import numpy as np
import cv2
import torch
import yaml
import os
import sys

# Add project root to path
sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))

from wm.dataset.dataset import RoboticsDatasetWrapper

def create_recon_overlay_video(config_path, sample_idx=0, output_dir="results/visualizations"):
    os.makedirs(output_dir, exist_ok=True)
    
    # 1. Load Config
    with open(config_path, 'r') as f:
        config = yaml.safe_load(f)
    
    # 2. Setup Dataset (Force RECON)
    print(f"Loading dataset: recon")
    dataset = RoboticsDatasetWrapper.get_dataset("recon")
    
    # 3. Get a sample
    sample = dataset[sample_idx]
    obs = sample['obs'] # [T, 3, H, W] in [0, 1]
    actions = sample['action'] # [T, 2] (v, w)
    
    if isinstance(obs, torch.Tensor):
        obs = obs.numpy()
    if isinstance(actions, torch.Tensor):
        actions = actions.numpy()
    
    T, C, H, W = obs.shape
    
    # 4. Integrate Actions (v, w) -> (x, y)
    # Assuming v is linear velocity, w is angular velocity
    # dt = 1/fps. Default is 10 FPS
    dt = 0.1 
    x, y, theta = 0.0, 0.0, 0.0
    path = [[x, y]]
    thetas = [theta]
    
    for t in range(T-1):
        v = actions[t, 0]
        w = actions[t, 1]
        
        theta += w * dt
        x += v * np.cos(theta) * dt
        y += v * np.sin(theta) * dt
        path.append([x, y])
        thetas.append(theta)
        
    path = np.array(path)
    
    # 5. Scaling to Pixels
    # Center the path and scale to middle 60% of image height/width
    max_disp = np.abs(path).max()
    scale = (min(H, W) * 0.3) / max_disp if max_disp > 0 else 1.0
    
    # Map to pixel coordinates (Relative to center)
    # Robot X (forward) -> Pixel -Y (up)
    # Robot Y (left) -> Pixel -X (left)
    # So: 
    # pixel_x = center_x - robot_y * scale
    # pixel_y = center_y - robot_x * scale
    pixel_path = np.zeros_like(path)
    pixel_path[:, 0] = W // 2 - path[:, 1] * scale
    pixel_path[:, 1] = H // 2 - path[:, 0] * scale
    
    # 6. Video Setup
    video_path = os.path.join(output_dir, f"recon_overlay_video_sample_{sample_idx}.mp4")
    fourcc = cv2.VideoWriter_fourcc(*'mp4v')
    out = cv2.VideoWriter(video_path, fourcc, 10.0, (W, H))
    
    print(f"Generating RECON overlay video: {W}x{H}, {T} frames")
    
    for t in range(T):
        # Prepare frame: [C, H, W] -> [H, W, C]
        frame = (np.transpose(obs[t], (1, 2, 0)) * 255).astype(np.uint8)
        frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
        
        # Draw the full path history up to time t
        if t > 0:
            for i in range(1, t + 1):
                pt1 = (int(pixel_path[i-1, 0]), int(pixel_path[i-1, 1]))
                pt2 = (int(pixel_path[i, 0]), int(pixel_path[i, 1]))
                # Color fades from Blue (start) to Red (end)
                color = (int(255 * (1 - i/T)), 0, int(255 * (i/T)))
                cv2.line(frame, pt1, pt2, color, 2, cv2.LINE_AA)
        
        # Draw current position (Green dot)
        curr_pos = (int(pixel_path[t, 0]), int(pixel_path[t, 1]))
        cv2.circle(frame, curr_pos, 5, (0, 255, 0), -1, cv2.LINE_AA)
        
        # Draw current orientation/velocity (White arrow)
        # Robot heading theta is relative to Robot X (which is now UP)
        # We need to rotate the arrow appropriately
        curr_theta = thetas[t]
        arrow_len = 20
        # Robot X-axis is UP (-Y in pixels), Robot Y-axis is LEFT (-X in pixels)
        # Heading 0 is Robot X (UP): adx = 0, ady = -arrow_len
        # Heading pi/2 is Robot Y (LEFT): adx = -arrow_len, ady = 0
        adx = -np.sin(curr_theta) * arrow_len
        ady = -np.cos(curr_theta) * arrow_len
        arrow_end = (int(curr_pos[0] + adx), int(curr_pos[1] + ady))
        cv2.arrowedLine(frame, curr_pos, arrow_end, (255, 255, 255), 2, tipLength=0.3)
        
        # Add Step Label and velocity info
        cv2.putText(frame, f"Step: {t}", (10, 25), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 255), 2)
        v, w = actions[t]
        cv2.putText(frame, f"v: {v:.2f} w: {w:.2f}", (10, 50), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 255), 2)
        
        out.write(frame)
        
    out.release()
    print(f"RECON overlay video saved to: {video_path}")

if __name__ == "__main__":
    import argparse
    parser = argparse.ArgumentParser()
    parser.add_argument("--config", type=str, default="wm/config/fulltraj_dit/lang_table.yaml")
    parser.add_argument("--sample", type=int, default=0)
    args = parser.parse_args()
    
    create_recon_overlay_video(args.config, args.sample)