#!/usr/bin/env python3
"""
PI05 RTC Inference - With Action Logging
"""

import torch
import time
import numpy as np
import threading
import traceback

torch._dynamo.config.suppress_errors = True
torch._dynamo.config.disable = True

from lerobot.policies.pi05.modeling_pi05 import PI05Policy
from lerobot.configs.types import RTCAttentionSchedule
from lerobot.policies.rtc.configuration_rtc import RTCConfig
from lerobot.policies.rtc.modeling_rtc import RTCProcessor
from trlc_dk1.follower import DK1Follower, DK1FollowerConfig
from lerobot.cameras.opencv import OpenCVCameraConfig
from transformers import AutoTokenizer


# =============================================================================
# Configuration
# =============================================================================

MODEL_PATH = "qualiaadmin/81df74e6-274f-4f02-aaa7-c1f83c549832"
TOKENIZER_NAME = "google/paligemma-3b-pt-224"
TASK = "clean the table"

CONTROL_FREQ = 50
CHUNK_SIZE = 50
EXECUTION_HORIZON = 20

# Tuned settings
USE_RTC = True
MAX_GUIDANCE_WEIGHT = 5.0  # Reduced from 10
SMOOTH_ALPHA = 0.85        # More responsive

# Robot
ROBOT_PORT = "/dev/ttyACM0"
TOP_CAMERA_INDEX = 6
WRIST_CAMERA_INDEX = 4

# Normalization
STATE_MEAN = torch.tensor([0.1108, 0.8736, 0.7812, -0.3134, 0.0278, -0.0890, 0.2867]).cuda()
STATE_STD = torch.tensor([0.2484, 0.6667, 0.5777, 0.3697, 0.0903, 0.1300, 0.4132]).cuda()
ACTION_MEAN = torch.tensor([0.1110, 0.8739, 0.7815, -0.3132, 0.0280, -0.0888, 0.2853]).cuda()
ACTION_STD = torch.tensor([0.2519, 0.6752, 0.5838, 0.3747, 0.0924, 0.1315, 0.4204]).cuda()


# =============================================================================
# Classes
# =============================================================================

class RTCActionQueue:
    def __init__(self):
        self.actions = []
        self.prev_chunk_normalized = None
        self.lock = threading.Lock()
        self.last_chunk_stats = None  # For logging
    
    def remaining(self) -> int:
        with self.lock:
            return len(self.actions)
    
    def get_left_over_for_rtc(self):
        with self.lock:
            if self.prev_chunk_normalized is None:
                return None
            return self.prev_chunk_normalized.clone()
    
    def set_new_chunk(self, actions_tensor: torch.Tensor, inference_delay: int):
        with self.lock:
            self.prev_chunk_normalized = actions_tensor[:, inference_delay:, :].detach().clone()
            actions = actions_tensor[0] if actions_tensor.dim() == 3 else actions_tensor
            actions = actions * ACTION_STD + ACTION_MEAN
            actions_np = actions.detach().cpu().numpy()[inference_delay:]
            
            # Compute chunk stats
            if len(actions_np) > 1:
                deltas = np.diff(actions_np, axis=0)
                self.last_chunk_stats = {
                    'mean_delta': np.mean(np.abs(deltas)),
                    'max_delta': np.max(np.abs(deltas)),
                    'range': np.ptp(actions_np, axis=0),  # Peak-to-peak per joint
                }
            
            self.actions = list(actions_np)
    
    def get(self):
        with self.lock:
            return self.actions.pop(0) if self.actions else None
    
    def get_chunk_stats(self):
        with self.lock:
            return self.last_chunk_stats


class ActionSmoother:
    def __init__(self, alpha: float):
        self.alpha = alpha
        self.prev = None
    
    def __call__(self, action: np.ndarray) -> np.ndarray:
        if self.alpha >= 1.0 or self.prev is None:
            self.prev = action.copy()
            return action
        smoothed = self.alpha * action + (1 - self.alpha) * self.prev
        self.prev = smoothed.copy()
        return smoothed


def format_observation(raw_obs: dict, tokenizer) -> dict:
    state = torch.tensor([
        raw_obs["joint_1.pos"], raw_obs["joint_2.pos"], raw_obs["joint_3.pos"],
        raw_obs["joint_4.pos"], raw_obs["joint_5.pos"], raw_obs["joint_6.pos"],
        raw_obs["gripper.pos"],
    ], dtype=torch.float32).cuda()
    state = ((state - STATE_MEAN) / STATE_STD).unsqueeze(0)
    
    top = raw_obs["top"]
    wrist = raw_obs["wrist"]
    if not isinstance(top, torch.Tensor):
        top = torch.from_numpy(top).permute(2, 0, 1).float() / 255.0
        wrist = torch.from_numpy(wrist).permute(2, 0, 1).float() / 255.0
    
    tokens = tokenizer(TASK, return_tensors="pt", padding="max_length", max_length=48, truncation=True)
    
    return {
        "observation.images.top": top.unsqueeze(0).cuda(),
        "observation.images.wrist": wrist.unsqueeze(0).cuda(),
        "observation.state": state,
        "observation.language.tokens": tokens["input_ids"].cuda(),
        "observation.language.attention_mask": tokens["attention_mask"].bool().cuda(),
    }


def action_to_dict(action: np.ndarray) -> dict:
    return {f"joint_{i}.pos": float(action[i-1]) for i in range(1, 7)} | {"gripper.pos": float(action[6])}


# =============================================================================
# Main
# =============================================================================

def main():
    print("=" * 60)
    print("PI05 RTC Inference - Action Analysis Mode")
    print("=" * 60)
    print(f"\nUSE_RTC={USE_RTC}, GUIDANCE={MAX_GUIDANCE_WEIGHT}, SMOOTH={SMOOTH_ALPHA}\n")
    
    # Setup
    rtc_config = RTCConfig(
        enabled=USE_RTC,
        execution_horizon=EXECUTION_HORIZON,
        max_guidance_weight=MAX_GUIDANCE_WEIGHT,
        prefix_attention_schedule=RTCAttentionSchedule.EXP,
    )
    
    print("Loading model...")
    policy = PI05Policy.from_pretrained(MODEL_PATH, device="cuda")
    policy.eval()
    
    if USE_RTC:
        policy.config.rtc_config = rtc_config
        rtc_processor = RTCProcessor(rtc_config)
        policy.rtc_processor = rtc_processor
        if hasattr(policy, 'model'):
            policy.model.config.rtc_config = rtc_config
            policy.model.rtc_processor = rtc_processor
    
    tokenizer = AutoTokenizer.from_pretrained(TOKENIZER_NAME)
    
    print("Connecting to robot...")
    robot_config = DK1FollowerConfig(
        port=ROBOT_PORT,
        cameras={
            "top": OpenCVCameraConfig(index_or_path=TOP_CAMERA_INDEX, width=640, height=360, fps=30),
            "wrist": OpenCVCameraConfig(index_or_path=WRIST_CAMERA_INDEX, width=640, height=360, fps=30),
        },
    )
    robot = DK1Follower(robot_config)
    robot.connect()
    print("Ready!\n")
    
    # Analyze initial state
    raw_obs = robot.get_observation()
    current_pos = np.array([raw_obs[f"joint_{i}.pos"] for i in range(1, 7)] + [raw_obs["gripper.pos"]])
    
    print("=" * 40)
    print("POSITION ANALYSIS")
    print("=" * 40)
    print(f"Current:  {np.round(current_pos, 3)}")
    print(f"Mean:     {np.round(STATE_MEAN.cpu().numpy(), 3)}")
    print(f"Delta:    {np.round(current_pos - STATE_MEAN.cpu().numpy(), 3)}")
    print()
    
    # Test inference and analyze
    obs = format_observation(raw_obs, tokenizer)
    with torch.enable_grad():
        action_tensor = policy.predict_action_chunk(obs)
    
    actions_np = (action_tensor[0] * ACTION_STD + ACTION_MEAN).detach().cpu().numpy()
    
    print("=" * 40)
    print("ACTION CHUNK ANALYSIS")
    print("=" * 40)
    print(f"First action:     {np.round(actions_np[0], 3)}")
    print(f"Last action:      {np.round(actions_np[-1], 3)}")
    print(f"Chunk range:      {np.round(np.ptp(actions_np, axis=0), 3)}")
    print(f"Mean step size:   {np.round(np.mean(np.abs(np.diff(actions_np, axis=0)), axis=0), 4)}")
    print()
    
    # Show trajectory
    print("Action trajectory (joint 1,2,3 at steps 0,10,20,30,40,49):")
    for i in [0, 10, 20, 30, 40, 49]:
        print(f"  [{i:2d}] {np.round(actions_np[i, :3], 3)}")
    print()
    
    input("Press Enter to start execution...")
    
    # Shared state
    action_queue = RTCActionQueue()
    smoother = ActionSmoother(SMOOTH_ALPHA)
    latest_obs = None
    obs_lock = threading.Lock()
    running = True
    first_chunk_ready = threading.Event()
    inference_times = []
    
    def inference_loop():
        nonlocal running
        
        while running:
            with obs_lock:
                obs = latest_obs
            if obs is None:
                time.sleep(0.01)
                continue
            
            try:
                formatted = format_observation(obs, tokenizer)
                prev_actions = action_queue.get_left_over_for_rtc() if USE_RTC else None
                
                if inference_times:
                    delay = int(np.ceil(np.mean(inference_times[-10:]) * CONTROL_FREQ))
                    delay = max(1, min(delay, CHUNK_SIZE - EXECUTION_HORIZON - 1))
                else:
                    delay = 10
                
                start = time.time()
                with torch.enable_grad():
                    actions = policy.predict_action_chunk(
                        formatted,
                        inference_delay=delay if USE_RTC else 0,
                        prev_chunk_left_over=prev_actions,
                    )
                elapsed = time.time() - start
                inference_times.append(elapsed)
                
                action_queue.set_new_chunk(actions, delay)
                first_chunk_ready.set()
                
                # Log with chunk stats
                stats = action_queue.get_chunk_stats()
                if stats:
                    print(f"Inference: {elapsed*1000:.0f}ms | queue: {action_queue.remaining()} | "
                          f"mean_delta: {stats['mean_delta']:.4f} | max_delta: {stats['max_delta']:.4f}")
                
                while running and action_queue.remaining() > EXECUTION_HORIZON:
                    time.sleep(0.005)
                    
            except Exception as e:
                print(f"[ERROR] {e}")
                traceback.print_exc()
                time.sleep(1)
    
    threading.Thread(target=inference_loop, daemon=True).start()
    
    raw_obs = robot.get_observation()
    with obs_lock:
        latest_obs = raw_obs
    
    first_chunk_ready.wait(timeout=60)
    print("\nRunning!\n")
    
    step = 0
    loop_period = 1.0 / CONTROL_FREQ
    
    # Track executed actions for analysis
    executed_actions = []
    
    try:
        while running:
            t0 = time.time()
            
            raw_obs = robot.get_observation()
            with obs_lock:
                latest_obs = raw_obs
            
            action = action_queue.get()
            if action is not None:
                action = smoother(action)
                robot.send_action(action_to_dict(action))
                executed_actions.append(action.copy())
                step += 1
                
                if step % 200 == 0:
                    # Analyze recent execution
                    recent = np.array(executed_actions[-200:])
                    total_movement = np.sum(np.abs(np.diff(recent, axis=0)))
                    print(f"Step {step} | Total movement (last 200): {total_movement:.2f} rad")
            
            dt = time.time() - t0
            if dt < loop_period:
                time.sleep(loop_period - dt)
                
    except KeyboardInterrupt:
        print("\n\nStopping...")
        
        # Final analysis
        if len(executed_actions) > 100:
            all_actions = np.array(executed_actions)
            print("\n" + "=" * 40)
            print("EXECUTION SUMMARY")
            print("=" * 40)
            print(f"Total steps: {len(executed_actions)}")
            print(f"Position range: {np.round(np.ptp(all_actions, axis=0), 3)}")
            print(f"Mean step size: {np.round(np.mean(np.abs(np.diff(all_actions, axis=0)), axis=0), 4)}")
            print(f"Total movement: {np.sum(np.abs(np.diff(all_actions, axis=0))):.2f} rad")
    finally:
        running = False
        robot.disconnect()
        print("Done!")


if __name__ == "__main__":
    main()