed lifts.

Run:  MUJOCO_GL=egl PHASE2_PROFILE=baseline .venv/bin/python sim/inspect_grasps.py \
          --policy outputs/chess_phase_smolvla_baseline/checkpoints/last/pretrained_model --episodes 20
"""
from __future__ import annotations

import argparse
import json
import multiprocessing as mp
import sys
import time
from pathlib import Path
from queue import Empty

HERE = Path(__file__).resolve().parent
sys.path.insert(0, str(HERE))
# Gripper command, LeRobot 0-100 units: about 10 at rest, 6-11 open around a piece, 0 closed.
OPEN, CLOSING = 4.0, 3.0


def worker(k, n, args, queue):
    import warnings

    warnings.filterwarnings("ignore")
    import numpy as np
    import torch
    from PIL import Image

    from camera_effects import training_look
    from episode import EpisodeRunner, load_config
    from eval_policy import LIFT_M, drive, load_policy
    from lerobot_export import Recorder, video_settings
    from piece_sets import sample_piece_set

    torch.set_num_threads(2)
    cfg = load_config()
    crf, pix_fmt = video_settings(cfg)
    policy, pre, post, device = load_policy(args.policy)
    rng = np.random.default_rng([args.seed, k])
    runner = EpisodeRunner(cfg, sample_piece_set(rng, cfg, f"inspect{k}"), render=True)
    m, d, w, ex = runner.m, runner.d, runner.w, runner.expert
    hand = {m.body("gripper").id, m.body("moving_jaw_so101_v1").id}
    for i in range(k, args.episodes, n):
        seed = int(rng.integers(2**62))
        task = runner.setup(np.random.default_rng(seed))
        saved = (d.qpos.copy(), d.qvel.copy(), d.act.copy(), d.ctrl.copy(), d.time)
        plan = ex.plan_pick(d, task.target, np.random.default_rng(seed))      # the expert's grasp, not executed
        d.qpos[:], d.qvel[:], d.act[:], d.ctrl[:] = saved[:4]
        d.time = saved[4]
        import mujoco
        mujoco.mj_forward(m, d)
        start = {p: w.base_pos(d, p) for p in w.pieces}
        axis = np.array([np.cos(plan.yaw), np.sin(plan.yaw)])                  # jaw closing direction
        across = np.array([-axis[1], axis[0]])
        rec = Recorder(cfg, None)
        rec.begin(runner, task, np.random.default_rng(seed ^ 0x5EED))
        st = dict(open_max=0.0, close_f=None, info=None, snap=None)

        def touching():
            out = set()
            for c in d.contact[:d.ncon]:
                for a, b in ((c.geom1, c.geom2), (c.geom2, c.geom1)):
                    if m.geom_bodyid[a] in hand and b in runner.piece_of_geom:
                        out.add(runner.piece_of_geom[b])
            return out

        def on_frame(f, a):
            g = float(a[5])
            if st["close_f"] is None:
                st["open_max"] = max(st["open_max"], g)
                if st["open_max"] > OPEN and g < CLOSING:
                    st["close_f"] = f
                    q = d.qpos[ex.kin.qadr].copy()
                    p, R = ex.kin.pose(q, plan.offset)
                    err = p - plan.grasp_point
                    yaw = np.arctan2(R[1, 0], R[0, 0])
                    dyaw = (np.degrees(yaw - plan.yaw) + 90) % 180 - 90
                    moved = max(float(np.linalg.norm(w.base_pos(d, n2) - start[n2])) for n2 in w.pieces
                                if n2 != task.target and n2 in task.squares.values())
                    tl = touching()
                    st["info"] = dict(along_mm=round(1000 * float(err[:2] @ axis), 1),
                                      across_mm=round(1000 * float(err[:2] @ across), 1),
                                      height_mm=round(1000 * float(err[2]), 1), yaw_err_deg=round(float(dyaw), 1),
                                      tilt_at_close_deg=round(float(w.tilt_deg(d, task.target)), 1),
                                      touching_target=task.target in tl, touching_neighbour=bool(tl - {task.target}),
                                      neighbour_moved_mm=round(1000 * moved, 1), t_close_s=round(f / 30, 2))
                    st["snap"] = [training_look(rec.observe(runner, c), crf, pix_fmt) for c in ("overhead", "wrist")]
                return False
            return f - st["close_f"] >= 60            # watch 2 s after the close starts

        r, met = drive(runner, task, policy, pre, post, device, cfg, args.seconds, seed ^ 0x5EED,
                       stop_when_done=False, recorder=rec, on_frame=on_frame)
        tilt = float(w.tilt_deg(d, task.target))
        lifted_now = bool(w.base_pos(d, task.target)[2] - start[task.target][2] > LIFT_M)
        out = dict(index=i, seed=seed, piece=w.kind[task.target], move=f"{task.source}-{task.dest.square}",
                   expert_yaw_deg=round(float(np.degrees(plan.yaw)), 1), closed=st["close_f"] is not None,
                   lifted=met["lifted"], held_after_2s=lifted_now, toppled=tilt > 45, closest_mm=met["closest_mm"],
                   **(st["info"] or {}))
        out["outcome"] = ("never closed" if not out["closed"] else "toppled" if out["toppled"] else
                          "lifted and held" if lifted_now else "lifted, then dropped" if met["lifted"] else
                          "closed, not lifted")
        if st["snap"] is not None and out["outcome"] != "lifted and held":
            Image.fromarray(np.concatenate(st["snap"], 1)).save(Path(args.out) / f"close_{i:02d}_{out['move']}.jpg",
                                                                quality=88)
        queue.put(out)
    runner.close()
    queue.put(None)


def main():
    ap = argparse.ArgumentParser(description=__doc__)
    ap.add_argument("--policy", required=True)
    ap.add_argument("--episodes", type=int, default=20)
    ap.add_argument("--workers", type=int, default=3)
    ap.add_argument("--seconds", type=float, default=14.0, help="give up if it never closes")
    ap.add_argument("--seed", type=int, default=4_000_003)
    ap.add_argument("--out", default=str(HERE / "reports" / "baseline_eval" / "grasp_inspection"))
    args = ap.parse_args()
    Path(args.out).mkdir(parents=True, exist_ok=True)
    ctx = mp.get_context("spawn")
    queue = ctx.Queue()
    procs = [ctx.Process(target=worker, args=(k, args.workers, args, queue)) for k in range(args.workers)]
    for p in procs:
        p.start()
    t0, results, finished = time.time(), [], 0
    while finished < len(procs):
        try:
            r = queue.get(timeout=60)
        except Empty:
            if not any(p.is_alive() for p in procs):
                print("worker(s) crashed; reporting what finished", flush=True)
                break
            continue
        if r is None:
            finished += 1
            continue
        results.append(r)
        print(f"{len(results)}/{args.episodes} {r['move']}: {r['outcome']}; along {r.get('along_mm')} across "
              f"{r.get('across_mm')} height {r.get('height_mm')} mm, yaw {r.get('yaw_err_deg')} deg", flush=True)
    for p in procs:
        p.join()
    import numpy as np

    results.sort(key=lambda r: r["index"])
    closed = [r for r in results if r["closed"]]
    groups = {}
    for r in closed:
        groups.setdefault(r["outcome"], []).append(r)
    med = lambda rs, k: round(float(np.median([abs(r[k]) for r in rs])), 1) if rs else None
    table = {o: dict(episodes=len(rs), along_mm=med(rs, "along_mm"), across_mm=med(rs, "across_mm"),
                     height_mm=round(float(np.median([r["height_mm"] for r in rs])), 1),
                     yaw_err_deg=med(rs, "yaw_err_deg"),
                     touching_before_close=sum(r["touching_target"] for r in rs),
                     neighbour_touched=sum(r["touching_neighbour"] for r in rs))
             for o, rs in groups.items()}
    summary = dict(policy=args.policy, episodes=len(results), never_closed=len(results) - len(closed),
                   outcomes={o: len(rs) for o, rs in groups.items()}, by_outcome=table,
                   minutes=round((time.time() - t0) / 60, 1))
    (Path(args.out) / "grasp_results.json").write_text(json.dumps(dict(summary=summary, episodes=results), indent=1))
    lines = ["# Grasp inspection", "",
             f"Policy `{args.policy}`, {len(results)} episodes. At the moment the policy starts closing the jaws, "
             "its pinch point is compared with the grasp the expert would make on the same piece. "
             "Errors: `along` is along the jaws' closing direction, `across` is sideways to it, `height` is "
             "positive when too high; medians of absolute values (height signed).", "",
             "| outcome | episodes | along mm | across mm | height mm | yaw err deg | arm on piece before closing | neighbour touched |",
             "|---|---|---|---|---|---|---|---|"]
    lines += [f"| {o} | {t['episodes']} | {t['along_mm']} | {t['across_mm']} | {t['height_mm']} | {t['yaw_err_deg']} | "
              f"{t['touching_before_close']} | {t['neighbour_touched']} |" for o, t in table.items()]
    lines += ["", f"Never closed within {args.seconds:.0f} s: {summary['never_closed']}.", "",
              "## Episodes", "", "| # | move | outcome | along | across | height | yaw err | tilt at close | "
              "on piece | neighbour | neighbour moved mm |", "|---|---|---|---|---|---|---|---|---|---|---|"]
    lines += [f"| {r['index']} | {r['move']} | {r['outcome']} | {r.get('along_mm', '-')} | {r.get('across_mm', '-')} | "
              f"{r.get('height_mm', '-')} | {r.get('yaw_err_deg', '-')} | {r.get('tilt_at_close_deg', '-')} | "
              f"{'yes' if r.get('touching_target') else 'no'} | {'yes' if r.get('touching_neighbour') else 'no'} | "
              f"{r.get('neighbour_moved_mm', '-')} |" for r in results]
    lines += ["", "Images `close_NN_<move>.jpg`: overhead and wrist views at the moment of closing, for every "
              "episode that did not lift and hold the piece."]
    (Path(args.out) / "grasp_report.md").write_text("\n".join(lines) + "\n")
    print(json.dumps(summary, indent=1))


if __name__ == "__main__":
    main()