use std::{
    error::Error,
    fs::File,
    io::{BufRead, BufReader},
    path::PathBuf,
    process::Command,
    thread::sleep,
    time::{Duration, Instant},
};

use arci::{BaseVelocity, Localization, MoveBase, Navigation};
use async_recursion::async_recursion;
use clap::Parser;
use clap_complete::Shell;
use k::nalgebra::{Isometry2, Vector2};
use openrr_client::{isometry, RobotClient};
use rustyline::{error::ReadlineError, DefaultEditor};
use tracing::{error, info};

use crate::Error as OpenrrCommandError;

fn parse_joints<T, U>(s: &str) -> Result<(T, U), Box<dyn Error + Send + Sync>>
where
    T: std::str::FromStr,
    T::Err: Error + Send + Sync + 'static,
    U: std::str::FromStr,
    U::Err: Error + Send + Sync + 'static,
{
    let pos = s
        .find('=')
        .ok_or_else(|| format!("invalid KEY=value: no `=` found in `{s}`"))?;
    Ok((s[..pos].parse()?, s[pos + 1..].parse()?))
}

#[derive(Parser, Debug)]
#[clap(rename_all = "snake_case")]
pub enum RobotCommand {
    /// Send joint positions.
    SendJoints {
        name: String,
        #[clap(short, long, default_value = "3.0")]
        duration: f64,
        /// Interpolate target in cartesian space.
        /// If you use this flag, joint values are not used as references but used in forward kinematics.
        #[clap(name = "interpolate", short, long)]
        use_interpolation: bool,
        /// Specify joint parameters.
        /// Like `--joint 0=1.2`.
        /// In accordance with the sequence in which the "joint names" are defined in the configuration, they are numbered starting at 0.
        #[clap(short, value_parser = parse_joints::<usize, f64>, long)]
        joint: Vec<(usize, f64)>,
        #[clap(long, default_value = "0.05")]
        max_resolution_for_interpolation: f64,
        #[clap(long, default_value = "10")]
        min_number_of_points_for_interpolation: i32,
    },
    /// Send predefined joint positions.
    SendJointsPose {
        name: String,
        pose_name: String,
        #[clap(short, long, default_value = "3.0")]
        duration: f64,
    },
    /// Move with ik
    MoveIk {
        name: String,
        #[clap(short, long)]
        x: Option<f64>,
        #[clap(short, long)]
        y: Option<f64>,
        #[clap(short, long)]
        z: Option<f64>,
        #[clap(long)]
        yaw: Option<f64>,
        #[clap(short, long)]
        pitch: Option<f64>,
        #[clap(short, long)]
        roll: Option<f64>,
        #[clap(short, long, default_value = "3.0")]
        duration: f64,
        /// Interpolate target in cartesian space.
        #[clap(name = "interpolate", short, long)]
        use_interpolation: bool,
        #[clap(name = "local", short, long)]
        is_local: bool,
        #[clap(long, default_value = "0.05")]
        max_resolution_for_interpolation: f64,
        #[clap(long, default_value = "10")]
        min_number_of_points_for_interpolation: i32,
    },
    /// Get joint positions and end pose if applicable.
    GetState { name: String },
    /// Load commands from file and execute them.
    LoadCommands {
        #[clap(value_parser)]
        command_file_path: PathBuf,
    },
    /// List available clients.
    List,
    /// Speak text message.
    Speak { name: String, message: Vec<String> },
    /// Execute an external command.
    ExecuteCommand { command: Vec<String> },
    /// Get navigation current pose.
    GetNavigationCurrentPose,
    /// Send navigation goal pose.
    SendNavigationGoal {
        x: f64,
        y: f64,
        yaw: f64,
        #[clap(short, long, default_value = "map")]
        frame_id: String,
        #[clap(short, long, default_value = "100.0")]
        timeout_secs: f64,
    },
    /// Cancel navigation goal.
    CancelNavigationGoal,
    /// Send base velocity.
    SendBaseVelocity {
        x: f64,
        y: f64,
        theta: f64,
        #[clap(short, long, default_value = "1.0")]
        duration_secs: f64,
    },
    /// Shell completion
    #[clap(subcommand)]
    ShellCompletion(ShellType),
}

/// Enum type to handle clap_complete::Shell
#[derive(Debug, Parser, Clone, Copy)]
#[clap(rename_all = "snake_case")]
#[non_exhaustive]
pub enum ShellType {
    Zsh,
    Bash,
    Fish,
    PowerShell,
}

impl From<ShellType> for Shell {
    fn from(shell: ShellType) -> Shell {
        match shell {
            ShellType::Bash => Shell::Bash,
            ShellType::Zsh => Shell::Zsh,
            ShellType::Fish => Shell::Fish,
            ShellType::PowerShell => Shell::PowerShell,
        }
    }
}

#[derive(Debug)]
pub struct RobotCommandExecutor {}

impl RobotCommandExecutor {
    #[async_recursion]
    #[allow(clippy::only_used_in_recursion)]
    pub async fn execute<L, M, N>(
        &self,
        client: &RobotClient<L, M, N>,
        command: &RobotCommand,
    ) -> Result<(), OpenrrCommandError>
    where
        L: Localization,
        M: MoveBase,
        N: Navigation,
    {
        match &command {
            RobotCommand::SendJoints {
                name,
                duration,
                use_interpolation,
                joint,
                max_resolution_for_interpolation,
                min_number_of_points_for_interpolation,
            } => {
                let mut positions = client.current_joint_positions(name)?;

                let mut should_send = false;
                for (index, position) in joint {
                    if *index < positions.len() {
                        should_send = true;
                        positions[*index] = *position;
                    }
                }
                if !should_send {
                    return Ok(());
                }
                if *use_interpolation {
                    client
                        .send_joint_positions_with_pose_interpolation(
                            name,
                            &positions,
                            *duration,
                            *max_resolution_for_interpolation,
                            *min_number_of_points_for_interpolation,
                        )?
                        .await?;
                } else {
                    client
                        .send_joint_positions(name, &positions, *duration)?
                        .await?;
                }
            }
            RobotCommand::SendJointsPose {
                name,
                pose_name,
                duration,
            } => {
                client.send_joints_pose(name, pose_name, *duration)?.await?;
            }
            RobotCommand::MoveIk {
                name,
                x,
                y,
                z,
                yaw,
                pitch,
                roll,
                duration,
                use_interpolation,
                is_local,
                max_resolution_for_interpolation,
                min_number_of_points_for_interpolation,
            } => {
                if !client.is_ik_client(name) {
                    return Err(OpenrrCommandError::NoIkClient(name.clone()));
                }
                let mut should_send = false;
                let current_pose = client.current_end_transform(name)?;
                let target_pose = [
                    if let Some(x) = x {
                        should_send = true;
                        *x
                    } else if *is_local {
                        0.0
                    } else {
                        current_pose.translation.x
                    },
                    if let Some(y) = y {
                        should_send = true;
                        *y
                    } else if *is_local {
                        0.0
                    } else {
                        current_pose.translation.y
                    },
                    if let Some(z) = z {
                        should_send = true;
                        *z
                    } else if *is_local {
                        0.0
                    } else {
                        current_pose.translation.z
                    },
                    if let Some(roll) = roll {
                        should_send = true;
                        *roll
                    } else if *is_local {
                        0.0
                    } else {
                        current_pose.rotation.euler_angles().0
                    },
                    if let Some(pitch) = pitch {
                        should_send = true;
                        *pitch
                    } else if *is_local {
                        0.0
                    } else {
                        current_pose.rotation.euler_angles().1
                    },
                    if let Some(yaw) = yaw {
                        should_send = true;
                        *yaw
                    } else if *is_local {
                        0.0
                    } else {
                        current_pose.rotation.euler_angles().2
                    },
                ];
                if !should_send {
                    return Ok(());
                }
                let target_pose = isometry(
                    target_pose[0],
                    target_pose[1],
                    target_pose[2],
                    target_pose[3],
                    target_pose[4],
                    target_pose[5],
                );

                let target_pose = if *is_local {
                    client.transform(name, &target_pose)?
                } else {
                    target_pose
                };
                if *use_interpolation {
                    client
                        .move_ik_with_interpolation(
                            name,
                            &target_pose,
                            *duration,
                            *max_resolution_for_interpolation,
                            *min_number_of_points_for_interpolation,
                        )?
                        .await?
                } else {
                    client.move_ik(name, &target_pose, *duration)?.await?
                }
            }
            RobotCommand::GetState { name } => {
                println!("Joint names : {:?}", client.joint_names(name)?);
                println!(
                    "Joint positions : {:?}",
                    client.current_joint_positions(name)?
                );
                if client.is_ik_client(name) {
                    let pose = client.current_end_transform(name)?;
                    println!("End pose");
                    println!(" translation = {:?}", pose.translation.vector.data);
                    println!(" rotation = {:?}", pose.rotation.euler_angles());
                }
            }
            RobotCommand::LoadCommands { command_file_path } => {
                for command in load_command_file_and_filter(command_file_path.clone())? {
                    let command_parsed_iter = command.split_whitespace();
                    // Parse the command
                    let read_opt = RobotCommand::parse_from(command_parsed_iter);
                    // Execute the parsed command
                    info!("Executing {command}");
                    self.execute(client, &read_opt).await?;
                }
            }
            RobotCommand::List => {
                println!("Raw joint trajectory clients");
                for name in client.raw_joint_trajectory_clients_names() {
                    println!(" {name}");
                }
                println!("Joint trajectory clients");
                for name in client.joint_trajectory_clients_names() {
                    println!(" {name}");
                }
                println!("Collision avoidance clients");
                for name in client.collision_avoidance_clients_names() {
                    println!(" {name}");
                }
                println!("Collision check clients");
                for name in client.collision_check_clients_names() {
                    println!(" {name}");
                }
                println!("Ik clients");
                for name in client.ik_clients_names() {
                    println!(" {name}");
                }
            }
            RobotCommand::Speak { name, message } => {
                // TODO: Parse quotations and comments
                // Currently '"Foo bar" # buzz' is parsed as message in below command.
                // 'openrr_apps_robot_command speak "Foo bar" # buzz'
                client.speak(name, &message.join(" "))?.await?;
            }
            RobotCommand::ExecuteCommand { command } => {
                let command = filter_escape_double_quote(command);
                let mut iter = command.iter();
                let cmd_str = iter
                    .next()
                    .ok_or_else(|| OpenrrCommandError::NoCommand(command.to_owned()))?;
                let output = Command::new(cmd_str).args(iter).output().map_err(|e| {
                    OpenrrCommandError::CommandExecutionFailure(command.to_owned(), e)
                })?;
                if output.status.success() {
                    info!("{}", String::from_utf8_lossy(&output.stdout));
                } else {
                    error!("{}", String::from_utf8_lossy(&output.stdout));
                    error!("{}", String::from_utf8_lossy(&output.stderr));
                    return Err(OpenrrCommandError::CommandFailure(
                        command.to_owned(),
                        String::from_utf8_lossy(&output.stderr).to_string(),
                    ));
                }
            }
            RobotCommand::GetNavigationCurrentPose => {
                println!("Base Pose {}", client.current_pose("")?);
            }
            RobotCommand::SendNavigationGoal {
                x,
                y,
                yaw,
                frame_id,
                timeout_secs,
            } => {
                client
                    .send_goal_pose(
                        Isometry2::new(Vector2::new(*x, *y), *yaw),
                        frame_id,
                        Duration::from_secs_f64(*timeout_secs),
                    )?
                    .await?;
            }
            RobotCommand::CancelNavigationGoal => {
                client.cancel()?;
            }
            RobotCommand::SendBaseVelocity {
                x,
                y,
                theta,
                duration_secs,
            } => {
                let start = Instant::now();
                let duration = Duration::from_secs_f64(*duration_secs);
                let sleep_duration = Duration::from_secs_f64(0.01);
                while start.elapsed() < duration {
                    client.send_velocity(&BaseVelocity::new(*x, *y, *theta))?;
                    sleep(sleep_duration);
                }
            }
            _ => {
                panic!("not supported {command:?}");
            }
        }
        Ok(())
    }

    /// Run interactive shell with the client
    pub async fn run_interactive_shell<L, M, N>(
        &self,
        client: &RobotClient<L, M, N>,
    ) -> Result<(), OpenrrCommandError>
    where
        L: Localization,
        M: MoveBase,
        N: Navigation,
    {
        let mut rl = DefaultEditor::with_config(
            rustyline::Config::builder().auto_add_history(true).build(),
        )?;
        const HISTORY_FILE_NAME: &str = "openrr_apps_robot_command_log.txt";
        // no problem if there are no log file.
        let _ = rl.load_history(HISTORY_FILE_NAME);
        loop {
            let readline = rl.readline("\x1b[1;32m>> \x1b[0m");
            match readline {
                Ok(line) => {
                    // add dummy to make it the same as load command
                    let line_with_arg0 = format!("dummy {line}");
                    let command_parsed_iter = line_with_arg0.split_whitespace();
                    // Parse the command
                    if let Ok(command) = RobotCommand::try_parse_from(command_parsed_iter) {
                        if let Err(e) = self.execute(client, &command).await {
                            println!("failed to execute: {e:?}");
                        }
                    } else if !line.is_empty() {
                        println!("failed to parse: {line:?}");
                    }
                }
                Err(ReadlineError::Interrupted) => {
                    println!("CTRL-C");
                    break;
                }
                Err(ReadlineError::Eof) => {
                    println!("CTRL-D");
                    break;
                }
                Err(err) => {
                    println!("Error: {err:?}");
                    break;
                }
            }
        }
        if let Err(err) = rl.save_history(HISTORY_FILE_NAME) {
            println!("failed to save history {HISTORY_FILE_NAME}: {err:?}");
        }
        Ok(())
    }
}

pub fn load_command_file_and_filter(file_path: PathBuf) -> Result<Vec<String>, OpenrrCommandError> {
    let file = File::open(&file_path)
        .map_err(|e| OpenrrCommandError::CommandFileOpenFailure(file_path, e.to_string()))?;
    let buf = BufReader::new(file);
    Ok(buf
        .lines()
        .map(|line| line.expect("Could not parse line"))
        .filter(|command| {
            let command_parsed_iter = command.split_whitespace();
            // Ignore empty lines and comment lines
            command_parsed_iter.clone().count() > 0
                && command_parsed_iter
                    .clone()
                    .next()
                    .unwrap()
                    .find('#')
                    .is_none()
        })
        .collect())
}

fn filter_escape_double_quote(robot_command: &[String]) -> Vec<String> {
    let mut is_concatenation = false;
    let mut command_vector: Vec<String> = Vec::new();

    for element in robot_command {
        let command_element = element.replace('\"', "");
        if is_concatenation {
            let new_command = command_vector
                .pop()
                .expect("Parse double quote logic error. Vector command_vector is empty.");
            command_vector.push(format!("{new_command} {command_element}"));
        } else {
            command_vector.push(command_element.to_string());
        }
        if element.match_indices('\"').count() == 1 {
            is_concatenation = !is_concatenation;
        }
    }
    command_vector
}

#[cfg(test)]
mod test {
    use super::*;
    #[test]
    fn test_parse_joints() {
        let val: (usize, usize) = parse_joints("0=2").unwrap();
        assert_eq!(val.0, 0);
        assert_eq!(val.1, 2);
    }

    #[test]
    fn test_filter_escape_double_quote() {
        // This situation assumes that `command foo/bar "baz qux"` has been entered.
        let expected_command: Vec<String> = vec![
            "command".to_string(),
            "foo/bar".to_string(),
            "baz qux".to_string(),
        ];

        let robot_command: Vec<String> = vec![
            "command".to_string(),
            "foo/bar".to_string(),
            "\"baz".to_string(),
            "qux\"".to_string(),
        ];
        let result_command = filter_escape_double_quote(&robot_command);

        assert_eq!(expected_command, result_command);

        // This situation assumes that `command -f "{ type: Message, value: 1.0 }"` has been entered.
        let expected_dict_command: Vec<String> = vec![
            "command".to_string(),
            "-f".to_string(),
            "{ type: Message, value: 1.0 }".to_string(),
        ];
        let robot_dict_command: Vec<String> = vec![
            "command".to_string(),
            "-f".to_string(),
            "\"{".to_string(),
            "type:".to_string(),
            "Message,".to_string(),
            "value:".to_string(),
            "1.0".to_string(),
            "}\"".to_string(),
        ];
        let result_dict_command = filter_escape_double_quote(&robot_dict_command);

        assert_eq!(expected_dict_command, result_dict_command);
    }
}