"""
Runs the manipulation_station example with a simple tcl/tk joint slider ui for
directly tele-operating the joints.
"""

import argparse
import sys

import numpy as np

from pydrake.examples.manipulation_station import (
    ManipulationStation, ManipulationStationHardwareInterface,
    CreateClutterClearingYcbObjectList)
from pydrake.geometry import ConnectDrakeVisualizer
from pydrake.manipulation.simple_ui import JointSliders, SchunkWsgButtons
from pydrake.math import RigidTransform, RotationMatrix
from pydrake.systems.framework import DiagramBuilder
from pydrake.systems.analysis import Simulator
from pydrake.systems.meshcat_visualizer import MeshcatVisualizer
from pydrake.systems.primitives import FirstOrderLowPassFilter, SignalLogger
from pydrake.systems.planar_scenegraph_visualizer import \
    PlanarSceneGraphVisualizer


def main():
    parser = argparse.ArgumentParser(description=__doc__)
    parser.add_argument(
        "--target_realtime_rate", type=float, default=1.0,
        help="Desired rate relative to real time.  See documentation for "
             "Simulator::set_target_realtime_rate() for details.")
    parser.add_argument(
        "--duration", type=float, default=np.inf,
        help="Desired duration of the simulation in seconds.")
    parser.add_argument(
        "--hardware", action='store_true',
        help="Use the ManipulationStationHardwareInterface instead of an "
             "in-process simulation.")
    parser.add_argument(
        "--test", action='store_true',
        help="Disable opening the gui window for testing.")
    parser.add_argument(
        '--setup', type=str, default='manipulation_class',
        help="The manipulation station setup to simulate. ",
        choices=['manipulation_class', 'clutter_clearing', 'planar'])
    MeshcatVisualizer.add_argparse_argument(parser)
    args = parser.parse_args()

    builder = DiagramBuilder()

    if args.hardware:
        # TODO(russt): Replace this hard-coded camera serial number with a
        # config file.
        camera_ids = ["805212060544"]
        station = builder.AddSystem(ManipulationStationHardwareInterface(
            camera_ids))
        station.Connect(wait_for_cameras=False)
    else:
        station = builder.AddSystem(ManipulationStation())

        # Initializes the chosen station type.
        if args.setup == 'manipulation_class':
            station.SetupManipulationClassStation()
            station.AddManipulandFromFile(
                "drake/examples/manipulation_station/models/"
                + "061_foam_brick.sdf",
                RigidTransform(RotationMatrix.Identity(), [0.6, 0, 0]))
        elif args.setup == 'clutter_clearing':
            station.SetupClutterClearingStation()
            ycb_objects = CreateClutterClearingYcbObjectList()
            for model_file, X_WObject in ycb_objects:
                station.AddManipulandFromFile(model_file, X_WObject)
        elif args.setup == 'planar':
            station.SetupPlanarIiwaStation()
            station.AddManipulandFromFile(
                "drake/examples/manipulation_station/models/"
                + "061_foam_brick.sdf",
                RigidTransform(RotationMatrix.Identity(), [0.6, 0, 0]))

        station.Finalize()

        ConnectDrakeVisualizer(builder, station.get_scene_graph(),
                               station.GetOutputPort("pose_bundle"))
        if args.meshcat:
            meshcat = builder.AddSystem(MeshcatVisualizer(
                    station.get_scene_graph(), zmq_url=args.meshcat,
                    open_browser=args.open_browser))
            builder.Connect(station.GetOutputPort("pose_bundle"),
                            meshcat.get_input_port(0))
            if args.setup == 'planar':
                meshcat.set_planar_viewpoint()
        if args.setup == 'planar':
            pyplot_visualizer = builder.AddSystem(PlanarSceneGraphVisualizer(
                station.get_scene_graph()))
            builder.Connect(station.GetOutputPort("pose_bundle"),
                            pyplot_visualizer.get_input_port(0))

    teleop = builder.AddSystem(JointSliders(station.get_controller_plant(),
                                            length=800))
    if args.test:
        teleop.window.withdraw()  # Don't display the window when testing.

    num_iiwa_joints = station.num_iiwa_joints()
    filter = builder.AddSystem(FirstOrderLowPassFilter(
        time_constant=2.0, size=num_iiwa_joints))
    builder.Connect(teleop.get_output_port(0), filter.get_input_port(0))
    builder.Connect(filter.get_output_port(0),
                    station.GetInputPort("iiwa_position"))

    wsg_buttons = builder.AddSystem(SchunkWsgButtons(teleop.window))
    builder.Connect(wsg_buttons.GetOutputPort("position"),
                    station.GetInputPort("wsg_position"))
    builder.Connect(wsg_buttons.GetOutputPort("force_limit"),
                    station.GetInputPort("wsg_force_limit"))

    # When in regression test mode, log our joint velocities to later check
    # that they were sufficiently quiet.
    if args.test:
        iiwa_velocities = builder.AddSystem(SignalLogger(num_iiwa_joints))
        builder.Connect(station.GetOutputPort("iiwa_velocity_estimated"),
                        iiwa_velocities.get_input_port(0))
    else:
        iiwa_velocities = None

    diagram = builder.Build()
    simulator = Simulator(diagram)

    # This is important to avoid duplicate publishes to the hardware interface:
    simulator.set_publish_every_time_step(False)

    station_context = diagram.GetMutableSubsystemContext(
        station, simulator.get_mutable_context())

    station.GetInputPort("iiwa_feedforward_torque").FixValue(
        station_context, np.zeros(num_iiwa_joints))

    # If the diagram is only the hardware interface, then we must advance it a
    # little bit so that first LCM messages get processed. A simulated plant is
    # already publishing correct positions even without advancing, and indeed
    # we must not advance a simulated plant until the sliders and filters have
    # been initialized to match the plant.
    if args.hardware:
        simulator.AdvanceTo(1e-6)

    # Eval the output port once to read the initial positions of the IIWA.
    q0 = station.GetOutputPort("iiwa_position_measured").Eval(
        station_context)
    teleop.set_position(q0)
    filter.set_initial_output_value(diagram.GetMutableSubsystemContext(
        filter, simulator.get_mutable_context()), q0)

    simulator.set_target_realtime_rate(args.target_realtime_rate)
    simulator.AdvanceTo(args.duration)

    # Ensure that our initialization logic was correct, by inspecting our
    # logged joint velocities.
    if args.test:
        for time, qdot in zip(iiwa_velocities.sample_times(),
                              iiwa_velocities.data().transpose()):
            # TODO(jwnimmer-tri) We should be able to do better than a 40
            # rad/sec limit, but that's the best we can enforce for now.
            if qdot.max() > 0.1:
                print(f"ERROR: large qdot {qdot} at time {time}")
                sys.exit(1)


if __name__ == '__main__':
    main()
