"""
Finger UV pipeline with real-time force charts and OpenCV panels.

Demonstrates:
1. UV-unrolled deformation arrows
2. Contact region overlay
3. PyQtGraph normal/shear force plots
4. Optional raw-frame recording (s/e keys)
"""

import argparse
import os
import sys
import time
from pathlib import Path

os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"

import cv2
import orisys
from orisys.finger import FingerRuntime

_EXAMPLES_DIR = Path(__file__).resolve().parent
if str(_EXAMPLES_DIR) not in sys.path:
    sys.path.insert(0, str(_EXAMPLES_DIR))

from viz import ForceChartWindow, FrameRecorder, lowpass_filter


def main():
    parser = argparse.ArgumentParser()
    parser.add_argument("--video", "-v", type=str, default="0", help="视频源：摄像头编号或视频文件路径")
    parser.add_argument("--config", "-c", type=str, default="./config/dd02-ov.json", help="配置文件名称或路径")
    parser.add_argument("--verbose", "-verbose", type=bool, default=True, help="是否输出详细日志")
    args = parser.parse_args()

    charts = ForceChartWindow()
    recorder = FrameRecorder()

    runtime = FingerRuntime.open(
        config=args.config,
        video=args.video,
        verbose=args.verbose,
    )
    runtime.warmup(color=True)
    tactile = runtime.tactile
    start_time = time.time()

    print("\n按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。")
    try:
        while True:
            ok, unrolled = runtime.grab_and_process(color=True)
            if not ok:
                break

            recorder.write_if_recording(tactile.frame)

            tactile.compute_deformation(check_motion=True, threshold=0)
            tactile.compute_contact()
            fps, flow, vnormal, img, contour, centroid, depth_map, fnormal, fshearx, fsheary = tactile.read_info(
                tactile.info.FPS,
                tactile.info.VRAW,
                tactile.info.VNORMAL,
                tactile.info.IMG,
                tactile.info.CONTOUR,
                tactile.info.CENTROID,
                tactile.info.DEPTH,
                tactile.info.FNORMAL,
                tactile.info.FSHEARX,
                tactile.info.FSHEARY,
            )
            print(f"FPS={fps:.2f}, 法向力={fnormal:.4f}, 切向力X={fshearx:.4f}, 切向力Y={fsheary:.4f}")

            arrows = orisys.util.draw_arrows(unrolled, flow, threshold=3, grid_spacing=10, arrow_scale=1.0)
            cv2.imshow("arrows", arrows)
            cv2.imshow("contact", orisys.util.draw_contact(img, contour, centroid))

            charts.push(time.time() - start_time, fnormal, fshearx, fsheary)
            display = charts.data.copy()
            for channel in range(3):
                display[:, 1, channel] = lowpass_filter(
                    charts.data[:, 1, channel],
                    cutoff_hz=5,
                    sample_rate_hz=30,
                )
            charts.refresh(display)

            key = cv2.waitKey(1)
            if key & 0xFF == ord("q"):
                print("\n正在退出示例程序...")
                break
            if key == ord("s"):
                recorder.start(tactile.frame)
            if key == ord("e"):
                recorder.stop()
    finally:
        runtime.close()


if __name__ == "__main__":
    main()