#!/usr/bin/env python3
# -*- coding: utf-8 -*-

import yaml
import cv2
import numpy as np

import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Image, CameraInfo
from cv_bridge import CvBridge


class PlaneCalibCollector(Node):
    def __init__(self):
        super().__init__('plane_calib_collector')

        self.declare_parameter('color_topic', '/camera/color/image_raw')
        self.declare_parameter('depth_topic', '/camera/depth/image_raw')
        self.declare_parameter('camera_info_topic', '/camera/depth/camera_info')
        self.declare_parameter('save_path', 'samples.yaml')
        self.declare_parameter('depth_scale', 0.001)   # 深度单位转米，常见 mm -> m
        self.declare_parameter('min_depth_m', 0.05)
        self.declare_parameter('max_depth_m', 1.50)
        self.declare_parameter('median_kernel', 5)
        self.declare_parameter('target_count', 9)      # 采满多少个点自动退出

        self.color_topic = self.get_parameter('color_topic').value
        self.depth_topic = self.get_parameter('depth_topic').value
        self.camera_info_topic = self.get_parameter('camera_info_topic').value
        self.save_path = self.get_parameter('save_path').value
        self.depth_scale = float(self.get_parameter('depth_scale').value)
        self.min_depth_m = float(self.get_parameter('min_depth_m').value)
        self.max_depth_m = float(self.get_parameter('max_depth_m').value)
        self.median_kernel = int(self.get_parameter('median_kernel').value)
        self.target_count = int(self.get_parameter('target_count').value)

        self.bridge = CvBridge()
        self.color_img = None
        self.depth_img = None
        self.K = None
        self.samples = []
        self.should_exit = False

        self.create_subscription(Image, self.color_topic, self.on_color, 10)
        self.create_subscription(Image, self.depth_topic, self.on_depth, 10)
        self.create_subscription(CameraInfo, self.camera_info_topic, self.on_info, 10)

        self.window_name = 'plane_calib_click'
        cv2.namedWindow(self.window_name, cv2.WINDOW_NORMAL)
        cv2.setMouseCallback(self.window_name, self.on_mouse)

        self.get_logger().info('左键点击标定点，终端输入机械臂命令向量，例如: 500,620,410,530')
        self.get_logger().info(f'每记录 1 个样本自动保存，采满 {self.target_count} 个样本自动退出')
        self.get_logger().info('按 q 可手动退出')

    def on_color(self, msg: Image):
        self.color_img = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')

    def on_depth(self, msg: Image):
        if msg.encoding in ('16UC1', 'mono16'):
            self.depth_img = self.bridge.imgmsg_to_cv2(msg, desired_encoding='passthrough')
        else:
            self.get_logger().warn(f'不支持的深度编码: {msg.encoding}')

    def on_info(self, msg: CameraInfo):
        self.K = np.array(msg.k, dtype=np.float64).reshape(3, 3)

    def get_xyz_from_pixel(self, u: int, v: int):
        if self.depth_img is None or self.K is None:
            return None

        h, w = self.depth_img.shape[:2]
        if not (0 <= u < w and 0 <= v < h):
            return None

        k = self.median_kernel
        r = k // 2
        u0, u1 = max(0, u - r), min(w, u + r + 1)
        v0, v1 = max(0, v - r), min(h, v + r + 1)
        patch = self.depth_img[v0:v1, u0:u1].astype(np.float32)

        valid = patch[patch > 0]
        if valid.size == 0:
            return None

        z = np.median(valid) * self.depth_scale
        if z < self.min_depth_m or z > self.max_depth_m:
            return None

        fx = self.K[0, 0]
        fy = self.K[1, 1]
        cx = self.K[0, 2]
        cy = self.K[1, 2]

        x = (u - cx) * z / fx
        y = (v - cy) * z / fy
        return float(x), float(y), float(z)

    def save_samples(self):
        data = {
            'samples': self.samples,
            'cmd_dim': len(self.samples[0]['arm_cmd']) if self.samples else 0
        }
        with open(self.save_path, 'w', encoding='utf-8') as f:
            yaml.safe_dump(data, f, allow_unicode=True, sort_keys=False)
        print(f'[SAVE] 已保存到 {self.save_path}')

    def on_mouse(self, event, x, y, flags, param):
        if event != cv2.EVENT_LBUTTONDOWN:
            return

        xyz = self.get_xyz_from_pixel(x, y)
        if xyz is None:
            print(f'[WARN] 点击点 ({x}, {y}) 无有效深度')
            return

        X, Y, Z = xyz
        print(f'\n点击像素: ({x}, {y})')
        print(f'相机坐标: X={X:.4f} m, Y={Y:.4f} m, Z={Z:.4f} m')
        print('请手动把机械臂末端移到这个点正上方，然后输入命令向量，例如 500,620,410,530')
        cmd_str = input('arm_cmd> ').strip()
        if not cmd_str:
            print('[SKIP] 未输入，跳过')
            return

        try:
            arm_cmd = [float(s) for s in cmd_str.split(',')]
        except Exception:
            print('[ERR] 输入格式错误，应类似 500,620,410,530')
            return

        item = {
            'u': int(x),
            'v': int(y),
            'x_cam': X,
            'y_cam': Y,
            'z_cam': Z,
            'arm_cmd': arm_cmd
        }
        self.samples.append(item)
        print(f'[OK] 已记录第 {len(self.samples)} 个样本')

        # 自动保存
        self.save_samples()

        # 采满自动退出
        if len(self.samples) >= self.target_count:
            print(f'[DONE] 已采满 {self.target_count} 个样本，自动保存并退出')
            self.should_exit = True

    def spin_loop(self):
        while rclpy.ok() and not self.should_exit:
            rclpy.spin_once(self, timeout_sec=0.03)

            if self.color_img is not None:
                show = self.color_img.copy()
                for i, s in enumerate(self.samples):
                    cv2.circle(show, (s['u'], s['v']), 4, (0, 255, 0), -1)
                    cv2.putText(
                        show, str(i + 1), (s['u'] + 6, s['v'] - 6),
                        cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 1
                    )
                cv2.imshow(self.window_name, show)

            key = cv2.waitKey(1) & 0xFF
            if key == ord('q'):
                print('[EXIT] 用户退出')
                break

        cv2.destroyAllWindows()


def main():
    rclpy.init()
    node = PlaneCalibCollector()
    try:
        node.spin_loop()
    finally:
        node.destroy_node()
        rclpy.shutdown()


if __name__ == '__main__':
    main()