import unittest
import subprocess
import sys
import tempfile
import os

from io import StringIO, BytesIO

import io

import numpy as np

import meshcat
import meshcat.geometry as g
import meshcat.transformations as tf


class VisualizerTest(unittest.TestCase):
    def setUp(self):
        self.vis = meshcat.Visualizer()

        if "CI" in os.environ:
            port = self.vis.url().split(":")[-1].split("/")[0]
            self.dummy_proc = subprocess.Popen([sys.executable, "-m", "meshcat.tests.dummy_websocket_client", str(port)])
        else:
            self.vis.open()
            self.dummy_proc = None

        self.vis.wait()

    def tearDown(self):
        if self.dummy_proc is not None:
            self.dummy_proc.kill()


class TestDrawing(VisualizerTest):
    def runTest(self):
        self.vis.delete()
        v = self.vis["shapes"]
        v.set_transform(tf.translation_matrix([1., 0, 0]))
        v["box"].set_object(g.Box([1.0, 0.2, 0.3]))
        v["box"].delete()
        v["box"].set_object(g.Box([0.1, 0.2, 0.3]))
        v["box"].set_transform(tf.translation_matrix([0.05, 0.1, 0.15]))
        v["cylinder"].set_object(g.Cylinder(0.2, 0.1), g.MeshLambertMaterial(color=0x22dd22))
        v["cylinder"].set_transform(tf.translation_matrix([0, 0.5, 0.1]).dot(tf.rotation_matrix(-np.pi / 2, [1, 0, 0])))
        v["sphere"].set_object(g.Mesh(g.Sphere(0.15), g.MeshLambertMaterial(color=0xff11dd)))
        v["sphere"].set_transform(tf.translation_matrix([0, 1, 0.15]))
        v["ellipsoid"].set_object(g.Ellipsoid([0.3, 0.1, 0.1]))
        v["ellipsoid"].set_transform(tf.translation_matrix([0, 1.5, 0.1]))

        v["transparent_ellipsoid"].set_object(g.Mesh(
            g.Ellipsoid([0.3, 0.1, 0.1]),
            g.MeshLambertMaterial(color=0xffffff,
                                  opacity=0.5)))
        v["transparent_ellipsoid"].set_transform(tf.translation_matrix([0, 2.0, 0.1]))

        v = self.vis["meshes/valkyrie/head"]
        v.set_object(g.Mesh(
            g.ObjMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "data/head_multisense.obj")),
            g.MeshLambertMaterial(
                map=g.ImageTexture(
                    image=g.PngImage.from_file(os.path.join(meshcat.viewer_assets_path(), "data/HeadTextureMultisense.png"))
                )
            )
        ))
        v.set_transform(tf.translation_matrix([0, 0.5, 0.5]))

        v = self.vis["meshes/convex"]
        v["obj"].set_object(g.Mesh(g.ObjMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "../tests/data/mesh_0_convex_piece_0.obj"))))
        v["stl_ascii"].set_object(g.Mesh(g.StlMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "../tests/data/mesh_0_convex_piece_0.stl_ascii"))))
        v["stl_ascii"].set_transform(tf.translation_matrix([0, -0.5, 0]))
        v["stl_binary"].set_object(g.Mesh(g.StlMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "../tests/data/mesh_0_convex_piece_0.stl_binary"))))
        v["stl_binary"].set_transform(tf.translation_matrix([0, -1, 0]))
        v["dae"].set_object(g.Mesh(g.DaeMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "../tests/data/mesh_0_convex_piece_0.dae"))))
        v["dae"].set_transform(tf.translation_matrix([0, -1.5, 0]))


        v = self.vis["points"]
        v.set_transform(tf.translation_matrix([0, 2, 0]))
        verts = np.random.rand(3, 1000000)
        colors = verts
        v["random"].set_object(g.PointCloud(verts, colors))
        v["random"].set_transform(tf.translation_matrix([-0.5, -0.5, 0]))

        v = self.vis["lines"]
        v.set_transform(tf.translation_matrix(([-2, -3, 0])))

        vertices = np.random.random((3, 10)).astype(np.float32)
        v["line_segments"].set_object(g.LineSegments(g.PointsGeometry(vertices)))

        v["line"].set_object(g.Line(g.PointsGeometry(vertices)))
        v["line"].set_transform(tf.translation_matrix([0, 1, 0]))

        v["line_loop"].set_object(g.LineLoop(g.PointsGeometry(vertices)))
        v["line_loop"].set_transform(tf.translation_matrix([0, 2, 0]))

        v["line_loop_with_material"].set_object(g.LineLoop(g.PointsGeometry(vertices), g.LineBasicMaterial(color=0xff0000)))
        v["line_loop_with_material"].set_transform(tf.translation_matrix([0, 3, 0]))

        colors = vertices  # Color each line by treating its xyz coordinates as RGB colors
        v["line_with_vertex_colors"].set_object(g.Line(g.PointsGeometry(vertices, colors), g.LineBasicMaterial(vertexColors=True)))
        v["line_with_vertex_colors"].set_transform(tf.translation_matrix([0, 4, 0]))

        v["triad"].set_object(g.LineSegments(
            g.PointsGeometry(position=np.array([
                [0, 0, 0], [1, 0, 0],
                [0, 0, 0], [0, 1, 0],
                [0, 0, 0], [0, 0, 1]]).astype(np.float32).T,
                color=np.array([
                [1, 0, 0], [1, 0.6, 0],
                [0, 1, 0], [0.6, 1, 0],
                [0, 0, 1], [0, 0.6, 1]]).astype(np.float32).T
            ),
            g.LineBasicMaterial(vertexColors=True)))
        v["triad"].set_transform(tf.translation_matrix(([0, 5, 0])))

        v["triad_function"].set_object(g.triad(0.5))
        v["triad_function"].set_transform(tf.translation_matrix([0, 6, 0]))


class TestMeshStreams(VisualizerTest):
    def runTest(self):
        """ Applications using meshcat may already have meshes loaded in memory. It is
        more efficient to load these meshes with streams rather than going to and then
        from a file on disk. To test this we are importing meshes from disk and
        converting them into streams so it kind of defeats the intended purpose! But at
        least it tests the functionality.
        """
        self.vis.delete()
        v = self.vis["meshes/convex"]

        # Obj file
        filename = os.path.join(meshcat.viewer_assets_path(),
                                "../tests/data/mesh_0_convex_piece_0.obj")
        with open(filename, "r") as f:
            fio = StringIO(f.read())
            v["stream_obj"].set_object(g.Mesh(g.ObjMeshGeometry.from_stream(fio)))
            v["stream_stl_ascii"].set_transform(tf.translation_matrix([0, 0.0, 0]))

        # STL ASCII
        filename = os.path.join(meshcat.viewer_assets_path(),
                                "../tests/data/mesh_0_convex_piece_0.stl_ascii")
        with open(filename, "r") as f:
            fio = StringIO(f.read())
            v["stream_stl_ascii"].set_object(g.Mesh(g.StlMeshGeometry.from_stream(fio)))
            v["stream_stl_ascii"].set_transform(tf.translation_matrix([0, -0.5, 0]))

        # STL Binary
        filename = os.path.join(meshcat.viewer_assets_path(),
                                "../tests/data/mesh_0_convex_piece_0.stl_binary")
        with open(filename, "rb") as f:
            fio = BytesIO(f.read())
            v["stream_stl_binary"].set_object(g.Mesh(g.StlMeshGeometry.from_stream(fio)))
            v["stream_stl_binary"].set_transform(tf.translation_matrix([0, -1.0, 0]))

        # DAE
        filename = os.path.join(meshcat.viewer_assets_path(),
                                "../tests/data/mesh_0_convex_piece_0.dae")
        with open(filename, "r") as f:
            fio = StringIO(f.read())
            v["stream_dae"].set_object(g.Mesh(g.DaeMeshGeometry.from_stream(fio)))
            v["stream_dae"].set_transform(tf.translation_matrix([0, -1.5, 0]))


class TestStandaloneServer(unittest.TestCase):
    def setUp(self):
        self.zmq_url = "tcp://127.0.0.1:5560"
        args = ["meshcat-server", "--zmq-url", self.zmq_url]

        if "CI" not in os.environ:
            args.append("--open")

        self.server_proc = subprocess.Popen(args)
        self.vis = meshcat.Visualizer(self.zmq_url)
        # self.vis = meshcat.Visualizer()
        # self.vis.open()

        if "CI" in os.environ:
            port = self.vis.url().split(":")[-1].split("/")[0]
            self.dummy_proc = subprocess.Popen([sys.executable, "-m", "meshcat.tests.dummy_websocket_client", str(port)])
        else:
            # self.vis.open()
            self.dummy_proc = None

        self.vis.wait()

    def runTest(self):
        v = self.vis["shapes"]
        v["cube"].set_object(g.Box([0.1, 0.2, 0.3]))
        v.set_transform(tf.translation_matrix([1., 0, 0]))
        v.set_transform(tf.translation_matrix([1., 1., 0]))

    def tearDown(self):
        if self.dummy_proc is not None:
            self.dummy_proc.kill()
        self.server_proc.kill()


class TestAnimation(VisualizerTest):
    def runTest(self):
        v = self.vis["shapes"]
        v.set_transform(tf.translation_matrix([1., 0, 0]))
        v["cube"].set_object(g.Box([0.1, 0.2, 0.3]))

        animation = meshcat.animation.Animation()
        with animation.at_frame(v, 0) as frame_vis:
            frame_vis.set_transform(tf.translation_matrix([0, 0, 0]))
        with animation.at_frame(v, 30) as frame_vis:
            frame_vis.set_transform(tf.translation_matrix([2, 0, 0]).dot(tf.rotation_matrix(np.pi/2, [0, 0, 1])))
        v.set_animation(animation)


class TestCameraAnimation(VisualizerTest):
    def runTest(self):
        v = self.vis["shapes"]
        v.set_transform(tf.translation_matrix([1., 0, 0]))
        v["cube"].set_object(g.Box([0.1, 0.2, 0.3]))

        animation = meshcat.animation.Animation()
        with animation.at_frame(v, 0) as frame_vis:
            frame_vis.set_transform(tf.translation_matrix([0, 0, 0]))
        with animation.at_frame(v, 30) as frame_vis:
            frame_vis.set_transform(tf.translation_matrix([2, 0, 0]).dot(tf.rotation_matrix(np.pi/2, [0, 0, 1])))
        with animation.at_frame(v, 0) as frame_vis:
            frame_vis["/Cameras/default/rotated/<object>"].set_property("zoom", "number", 1)
        with animation.at_frame(v, 30) as frame_vis:
            frame_vis["/Cameras/default/rotated/<object>"].set_property("zoom", "number", 0.5)
        v.set_animation(animation)


class TestStaticHTML(TestDrawing):
    def runTest(self):
        """Test that we can generate a static HTML file from the Drawing test case and view it."""
        super(TestStaticHTML, self).runTest()
        res = self.vis.static_html()
        # save to a file
        temp = tempfile.mkstemp(suffix=".html")
        with open(temp[1], "w") as f:
            f.write(res)


class TestSetProperty(VisualizerTest):
    def runTest(self):
        self.vis["/Background"].set_property("top_color", [1, 0, 0])


class TestTriangularMesh(VisualizerTest):
    def runTest(self):
        """
        Test that we can render meshes from raw vertices and faces as
        numpy arrays
        """
        v = self.vis["triangular_mesh"]
        v.set_transform(tf.rotation_matrix(np.pi/2, [0., 0, 1]))
        vertices = np.array([
            [0, 0, 0],
            [1, 0, 0],
            [1, 0, 1],
            [0, 0, 1]
        ])
        faces = np.array([
            [0, 1, 2],
            [3, 0, 2]
        ])
        v.set_object(g.TriangularMeshGeometry(vertices, faces), g.MeshLambertMaterial(color=0xeedd22, wireframe=True))

        v = self.vis["triangular_mesh_w_vertex_coloring"]
        v.set_transform(tf.translation_matrix([1, 0, 0]).dot(tf.rotation_matrix(np.pi/2, [0, 0, 1])))
        colors = vertices
        v.set_object(g.TriangularMeshGeometry(vertices, faces, colors), g.MeshLambertMaterial(vertexColors=True, wireframe=True))


class TestOrthographicCamera(VisualizerTest):
    def runTest(self):
        """
        Test that we can set_object with an OrthographicCamera.
        """
        self.vis.set_object(g.Box([0.5, 0.5, 0.5]))

        camera = g.OrthographicCamera(
            left=-1, right=1, bottom=-1, top=1, near=-1000, far=1000)
        self.vis['/Cameras/default/rotated'].set_object(camera)
        self.vis['/Cameras/default'].set_transform(
            tf.translation_matrix([0, -1, 0]))
        self.vis['/Cameras/default/rotated/<object>'].set_property(
            "position", [0, 0, 0])
        self.vis['/Grid'].set_property("visible", False)

class TestPerspectiveCamera(VisualizerTest):
    def runTest(self):
        """
        Test that we can set_object with a PerspectiveCamera.
        """
        self.vis.set_object(g.Box([0.5, 0.5, 0.5]))

        camera = g.PerspectiveCamera(fov=90)
        self.vis['/Cameras/default/rotated'].set_object(camera)
        self.vis['/Cameras/default'].set_transform(
            tf.translation_matrix([1, -1, 0.5]))
        self.vis['/Cameras/default/rotated/<object>'].set_property(
            "position", [0, 0, 0])