# Copyright (c) 2026, dishsim project.
#
# SPDX-License-Identifier: BSD-3-Clause

"""Author the per-state machine USDs the scene loads: ``data/assets/<machine>/usd/model_*_v0<suffix>.usda``.

Until 2026-10-21 ``dishsim.machine`` called ``usd_prep`` at import and authored these on demand; now they ship in the
asset dataset and this script (Kit-free, pxr from ``run_py.sh``) is the only writer. Each file bakes in the rack
geometry (``rack_gen`` from ``config.RACK_GEN``), the door clamp and the state's rack drive targets, and carries a
stamp of all three; an existing file whose stamp matches is left untouched. ``artvip_compact`` derives from the
ArtVIP originals in ``../../artvip_dishwasher_2/usd`` (``fetch_artvip.py`` there) and writes next to them.

    code/util/run_py.sh data/assets/bosch800/source/export_usd.py --machine bosch800 --states placement both_in
    code/util/run_py.sh data/assets/bosch800/source/export_usd.py --machine artvip_compact     # every cached state
"""

import argparse
import os
import sys

REPO = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))))
sys.path.insert(0, os.path.join(REPO, "code", "src"))

from dishsim import config  # noqa: E402

import usd_prep  # noqa: E402  (this folder)


def export(machine: str, state: str) -> str:
    config.apply_machine(machine)          # first: it resets scenario + base placement
    config.apply_scenario(state)
    kw = dict(door_open_deg=config.DOOR_OPEN_DEG, door_band_deg=config.DOOR_BAND_DEG,
              rack_targets=config.RACK_JOINT_TARGETS, suffix="" if state == "both_out" else f"_{state}")
    if machine == "bosch800":
        return usd_prep.make_bosch800_usd(**kw)
    src = os.path.join(config.machine_asset_dir(machine), "usd", "model_dishwasher_2.usda")
    return usd_prep.make_dishwasher_v0_usd(src, **kw)


def main() -> None:
    parser = argparse.ArgumentParser(description="Author the per-state machine USDs.")
    parser.add_argument("--machine", choices=sorted(config.MACHINE_ASSET_DIRS), default="bosch800")
    parser.add_argument("--states", nargs="*", default=None,
                        help="rack states (default: every state with a cache under <machine>/cache/)")
    args = parser.parse_args()
    cache = os.path.join(config.machine_asset_dir(args.machine), "cache")
    states = args.states or sorted(d for d in os.listdir(cache) if d != "coacd")
    for state in states:
        print(f"[INFO] {args.machine} / {state}: {export(args.machine, state)}")
    print(f"[RESULT] PASS {len(states)} machine USDs")


if __name__ == "__main__":
    main()