#!/usr/bin/env python
# -*- encoding: UTF-8 -*-

import qi
import argparse
import sys
import time
import pygame
import cv2
import numpy as np

class NaoTeleop:
    def __init__(self, session):
        self.session = session
        self.motion = session.service("ALMotion")
        self.posture = session.service("ALRobotPosture")
        self.video = None
        self.video_client = None
        self.running = True

        # Head position tracking
        self.head_yaw = 0.0
        self.head_pitch = 0.0

        self._init_video_maxfps()

        pygame.init()
        self.screen = pygame.display.set_mode((320, 240))
        pygame.display.set_caption("NAO Teleop - Head Control IJKL")
        self.clock = pygame.time.Clock()

    def _init_video_maxfps(self):
        try:
            self.video = self.session.service("ALVideoDevice")
            self.video_client = self.video.subscribeCamera("TeleopCam", 0, 0, 11, 25)
            print("✅ Camera ready (MAX FPS)")
        except:
            print("Camera not available")

    def get_image(self):
        if not self.video or not self.video_client:
            return None
        try:
            image = self.video.getImageRemote(self.video_client)
            if image and len(image) >= 7:
                w, h = image[0], image[1]
                arr = np.frombuffer(bytearray(image[6]), dtype=np.uint8).reshape((h, w, 3))
                frame = cv2.cvtColor(arr, cv2.COLOR_RGB2BGR)
                return cv2.resize(frame, (320, 240), interpolation=cv2.INTER_NEAREST)
        except:
            pass
        return None

    def handle_head_movement(self):
        keys = pygame.key.get_pressed()
        speed = 0.3  # Head movement speed (radians)

        changed = False

        if keys[pygame.K_i]:   # Head Up
            self.head_pitch = max(self.head_pitch - speed, -0.5)
            changed = True
        if keys[pygame.K_k]:   # Head Down
            self.head_pitch = min(self.head_pitch + speed, 0.5)
            changed = True
        if keys[pygame.K_j]:   # Head Left
            self.head_yaw = min(self.head_yaw + speed, 2.0)
            changed = True
        if keys[pygame.K_l]:   # Head Right
            self.head_yaw = max(self.head_yaw - speed, -2.0)
            changed = True

        if changed:
            try:
                self.motion.setAngles(["HeadYaw", "HeadPitch"], [self.head_yaw, self.head_pitch], 0.3)
            except:
                pass

    def run(self):
        self.motion.wakeUp()
        self.posture.goToPosture("StandInit", 0.5)
        
        print("🎮 Controls:")
        print("   WASD / Arrows = Walk")
        print("   I J K L       = Head (Up, Left, Down, Right)")
        print("   ESC = Quit")

        while self.running:
            for event in pygame.event.get():
                if event.type == pygame.QUIT or (event.type == pygame.KEYDOWN and event.key == pygame.K_ESCAPE):
                    self.running = False

            # Walking
            keys = pygame.key.get_pressed()
            x = y = theta = 0.0
            if keys[pygame.K_w] or keys[pygame.K_UP]:    x = 0.9
            if keys[pygame.K_s] or keys[pygame.K_DOWN]:  x = -0.9
            if keys[pygame.K_a] or keys[pygame.K_LEFT]:  theta = 0.7
            if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -0.7

            if abs(x) > 0.1 or abs(theta) > 0.1:
                self.motion.moveToward(x, y, theta)
            else:
                self.motion.stopMove()

            # Head control
            self.handle_head_movement()

            # Camera
            frame = self.get_image()
            if frame is not None:
                rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
                surf = pygame.surfarray.make_surface(rgb.swapaxes(0,1))
                self.screen.blit(surf, (0, 0))
            else:
                self.screen.fill((10, 10, 30))

            pygame.display.flip()
            self.clock.tick(0)  # Max speed

        # Shutdown
        print("Shutting down...")
        self.motion.stopMove()
        self.motion.rest()
        if self.video and self.video_client:
            try:
                self.video.unsubscribe(self.video_client)
            except:
                pass
        pygame.quit()

if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1")
    parser.add_argument("--port", type=int, default=9559)
    args = parser.parse_args()

    session = qi.Session()
    try:
        session.connect(f"tcp://{args.ip}:{args.port}")
        print(f"Connected to {args.ip}")
    except Exception as e:
        print(f"Connection failed: {e}")
        sys.exit(1)

    NaoTeleop(session).run()