import json
import re
from pathlib import Path

import cv2
import numpy as np


DATA_ROOT = Path("/mnt/nas/zhangyiming/database/rlbench/keyframe_fast_slow_chunk8_addlast_0806/for_rlds")
WORK_ROOT = Path("/mnt/nas/zhangyiming/database/rlbench/utils/npy_to_json_rules_v2")
JSON_ROOT = WORK_ROOT / "json"
JSONL_ROOT = WORK_ROOT / "jsonl"
IMG_ROOT = WORK_ROOT / "images"
VIDEO_ROOT = WORK_ROOT / "videos"


def ensure_dir(path: Path) -> None:
    path.mkdir(parents=True, exist_ok=True)


def episode_sort_key(path: Path):
    match = re.search(r"episode(\d+)", path.stem)
    return int(match.group(1)) if match else path.stem


def to_jsonable(value):
    if isinstance(value, np.ndarray):
        return value.tolist()
    if isinstance(value, np.generic):
        return value.item()
    return value


def write_episode_images(episode, task: str, episode_name: str):
    img_dir = IMG_ROOT / task / episode_name
    ensure_dir(img_dir)
    for i, step in enumerate(episode):
        frame = step["front_image"]
        image_path = img_dir / f"front_{i}.png"
        cv2.imwrite(str(image_path), cv2.cvtColor(frame, cv2.COLOR_RGB2BGR))

    return img_dir


def convert_action(action):
    action = np.asarray(action, dtype=np.float64).reshape(-1, 7)
    return action.tolist()


def longest_language_instruction(npy_files):
    best = None
    for npy_path in npy_files:
        episode = np.load(npy_path, allow_pickle=True)
        for step in episode:
            instruction = str(step["language_instruction"])
            if best is None or len(instruction) > len(best):
                best = instruction
    if best is None:
        raise ValueError("Cannot choose input_prompt from an empty task.")
    return best


def convert_episode(npy_path: Path, task: str, input_prompt: str):
    episode = np.load(npy_path, allow_pickle=True)
    episode_name = npy_path.stem
    img_dir = write_episode_images(episode, task, episode_name)

    records = []
    for frame_index, step in enumerate(episode):
        record = {
            "input_prompt": input_prompt,
            "sub_prompt": step["language_subgoals"],
            "front_pic": str(img_dir / f"front_{frame_index}.png"),
        }
        for key, value in step.items():
            if key == "pointcloud":
                continue
            if key == "front_image":
                continue
            if key == "action":
                record[key] = convert_action(value)
            else:
                record[key] = to_jsonable(value)
        records.append(record)
    return records


def write_json_outputs(json_path: Path, jsonl_path: Path, records) -> None:
    with json_path.open("w", encoding="utf-8") as f:
        json.dump(records, f, ensure_ascii=False, indent=2)
    with jsonl_path.open("w", encoding="utf-8") as f:
        for record in records:
            f.write(json.dumps(record, ensure_ascii=False) + "\n")


def write_statistics(output_path: Path, records, num_trajectories: int) -> None:
    action_rows = []
    states = []
    for record in records:
        action_rows.extend(record["action"])
        states.append(record["state"])

    actions = np.asarray(action_rows, dtype=np.float64)
    states = np.asarray(states, dtype=np.float64)

    def calculate_stats(data, mask):
        return {
            "mean": np.mean(data, axis=0).tolist(),
            "std": np.std(data, axis=0).tolist(),
            "max": np.max(data, axis=0).tolist(),
            "min": np.min(data, axis=0).tolist(),
            "q01": np.quantile(data, 0.01, axis=0).tolist(),
            "q99": np.quantile(data, 0.99, axis=0).tolist(),
            "mask": mask,
        }

    result = {
        "rlbench": {
            "action": calculate_stats(actions, [True, True, True, True, True, True, False]),
            "state": calculate_stats(states, [True, True, True, True, True, True, False]),
            "num_transitions": len(records),
            "num_trajectories": num_trajectories,
        }
    }
    with output_path.open("w", encoding="utf-8") as f:
        json.dump(result, f, ensure_ascii=False, indent=2)


def convert_all():
    ensure_dir(JSON_ROOT)
    ensure_dir(JSONL_ROOT)
    ensure_dir(IMG_ROOT)

    all_records = []
    summary = {}

    for task_dir in sorted([p for p in DATA_ROOT.iterdir() if p.is_dir()]):
        task = task_dir.name
        task_records = []
        npy_files = sorted(task_dir.glob("*.npy"), key=episode_sort_key)
        input_prompt = longest_language_instruction(npy_files)
        for npy_file in npy_files:
            task_records.extend(convert_episode(npy_file, task, input_prompt))

        json_path = JSON_ROOT / f"{task}.json"
        jsonl_path = JSONL_ROOT / f"{task}.jsonl"
        stat_path = JSON_ROOT / f"{task}_statistics.json"
        write_json_outputs(json_path, jsonl_path, task_records)
        write_statistics(stat_path, task_records, len(npy_files))

        summary[task] = {
            "episodes": len(npy_files),
            "samples": len(task_records),
            "input_prompt": input_prompt,
            "json": str(json_path),
            "jsonl": str(jsonl_path),
            "statistics": str(stat_path),
        }
        all_records.extend(task_records)

    write_json_outputs(JSON_ROOT / "train.json", JSONL_ROOT / "train.jsonl", all_records)
    write_statistics(JSON_ROOT / "train_statistics.json", all_records, sum(item["episodes"] for item in summary.values()))

    with (WORK_ROOT / "summary.json").open("w", encoding="utf-8") as f:
        json.dump(summary, f, ensure_ascii=False, indent=2)

    print(json.dumps(summary, ensure_ascii=False, indent=2))


if __name__ == "__main__":
    convert_all()