from pathlib import Path

import numpy as np
import pyarrow as pa
import pyarrow.parquet as pq

from pose_tracking_exp.common.joints import BODY20_INDEX_BY_NAME
from tests.support.actual_test import load_actual_test_scene, load_actual_test_segment_bundles


def _write_parquet(path: Path, rows: list[dict[str, object]]) -> None:
    path.parent.mkdir(parents=True, exist_ok=True)
    pq.write_table(pa.Table.from_pylist(rows), path)


def _sample_rtmpose_detection() -> tuple[list[float], list[list[float]], list[float]]:
    keypoints_xy = np.zeros((133, 2), dtype=np.float64)
    scores = np.zeros((133,), dtype=np.float64)
    keypoints_xy[5] = [10.0, 20.0]
    keypoints_xy[6] = [30.0, 20.0]
    keypoints_xy[11] = [12.0, 60.0]
    keypoints_xy[12] = [28.0, 60.0]
    keypoints_xy[0] = [20.0, 8.0]
    scores[[0, 5, 6, 11, 12]] = 1.0
    return [8.0, 4.0, 32.0, 64.0], keypoints_xy.tolist(), scores.tolist()


def test_load_actual_test_parquet_scene_and_segment(tmp_path: Path) -> None:
    root = tmp_path / "ActualTest_WeiHua"
    _write_parquet(
        root / "camera_params" / "camera_params.parquet",
        [
            {
                "name": "AF_02",
                "port": 5602,
                "intrinsic": {
                    "camera_matrix": [[500.0, 0.0, 320.0], [0.0, 500.0, 240.0], [0.0, 0.0, 1.0]],
                    "distortion_coefficients": [0.0, 0.0, 0.0, 0.0, 0.0],
                },
                "extrinsic": {"rvec": [0.0, 0.0, 0.0], "tvec": [0.0, 0.0, 0.0]},
                "resolution": {"width": 640, "height": 480},
            },
            {
                "name": "AF_03",
                "port": 5603,
                "intrinsic": {
                    "camera_matrix": [[500.0, 0.0, 320.0], [0.0, 500.0, 240.0], [0.0, 0.0, 1.0]],
                    "distortion_coefficients": [0.0, 0.0, 0.0, 0.0, 0.0],
                },
                "extrinsic": {"rvec": [0.0, 0.0, 0.0], "tvec": [1.0, 0.0, 0.0]},
                "resolution": {"width": 640, "height": 480},
            },
        ],
    )
    box, keypoints_xy, scores = _sample_rtmpose_detection()
    for camera_name in ("5602", "5603"):
        _write_parquet(
            root / "Segment_1" / f"{camera_name}_detected.parquet",
            [
                {"frame_index": 689, "boxes": [], "kps": [], "kps_scores": []},
                {"frame_index": 690, "boxes": [box], "kps": [keypoints_xy], "kps_scores": [scores]},
            ],
        )

    scene = load_actual_test_scene(root)
    bundles = load_actual_test_segment_bundles(root, "Segment_1", frame_start=690, max_frames=1)

    assert [camera.name for camera in scene.cameras] == ["5602", "5603"]
    np.testing.assert_allclose(scene.cameras[0].pose_T, [0.0, 0.0, 0.0])
    np.testing.assert_allclose(scene.cameras[1].pose_T, [-1.0, 0.0, 0.0])
    assert len(bundles) == 1
    assert [view.camera_name for view in bundles[0].views] == ["5602", "5603"]
    assert bundles[0].views[0].frame_index == 690
    np.testing.assert_allclose(
        bundles[0].views[0].detections[0].keypoints[BODY20_INDEX_BY_NAME["hip_middle"], :2],
        [20.0, 60.0],
    )


def test_load_actual_test_keeps_partial_camera_frames(tmp_path: Path) -> None:
    root = tmp_path / "ActualTest_WeiHua"
    _write_parquet(
        root / "camera_params" / "camera_params.parquet",
        [
            {
                "name": "AF_02",
                "port": 5602,
                "intrinsic": {
                    "camera_matrix": [[500.0, 0.0, 320.0], [0.0, 500.0, 240.0], [0.0, 0.0, 1.0]],
                    "distortion_coefficients": [0.0, 0.0, 0.0, 0.0, 0.0],
                },
                "extrinsic": {"rvec": [0.0, 0.0, 0.0], "tvec": [0.0, 0.0, 0.0]},
                "resolution": {"width": 640, "height": 480},
            },
            {
                "name": "AF_03",
                "port": 5603,
                "intrinsic": {
                    "camera_matrix": [[500.0, 0.0, 320.0], [0.0, 500.0, 240.0], [0.0, 0.0, 1.0]],
                    "distortion_coefficients": [0.0, 0.0, 0.0, 0.0, 0.0],
                },
                "extrinsic": {"rvec": [0.0, 0.0, 0.0], "tvec": [1.0, 0.0, 0.0]},
                "resolution": {"width": 640, "height": 480},
            },
        ],
    )
    box, keypoints_xy, scores = _sample_rtmpose_detection()
    _write_parquet(
        root / "Segment_1" / "5602_detected.parquet",
        [
            {"frame_index": 690, "boxes": [box], "kps": [keypoints_xy], "kps_scores": [scores]},
            {"frame_index": 691, "boxes": [box], "kps": [keypoints_xy], "kps_scores": [scores]},
        ],
    )
    _write_parquet(
        root / "Segment_1" / "5603_detected.parquet",
        [
            {"frame_index": 690, "boxes": [box], "kps": [keypoints_xy], "kps_scores": [scores]},
        ],
    )

    bundles = load_actual_test_segment_bundles(root, "Segment_1", frame_start=690)

    assert [bundle.views[0].frame_index for bundle in bundles] == [690, 691]
    assert [view.camera_name for view in bundles[1].views] == ["5602", "5603"]
    assert len(bundles[1].views[0].detections) == 1
    assert bundles[1].views[1].detections == ()