"""ORY-BOX / ORY-MINI: read a sensor and get tactile information, in one loop.

The whole recommended flow:

    sensor  ->  StreamPipeline  ->  FrameSnapshot per frame

One object reads the camera, pre-processes (stitch, grey, resize), computes the deformation field
and the forces, and hands back one immutable snapshot per frame. There is no stage sequence to
remember and no tuple to unpack by position.

What you do NOT need to touch: the compute backend, the capture queue, the stitch mode, the
low-pass filter, or the order in which the stages run. Those are the SDK's concern and
``StreamPipeline`` sequences them on three concurrent threads. If you later need that control, the
manual form is preserved in ``examples/archive/basic_pipeline_manual.py``.

Run:

    python examples/basic_pipeline.py                    # first camera, box config
    python examples/basic_pipeline.py -v 0 -c mini
    python examples/basic_pipeline.py -v recording.mp4 -c box
    python examples/basic_pipeline.py --no-show           # headless: print only

Keys: 'q' quit, 'r' reset the tracker.
"""

import argparse
import os
import sys

# Set before OpenCV is imported: stops the capture backend applying its own transform on top of
# the SDK's preprocessing. This is a capture detail, not a tuning knob you need to own - it is
# here so the file can be copied as a whole.
os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")

import cv2

import orisys
from _display import depth_to_color, draw_contact, draw_flow_arrows


def main() -> int:
    parser = argparse.ArgumentParser(description="Read a sensor and print its tactile information.")
    parser.add_argument("-v", "--video", default="0",
                        help="camera index or video file path (default: 0)")
    parser.add_argument("-c", "--config", default="box",
                        help="product config: box, mini, finger, or a config path")
    parser.add_argument("--cal", default=None,
                        help="force calibration file; omit to use the sensor bundle's own")
    parser.add_argument("--no-show", dest="show", action="store_false",
                        help="do not open the display windows")
    parser.add_argument("-verbose", action="store_true", help="SDK verbose logs")
    args = parser.parse_args()

    # ------------------------------------------------------------------ create the object
    # That is the whole setup. The source may be a camera index or a video path.
    source = int(args.video) if args.video.isdigit() else args.video
    sensor = orisys.Sensor(source, config_name=args.config, cal_path=args.cal,
                           verbose=args.verbose)

    # contact=True runs contact analysis. include=... selects which arrays each snapshot carries;
    # arrays that are not included are None, so you pay only for what you use.
    include = ("image", "flow", "depth", "centroid", "contour") if args.show else ("image",)

    if args.show:
        print("Keys: 'q' quit, 'r' reset tracker.")

    try:
        with orisys.StreamPipeline(sensor, sensor.get_img, contact=True,
                                   include=include) as pipe:
            while True:
                # ------------------------------------------------------ read one frame
                # Blocks until a frame newer than the last one is ready. Everything in the
                # snapshot belongs to the same frame.
                snap = pipe.wait()
                if snap is None:
                    print("\nInput ended.")
                    break

                # ------------------------------------------------------ use the results
                # The *_raw pair is always the unfiltered integrator output.
                touching = "yes" if snap.centroid is not None else "no"
                fn_unit, fx_unit, fy_unit = sensor.force_units
                print(
                    f"FPS={snap.fps:5.1f}  "
                    f"normal={snap.normal_force:8.4f} {fn_unit} (raw {snap.normal_force_raw:10.2f})  "
                    f"shear=({snap.shear_x:7.4f} {fx_unit}, {snap.shear_y:7.4f} {fy_unit})  "
                    f"contact={touching}  age={snap.age_ms:4.1f} ms",
                    end="\r",
                )

                if args.show and snap.image is not None:
                    if snap.flow is not None:
                        cv2.imshow("deformation", draw_flow_arrows(
                            snap.image, snap.flow, threshold=2, grid_spacing=20))
                    if snap.contour is not None and snap.centroid is not None:
                        cv2.imshow("contact", draw_contact(
                            snap.image, snap.contour, snap.centroid))
                    colour = depth_to_color(snap.depth)
                    if colour is not None:
                        cv2.imshow("depth", colour)

                key = cv2.waitKey(1) & 0xFF
                if key == ord("q"):
                    print("\nExiting.")
                    break
                if key == ord("r"):
                    # Queued onto the flow stage, so this is safe from the consumer loop.
                    pipe.reset()
                    print("\nTracker reset.")
    except KeyboardInterrupt:
        print("\nInterrupted.")
    finally:
        sensor.disconnect()
        if args.show:
            cv2.destroyAllWindows()
    return 0


if __name__ == "__main__":
    sys.exit(main())