import os
import numpy as np
from pyquaternion import Quaternion

from nuplan.database.nuplan_db_orm.lidar_pc import LidarPc
from nuplan.database.nuplan_db_orm.lidar import Lidar

from navsim.common.extraction.helpers.canbus import CanBus


def obtain_sensor2top(lidar_token, log_db, l2e_t, l2e_r_mat, e2g_t, e2g_r_mat, args):
    """Obtain the info with RT matric from other sensors to Top LiDAR.

    Args:
        lidar_token (str): Sample data token corresponding to the
            specific sensor type.
        log_db: To obtain LiDAR of corresponding token.
        l2e_t (np.ndarray): Translation from lidar to ego in shape (1, 3).
        l2e_r_mat (np.ndarray): Rotation matrix from lidar to ego
            in shape (3, 3).
        e2g_t (np.ndarray): Translation from ego to global in shape (1, 3).
        e2g_r_mat (np.ndarray): Rotation matrix from ego to global
            in shape (3, 3).

    Returns:
        sweep (dict): Sweep information after transformation.
    """
    lidar_pc = log_db.session.query(LidarPc).filter(LidarPc.token == lidar_token).all()
    lidar_pc = lidar_pc[0]
    can_bus = CanBus(lidar_pc).tensor

    lidar_sensor = log_db.session.query(Lidar).filter(Lidar.token == lidar_pc.lidar_token).all()
    lidar_sensor = lidar_sensor[0]

    sweep = {
        "prev_sweep_token": lidar_pc.prev_token,
        "data_path": os.path.join(args.nuplan_sensor_path, lidar_pc.filename),
        "type": lidar_sensor.channel,
        "sample_data_token": lidar_pc.token,
        "sensor2ego_translation": lidar_sensor.translation_np,
        "sensor2ego_rotation": lidar_sensor.quaternion,
        "ego2global_translation": can_bus[:3],
        "ego2global_rotation": can_bus[3:7],
        "timestamp": lidar_pc.timestamp,
    }

    l2e_r_s = sweep["sensor2ego_rotation"]
    l2e_t_s = sweep["sensor2ego_translation"]
    e2g_r_s = sweep["ego2global_rotation"]
    e2g_t_s = sweep["ego2global_translation"]

    # obtain the RT from sensor to Top LiDAR
    # sweep->ego->global->ego'->lidar
    l2e_r_s_mat = Quaternion(l2e_r_s).rotation_matrix
    e2g_r_s_mat = Quaternion(e2g_r_s).rotation_matrix
    R = (l2e_r_s_mat.T @ e2g_r_s_mat.T) @ (np.linalg.inv(e2g_r_mat).T @ np.linalg.inv(l2e_r_mat).T)
    T = (l2e_t_s @ e2g_r_s_mat.T + e2g_t_s) @ (
        np.linalg.inv(e2g_r_mat).T @ np.linalg.inv(l2e_r_mat).T
    )
    T -= (
        e2g_t @ (np.linalg.inv(e2g_r_mat).T @ np.linalg.inv(l2e_r_mat).T)
        + l2e_t @ np.linalg.inv(l2e_r_mat).T
    )
    sweep["sensor2lidar_rotation"] = R.T  # points @ R.T + T
    sweep["sensor2lidar_translation"] = T
    return sweep