import unittest
from tests.core import TestCore
from pyrep import PyRep
from pyrep.objects.cartesian_path import CartesianPath
from pyrep.objects.dummy import Dummy
import numpy as np
from os import path
from pyrep.errors import ConfigurationPathError

from pyrep.robots.arms.panda import Panda
from pyrep.robots.arms.mico import Mico
from pyrep.robots.arms.jaco import Jaco
from pyrep.robots.arms.sawyer import Sawyer
from pyrep.robots.arms.baxter import BaxterLeft, BaxterRight
from pyrep.robots.arms.lbr_iiwa_7_r800 import LBRIwaa7R800
from pyrep.robots.arms.lbr_iiwa_14_r820 import LBRIwaa14R820
from pyrep.robots.arms.ur3 import UR3
from pyrep.robots.arms.ur5 import UR5
from pyrep.robots.arms.ur10 import UR10
from pyrep.robots.arms.dobot import Dobot
from pyrep.robots.arms.xarm7 import XArm7

ASSET_DIR = path.join(path.dirname(path.abspath(__file__)), 'assets')


ARMS = [
    ('Panda', Panda),
    ('Sawyer', Sawyer),
    ('Mico', Mico),
    ('Jaco', Jaco),
    ('Baxter_leftArm', BaxterLeft),
    ('Baxter_rightArm', BaxterRight),
    ('LBR_iiwa_7_R800', LBRIwaa7R800),
    ('LBR_iiwa_14_R820', LBRIwaa14R820),
    ('UR3', UR3),
    ('UR5', UR5),
    ('UR10', UR10),
    ('Dobot', Dobot),
    ('XArm7', XArm7),
]


class TestArmsAndConfigurationPaths(TestCore):

    def setUp(self):
        self.pyrep = PyRep()
        self.pyrep.launch(path.join(
            ASSET_DIR, 'test_scene_robots.ttt'), headless=True)
        self.pyrep.step()
        self.pyrep.start()

    # It is enough to only test the constructor of each arm (in there we make
    # assumptions about the structure of the arm model). All other tests
    # can be run on one arm.
    def test_get_arm(self):
        for arm_name, arm_type in ARMS:
            with self.subTest(arm=arm_name):
                arm = arm_type()
                self.assertIsInstance(arm, arm_type)

    def test_set_ik_element_properties(self):
        arm = Panda()
        arm.set_ik_element_properties(constraint_gamma=False)
        arm.set_ik_element_properties()

    def test_set_ik_group_properties(self):
        arm = Panda()
        arm.set_ik_group_properties('damped_least_squares')
        arm.set_ik_group_properties('pseudo_inverse')

    def test_solve_ik_via_jacobian(self):
        arm = Panda()
        waypoint = Dummy('Panda_waypoint')
        new_config = arm.solve_ik_via_jacobian(
            waypoint.get_position(), waypoint.get_orientation())
        arm.set_joint_positions(new_config)
        self.assertTrue(np.allclose(
            arm.get_tip().get_pose(), waypoint.get_pose(), atol=0.001))

    def test_solve_ik_via_sampling(self):
        arm = Panda()
        waypoint = Dummy('Panda_waypoint')
        configs = arm.solve_ik_via_sampling(
            waypoint.get_position(), waypoint.get_orientation(), max_configs=5)
        self.assertIsNotNone(configs)
        self.assertEqual(len(configs), 5)
        current_config = arm.get_joint_positions()
        # Checks correct config (last)
        arm.set_joint_positions(configs[-1])
        self.assertTrue(np.allclose(
            arm.get_tip().get_pose(), waypoint.get_pose(), atol=0.001))
        # Checks correct config (first)
        arm.set_joint_positions(configs[0])
        self.assertTrue(np.allclose(
            arm.get_tip().get_pose(), waypoint.get_pose(), atol=0.001))
        # Checks order
        prev_config_dist = 0
        for config in configs:
            config_dist = sum(
                [(c - f)**2 for c, f in zip(current_config, config)])
            # This test requires that the metric scale for each joint remains at
            # 1.0 in _getConfigDistance lua function
            self.assertLessEqual(prev_config_dist, config_dist)
            prev_config_dist = config_dist

    def test_get_path_from_cartesian_path(self):
        arm = Panda()
        cartesian_path = CartesianPath('Panda_cartesian_path')
        path = arm.get_path_from_cartesian_path(cartesian_path)
        self.assertIsNotNone(path)

    def test_get_linear_path(self):
        arm = Panda()
        waypoint = Dummy('Panda_waypoint')
        path = arm.get_linear_path(
            waypoint.get_position(), waypoint.get_orientation())
        self.assertIsNotNone(path)

    def test_get_linear_path_relative(self):
        arm = Panda()
        path = arm.get_linear_path([0, 0, 0.01], [0, 0, 0],
                                   relative_to=arm.get_tip())
        self.assertIsNotNone(path)

    def test_get_nonlinear_path(self):
        arm = Panda()
        waypoint = Dummy('Panda_waypoint')
        path = arm.get_nonlinear_path(
            waypoint.get_position(), waypoint.get_orientation())
        self.assertIsNotNone(path)

    def test_get_nonlinear_path_out_of_reach(self):
        arm = Panda()
        with self.assertRaises(ConfigurationPathError):
            arm.get_nonlinear_path([99, 99, 99], [0.] * 3)

    def test_get_linear_path_out_of_reach(self):
        arm = Panda()
        with self.assertRaises(ConfigurationPathError):
            arm.get_linear_path([99, 99, 99], [0.] * 3)

    def test_get_linear_path_and_step(self):
        arm = Panda()
        waypoint = Dummy('Panda_waypoint')
        path = arm.get_linear_path(
            waypoint.get_position(), waypoint.get_orientation())
        self.assertIsNotNone(path)
        done = False
        while not done:
            done = path.step()
            self.pyrep.step()
        self.assertTrue(np.allclose(
            arm.get_tip().get_position(), waypoint.get_position(), atol=0.01))

    def test_get_linear_path_and_get_end(self):
        arm = Panda()
        waypoint = Dummy('Panda_waypoint')
        path = arm.get_linear_path(
            waypoint.get_position(), waypoint.get_orientation())
        path.set_to_end()
        self.assertTrue(np.allclose(
            arm.get_tip().get_position(), waypoint.get_position(), atol=0.001))

    def test_get_linear_path_visualize(self):
        arm = Panda()
        waypoint = Dummy('Panda_waypoint')
        path = arm.get_linear_path(
            waypoint.get_position(), waypoint.get_orientation())
        # Check that it does not error
        path.visualize()

    def test_get_duplicate_arm(self):
        arm = UR3(1)
        self.assertIsInstance(arm, UR3)

    def test_copy_arm(self):
        arm = UR10()
        new_arm = arm.copy()
        self.assertNotEqual(arm, new_arm)

    def test_get_jacobian(self):
        arm = Panda()
        jacobian = arm.get_jacobian()
        self.assertEqual(jacobian.shape, (7, 6))


if __name__ == '__main__':
    unittest.main()