import unittest
import pybullet

from pybullet_utils import bullet_client

PLANE_PATH = "plane.urdf"
ROBOT_PATH = "r2d2.urdf"
OBJECT_WITH_USER_DATA_PATH = "user_data_test_object.urdf"


class TestUserDataMethods(unittest.TestCase):

  @classmethod
  def setUpClass(cls):
    TestUserDataMethods.server = bullet_client.BulletClient(
        connection_mode=pybullet.SHARED_MEMORY_SERVER)

  @classmethod
  def tearDownClass(cls):
    del TestUserDataMethods.server

  def setUp(self):
    self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)

  def tearDown(self):
    self.client.resetSimulation()
    del self.client

  def testLoadingUserDataFromURDF(self):
    body_id = self.client.loadURDF(OBJECT_WITH_USER_DATA_PATH)
    self.client.syncUserData(body_id)
    num_user_data = self.client.getNumUserData(body_id)

    self.assertEqual(num_user_data, 7)
    expected_user_data_infos = {
        0 : (b"userDataInRobot", 0, -1, -1),
        1:( b"userDataInBaseLink", 0, -1, -1),
        2:( b"secondBulletTagInBaseLink1", 0, -1, -1),
        3:( b"secondBulletTagInBaseLink2", 0, -1, -1),
        4:( b"userDataInVisualShape", 0, -1, 0),
        5:( b"userDataInChildLink", 0, 0, -1),
        6:( b"userDataInVisualShape2", 0, 0, 0),
    }
    for user_data_index in range(num_user_data):
      info = self.client.getUserDataInfo(body_id, user_data_index)
      self.assertEqual(info[1:], expected_user_data_infos[info[0]])
      user_data_val = self.client.getUserData(info[0])
      self.assertIn(
          b"Expected identifier: linkIndex: %i, visualShapeIndex: %i" %
          (info[3], info[4]), user_data_val)

  def testAddUserData(self):
    plane_id = self.client.loadURDF(PLANE_PATH)
    uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
    uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
    uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
    uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")

    # Retrieve user data and make sure it's correct.
    self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
    self.assertEqual(b"MyValue2", self.client.getUserData(uid2))
    self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
    self.assertEqual(b"MyValue4", self.client.getUserData(uid4))

    # Disconnect/reconnect and make sure that the user data is synced back.
    del self.client
    self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)

    self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
    self.assertEqual(b"MyValue2", self.client.getUserData(uid2))
    self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
    self.assertEqual(b"MyValue4", self.client.getUserData(uid4))

    self.client.resetSimulation()
    self.assertEqual(None, self.client.getUserData(uid1))
    self.assertEqual(None, self.client.getUserData(uid2))
    self.assertEqual(None, self.client.getUserData(uid3))
    self.assertEqual(None, self.client.getUserData(uid4))

  def testGetNumUserData(self):
    plane_id = self.client.loadURDF(PLANE_PATH)
    uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
    uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
    uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
    uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")

    self.assertEqual(4, self.client.getNumUserData(plane_id))

    del self.client
    self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)

    self.assertEqual(4, self.client.getNumUserData(plane_id))

  def testReplaceUserData(self):
    plane_id = self.client.loadURDF(PLANE_PATH)
    uid = self.client.addUserData(plane_id, "MyKey", "MyValue")

    self.assertEqual(b"MyValue", self.client.getUserData(uid))

    new_uid = self.client.addUserData(plane_id, "MyKey", "MyNewValue")
    self.assertEqual(uid, new_uid)
    self.assertEqual(b"MyNewValue", self.client.getUserData(uid))

    del self.client
    self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)

    self.assertEqual(b"MyNewValue", self.client.getUserData(uid))

  def testGetUserDataId(self):
    plane_id = self.client.loadURDF(PLANE_PATH)
    uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
    uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
    uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
    uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")

    self.assertEqual(uid1, self.client.getUserDataId(plane_id, "MyKey1"))
    self.assertEqual(uid2, self.client.getUserDataId(plane_id, "MyKey2"))
    self.assertEqual(uid3, self.client.getUserDataId(plane_id, "MyKey3"))
    self.assertEqual(uid4, self.client.getUserDataId(plane_id, "MyKey4"))

    del self.client
    self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)

    self.assertEqual(uid1, self.client.getUserDataId(plane_id, "MyKey1"))
    self.assertEqual(uid2, self.client.getUserDataId(plane_id, "MyKey2"))
    self.assertEqual(uid3, self.client.getUserDataId(plane_id, "MyKey3"))
    self.assertEqual(uid4, self.client.getUserDataId(plane_id, "MyKey4"))

  def testRemoveUserData(self):
    plane_id = self.client.loadURDF(PLANE_PATH)
    uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
    uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
    uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
    uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")

    self.client.removeUserData(uid2)

    self.assertEqual(3, self.client.getNumUserData(plane_id))
    self.assertEqual(-1, self.client.getUserDataId(plane_id, "MyKey2"))
    self.assertEqual(None, self.client.getUserData(uid2))
    self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
    self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
    self.assertEqual(b"MyValue4", self.client.getUserData(uid4))

    del self.client
    self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)

    self.assertEqual(3, self.client.getNumUserData(plane_id))
    self.assertEqual(-1, self.client.getUserDataId(plane_id, "MyKey2"))
    self.assertEqual(None, self.client.getUserData(uid2))
    self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
    self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
    self.assertEqual(b"MyValue4", self.client.getUserData(uid4))

  def testIterateAllUserData(self):
    plane_id = self.client.loadURDF(PLANE_PATH)
    uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
    uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
    uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
    uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")

    entries = set()
    for i in range(self.client.getNumUserData(plane_id)):
      userDataId, key, bodyId, linkIndex, visualShapeIndex = self.client.getUserDataInfo(
          plane_id, i)
      value = self.client.getUserData(userDataId)
      entries.add((userDataId, key, value, bodyId, linkIndex, visualShapeIndex))

    self.assertTrue((uid1, b"MyKey1", b"MyValue1", plane_id, -1, -1) in entries)
    self.assertTrue((uid2, b"MyKey2", b"MyValue2", plane_id, -1, -1) in entries)
    self.assertTrue((uid3, b"MyKey3", b"MyValue3", plane_id, -1, -1) in entries)
    self.assertTrue((uid4, b"MyKey4", b"MyValue4", plane_id, -1, -1) in entries)
    self.assertEqual(4, len(entries))

  def testRemoveBody(self):
    plane_id = self.client.loadURDF(PLANE_PATH)
    uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
    uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
    uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
    uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")

    self.client.removeBody(plane_id)
    self.assertEqual(None, self.client.getUserData(uid1))
    self.assertEqual(None, self.client.getUserData(uid2))
    self.assertEqual(None, self.client.getUserData(uid3))
    self.assertEqual(None, self.client.getUserData(uid4))

    del self.client
    self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)

    self.assertEqual(None, self.client.getUserData(uid1))
    self.assertEqual(None, self.client.getUserData(uid2))
    self.assertEqual(None, self.client.getUserData(uid3))
    self.assertEqual(None, self.client.getUserData(uid4))

  def testMultipleBodies(self):
    plane1 = self.client.loadURDF(PLANE_PATH)
    plane2 = self.client.loadURDF(PLANE_PATH)

    uid1 = self.client.addUserData(plane1, "MyKey1", "This is plane 1 - 1")
    uid2 = self.client.addUserData(plane1, "MyKey2", "This is plane 1 - 2")

    uid3 = self.client.addUserData(plane2, "MyKey1", "This is plane 2 - 1")
    uid4 = self.client.addUserData(plane2, "MyKey2", "This is plane 2 - 2")
    uid5 = self.client.addUserData(plane2, "MyKey3", "This is plane 2 - 3")

    self.assertEqual(b"This is plane 1 - 1",
                     self.client.getUserData(self.client.getUserDataId(plane1, "MyKey1")))
    self.assertEqual(b"This is plane 1 - 2",
                     self.client.getUserData(self.client.getUserDataId(plane1, "MyKey2")))

    self.assertEqual(b"This is plane 2 - 1",
                     self.client.getUserData(self.client.getUserDataId(plane2, "MyKey1")))
    self.assertEqual(b"This is plane 2 - 2",
                     self.client.getUserData(self.client.getUserDataId(plane2, "MyKey2")))
    self.assertEqual(b"This is plane 2 - 3",
                     self.client.getUserData(self.client.getUserDataId(plane2, "MyKey3")))

  def testMultipleLinks(self):
    body_id = self.client.loadURDF(ROBOT_PATH)
    num_links = self.client.getNumJoints(body_id)

    self.assertTrue(num_links > 1)

    for link_index in range(num_links):
      uid1 = self.client.addUserData(body_id, "MyKey1", "Value1 for link %s" % link_index,
                                     link_index)
      uid2 = self.client.addUserData(body_id, "MyKey2", "Value2 for link %s" % link_index,
                                     link_index)

    for link_index in range(num_links):
      uid1 = self.client.getUserDataId(body_id, "MyKey1", link_index)
      uid2 = self.client.getUserDataId(body_id, "MyKey2", link_index)
      self.assertEqual(("Value1 for link %s" % link_index).encode(), self.client.getUserData(uid1))
      self.assertEqual(("Value2 for link %s" % link_index).encode(), self.client.getUserData(uid2))

  def testMultipleClients(self):
    client1 = self.client
    client2 = bullet_client.BulletClient(pybullet.SHARED_MEMORY)

    plane_id = client1.loadURDF(PLANE_PATH)
    client2.syncBodyInfo()

    # Add user data on client 1, check on client 1
    uid = client1.addUserData(plane_id, "MyKey", "MyValue")
    self.assertEqual(None, client2.getUserData(uid))
    client2.syncUserData()
    self.assertEqual(b"MyValue", client2.getUserData(uid))

    # Overwrite the value on client 2, check on client 1
    client2.addUserData(plane_id, "MyKey", "MyNewValue")
    self.assertEqual(b"MyValue", client1.getUserData(uid))
    client1.syncUserData()
    self.assertEqual(b"MyNewValue", client1.getUserData(uid))

    # Remove user data on client 1, check on client 2
    client1.removeUserData(uid)
    self.assertEqual(b"MyNewValue", client2.getUserData(uid))
    client2.syncUserData()
    self.assertEqual(None, client2.getUserData(uid))

    del client2

  def testUserDataOnVisualShapes(self):
    body_id = self.client.loadURDF(ROBOT_PATH)
    num_links = self.client.getNumJoints(body_id)
    visual_shapes = self.client.getVisualShapeData(body_id)

    self.assertTrue(num_links > 0)
    self.assertTrue(len(visual_shapes) > 0)

    user_data_entries = set()
    for link_index in range(-1, num_links):
      num_shapes = sum([1 for shape in visual_shapes if shape[1] == link_index])
      for shape_index in range(num_shapes):
        key = "MyKey"
        value = "MyValue %s, %s" % (link_index, shape_index)
        uid = self.client.addUserData(body_id, key, value, link_index, shape_index)
        user_data_entries.add((uid, key, value.encode(), body_id, link_index, shape_index))

    self.assertEqual(len(visual_shapes), self.client.getNumUserData(body_id))
    for uid, key, value, body_id, link_index, shape_index in user_data_entries:
      self.assertEqual(value, self.client.getUserData(uid))
      self.assertEqual(uid, self.client.getUserDataId(body_id, key, link_index, shape_index))


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