import os
import yaml

import open3d as o3d

import numpy as np

import zarr
from tempfile import NamedTemporaryFile
import fsspec


from qdgset.utils.import_utils import load_mesh_from_vertices_and_triangles

def export_to_obj_and_urdf_and_npz(object_group, directory_path, fs = fsspec.filesystem('local')):
    vertices = object_group.obj.vertices
    triangles = object_group.obj.faces



    path = directory_path + object_group.name
    name = path.split("/")[-1]

    obj_path = path + "/" + name +  ".obj"
    urdf_path = path + "/"+ name + ".urdf"
    grasps_path = path + "/"+ "individuals_0.npz"

    fs.makedirs(path)

    mesh = load_mesh_from_vertices_and_triangles(vertices, triangles)

    base_name = os.path.basename(obj_path)

    with NamedTemporaryFile(suffix=".obj") as tmp_file:
        o3d.io.write_triangle_mesh(tmp_file.name, mesh)
        fs.cp(tmp_file.name, obj_path)

        inertia_xyz_str = " ".join(map(str,np.asarray(object_group.obj.inertia_origin[:3])))
    mass = object_group.obj.mass[0]
    ixx, ixy, ixz, iyy, iyz, izz = object_group.obj.inertia

    with fs.open(urdf_path, "w") as urdf_file:
        urdf_file.write(f"""
<?xml version="1.0"?>
<robot name="object">
    <link name="object_link">
    <visual>
        <origin rpy="0 0 0" xyz="0 0 0" />
        <geometry>
            <mesh filename="{base_name}" scale="1 1 1" />
        </geometry>
    </visual>
    <collision>
        <origin rpy="0 0 0" xyz="0 0 0" />
        <geometry>
            <mesh filename="{base_name}" scale="1 1 1" />
        </geometry>
    </collision>
    <inertial>
        <origin rpy="0 0 0" xyz="{inertia_xyz_str}" />
        <mass value="{mass}" />
        <inertia ixx="{ixx}" ixy="{ixy}" ixz="{ixz}"
                 iyy="{iyy}" iyz="{iyz}" izz="{izz}" />
    </inertial>
  </link>
</robot>""".strip()) #!!IMPORTANT WE ASSUME NO ROTATION BETWEEN INERTIAL FRAME AND GEOMETRY FRAME!!


    if "grasps" in object_group.keys():
        info_keys = np.asarray(['xyz_pose_x', 'xyz_pose_y', 'xyz_pose_z', 'quat_1', 'quat_2', 'quat_3', 'quat_4'])

        with fs.open(grasps_path,"wb") as grasp_file:
            np.savez(grasp_file, infos=np.asarray(object_group.grasps), infos_keys=info_keys)
    else:
        print(f"WARN: Object {object_group.name} has no grasps")


if __name__=="__main__":
    import multiprocessing
    from multiprocessing import Pool, cpu_count
    import zarr
    zarr.blosc.use_threads = False

    import argparse

    def arg_parser():
        parser = argparse.ArgumentParser()
        parser.add_argument("-o", "--out", help="Export path", type=str, required=True)
        parser.add_argument("-i", "--in_zarr", help="Path of the zarr database", type=str, required=True)
        return parser.parse_args()

    parser = arg_parser()
    export_directory = parser.out
    def export(obj):
        return export_to_obj_and_urdf_and_npz(obj, export_directory)


    nb_cpu = cpu_count() -2
    p = Pool(nb_cpu)

    zarr_path = parser.in_zarr
    with zarr.ZipStore(zarr_path, mode='r') as store:
        root = zarr.group(store=store)

        for dataset in root.datasets:
            print(f"INFO: Export {dataset} objects and grasps")
            p.map(export, root.datasets[dataset].values())