#!/usr/bin/env python3
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


def features(x, y):
    return np.array([1.0, x, y, x * x, x * y, y * y], dtype=np.float64)


class PlaneCmdPredictor(Node):
    def __init__(self):
        super().__init__('plane_cmd_predictor')

        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('model_path', 'model.yaml')
        self.declare_parameter('depth_scale', 0.001)

        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.model_path = self.get_parameter('model_path').value
        self.depth_scale = float(self.get_parameter('depth_scale').value)

        with open(self.model_path, 'r', encoding='utf-8') as f:
            model = yaml.safe_load(f)

        self.W = np.array(model['weights'], dtype=np.float64)   # [6, cmd_dim]
        self.bridge = CvBridge()
        self.color_img = None
        self.depth_img = None
        self.K = None

        # 你的模型输出顺序固定为：6号、5号、4号、3号
        self.model_servo_order = [6, 5, 4, 3]

        # 你想打印成：3号、4号、5号、6号
        self.print_servo_order = [3, 4, 5, 6]

        # 当前只处理 3/4/5/6 号舵机，范围都一致
        self.servo_min = 125
        self.servo_max = 875

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

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

    def on_depth(self, msg):
        self.depth_img = self.bridge.imgmsg_to_cv2(msg, desired_encoding='passthrough')

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

    def pixel_to_xyz(self, u, v):
        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

        patch = self.depth_img[max(0, v - 2):min(h, v + 3), max(0, u - 2):min(w, u + 3)].astype(np.float32)
        valid = patch[patch > 0]
        if valid.size == 0:
            return None

        z = np.median(valid) * self.depth_scale
        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 clamp_servo(self, value):
        value = int(round(value))
        if value < self.servo_min:
            value = self.servo_min
        if value > self.servo_max:
            value = self.servo_max
        return value

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

        xyz = self.pixel_to_xyz(x, y)
        if xyz is None:
            print('[WARN] 无有效深度')
            return

        X, Y, Z = xyz

        # 模型输出顺序：6,5,4,3
        cmd_raw = features(X, Y) @ self.W
        cmd_raw = cmd_raw.tolist()

        # 先取整并限幅
        cmd_int = [self.clamp_servo(v) for v in cmd_raw]

        # 转成 {舵机ID: 值}
        servo_map = {}
        for sid, val in zip(self.model_servo_order, cmd_int):
            servo_map[sid] = val

        # 按你希望的顺序打印：3,4,5,6
        ordered_pairs = [(sid, servo_map[sid]) for sid in self.print_servo_order]

        print(f'\n点击像素: ({x}, {y})')
        print(f'相机坐标: X={X:.4f}, Y={Y:.4f}, Z={Z:.4f}')
        print('预测机械臂命令向量(按模型顺序 6,5,4,3):',
              ', '.join([str(servo_map[sid]) for sid in self.model_servo_order]))
        print('舵机列表:', ','.join([f'{sid}:{val}' for sid, val in ordered_pairs]))

    def spin_loop(self):
        while rclpy.ok():
            rclpy.spin_once(self, timeout_sec=0.03)
            if self.color_img is not None:
                cv2.imshow(self.window_name, self.color_img)
            if (cv2.waitKey(1) & 0xFF) == ord('q'):
                break
        cv2.destroyAllWindows()


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


if __name__ == '__main__':
    main()