# Copyright 2025 Robotics Group of the University of León (ULE)

# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at

#     http://www.apache.org/licenses/LICENSE-2.0

# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import rosbag2_py
import cv2
import os
import glob
from cv_bridge import CvBridge
from rclpy.serialization import deserialize_message
from sensor_msgs.msg import Image
import time


bags_dir = "/media/robotica/681EC1401EC107D0/Salidas/SalidaBercianos2"
output_root = os.path.join(bags_dir, "dataset")
image_topic = "/camera/camera/color/image_raw"
FRAME_INTERVAL = 10
MAX_WORKERS = 2
MAX_BATCH_SIZE = 5

os.makedirs(output_root, exist_ok=True)
print(f"Output directory: {output_root} (exists: {os.path.exists(output_root)})")

def extract_images_from_bag(bag_path, output_dir):
    """Extract images from a ROS2 bag file.
    
    Args:
        bag_path: Path to the ROS2 bag directory.
        output_dir: Directory where extracted images will be saved.
        
    Returns:
        Number of images successfully saved.
    """
    bridge = CvBridge()
    saved_frame_count = 0
    total_frame_count = 0
    bag_name = os.path.basename(bag_path)
    
    print(f"Processing rosbag: {bag_name}, saving with prefix to: {output_dir}")
    
    try:
        reader = rosbag2_py.SequentialReader()
        reader.open(
            rosbag2_py.StorageOptions(uri=bag_path, storage_id="sqlite3"),
            rosbag2_py.ConverterOptions(
                input_serialization_format="cdr", output_serialization_format="cdr"
            ),
        )

        topic_types = reader.get_all_topics_and_types()
        topic_type_map = {topic.name: topic.type for topic in topic_types}
        
        print(f"Available topics in {bag_name}: {list(topic_type_map.keys())}")
        
        if image_topic not in topic_type_map:
            print(f"ERROR: Topic {image_topic} does not exist in {bag_name}.")
            return 0
        
        print(f"Processing topic {image_topic} in {bag_name}")

        is_depth = "depth" in image_topic
        start_time = time.time()
        
        while reader.has_next():
            topic, data, timestamp = reader.read_next()
            if topic == image_topic:
                total_frame_count += 1
                
                if (total_frame_count - 1) % FRAME_INTERVAL == 0:
                    try:
                        img_msg = deserialize_message(data, Image)
                        
                        if is_depth:
                            cv_image = bridge.imgmsg_to_cv2(img_msg)
                            cv_image = cv2.normalize(cv_image, None, 0, 255, cv2.NORM_MINMAX, dtype=cv2.CV_8U)
                            cv_image = cv2.applyColorMap(cv_image, cv2.COLORMAP_TURBO)
                        else:
                            cv_image = bridge.imgmsg_to_cv2(img_msg, desired_encoding="bgr8")
                        
                        frame_filename = f"{bag_name}_frame_{saved_frame_count:06d}.jpg"
                        frame_path = os.path.join(output_dir, frame_filename)
                        
                        success = cv2.imwrite(frame_path, cv_image, [cv2.IMWRITE_JPEG_QUALITY, 85])
                        if not success:
                            print(f"Error: Could not save {frame_path}")
                        else:
                            saved_frame_count += 1
                            if saved_frame_count % 5 == 0:
                                print(f"Saved {frame_path} ({cv_image.shape})")
                        
                    except Exception as e:
                        print(f"Error in frame {total_frame_count}: {str(e)}")
                
                if total_frame_count % 100 == 0:
                    elapsed = time.time() - start_time
                    print(f"{bag_name}: Processed {total_frame_count} frames, saved {saved_frame_count}")
        
        elapsed = time.time() - start_time
        rate = saved_frame_count / elapsed if elapsed > 0 else 0
        print(f"Completed {bag_name}: {saved_frame_count} images saved from {total_frame_count} frames")
        print(f"Speed: {rate:.2f} img/s, total time: {elapsed:.2f}s")
        return saved_frame_count
    
    except Exception as e:
        print(f"Fatal error processing {bag_name}: {str(e)}")
        import traceback
        traceback.print_exc()
        return 0

def main():
    """Main function to extract images from ROS2 bag files.
    
    Processes all rosbag2 directories found in the specified bags directory,
    extracting one frame every FRAME_INTERVAL frames from the configured image topic.
    """
    print(f"Starting image extraction (1 every {FRAME_INTERVAL} frames)")
    
    bag_folders = glob.glob(os.path.join(bags_dir, "rosbag2_*"))
    print(f"Found {len(bag_folders)} rosbags: {[os.path.basename(b) for b in bag_folders]}")
    
    if not bag_folders:
        print(f"ERROR: No rosbags found in {bags_dir}")
        return
    
    total_frames = 0
    start_time = time.time()
    
    for bag_folder in bag_folders:
        if os.path.isdir(bag_folder) and os.path.exists(os.path.join(bag_folder, "metadata.yaml")):
            print(f"\nProcessing {os.path.basename(bag_folder)}...")
            frames = extract_images_from_bag(bag_folder, output_root)
            total_frames += frames
    
    elapsed = time.time() - start_time
    rate = total_frames / elapsed if elapsed > 0 else 0
    
    print(f"\nProcess completed. {total_frames} images extracted in {elapsed:.2f}s")
    print(f"Average speed: {rate:.2f} img/s")
    print(f"All images are in: {output_root}")

if __name__ == "__main__":
    main()