# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""Launch Isaac Sim Simulator first."""

from omni.isaac.lab.app import AppLauncher, run_tests

# launch omniverse app
simulation_app = AppLauncher(headless=True).app

"""Rest everything follows."""

import unittest

import omni.isaac.lab.sim as sim_utils
from omni.isaac.lab.actuators import ImplicitActuatorCfg
from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
from omni.isaac.lab.scene import InteractiveScene, InteractiveSceneCfg
from omni.isaac.lab.sensors import ContactSensorCfg
from omni.isaac.lab.sim import build_simulation_context
from omni.isaac.lab.terrains import TerrainImporterCfg
from omni.isaac.lab.utils import configclass
from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR


@configclass
class MySceneCfg(InteractiveSceneCfg):
    """Example scene configuration."""

    # terrain - flat terrain plane
    terrain = TerrainImporterCfg(
        prim_path="/World/ground",
        terrain_type="plane",
    )

    # articulation
    robot = ArticulationCfg(
        prim_path="/World/Robot",
        spawn=sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Simple/revolute_articulation.usd"),
        actuators={
            "joint": ImplicitActuatorCfg(joint_names_expr=[".*"], stiffness=100.0, damping=1.0),
        },
    )
    # rigid object
    rigid_obj = RigidObjectCfg(
        prim_path="/World/RigidObj",
        spawn=sim_utils.CuboidCfg(
            size=(0.5, 0.5, 0.5),
            rigid_props=sim_utils.RigidBodyPropertiesCfg(
                disable_gravity=False,
            ),
            collision_props=sim_utils.CollisionPropertiesCfg(
                collision_enabled=True,
            ),
        ),
    )

    # sensor
    sensor = ContactSensorCfg(
        prim_path="/World/Robot",
    )
    # extras - light
    light = AssetBaseCfg(
        prim_path="/World/light",
        spawn=sim_utils.DistantLightCfg(),
    )


class TestInteractiveScene(unittest.TestCase):
    """Test cases for InteractiveScene."""

    def setUp(self) -> None:
        self.devices = ["cuda:0", "cpu"]
        self.sim_dt = 0.001
        self.scene_cfg = MySceneCfg(num_envs=1, env_spacing=1)

    def test_scene_entity_isolation(self):
        """Tests that multiple instances of InteractiveScene does not share any data.

        In this test, two InteractiveScene instances are created in a loop and added to a list.
        The scene at index 0 of the list will have all of its entities cleared manually, and
        the test compares that the data held in the scene at index 1 remained intact.
        """
        for device in self.devices:
            scene_list = []
            # create two InteractiveScene instances
            for _ in range(2):
                with build_simulation_context(device=device, dt=self.sim_dt) as _:
                    scene = InteractiveScene(MySceneCfg(num_envs=1, env_spacing=1))
                    scene_list.append(scene)
            scene_0 = scene_list[0]
            scene_1 = scene_list[1]
            # clear entities for scene_0 - this should not affect any data in scene_1
            scene_0.articulations.clear()
            scene_0.rigid_objects.clear()
            scene_0.sensors.clear()
            scene_0.extras.clear()
            # check that scene_0 and scene_1 do not share entity data via dictionary comparison
            self.assertEqual(scene_0.articulations, dict())
            self.assertNotEqual(scene_0.articulations, scene_1.articulations)
            self.assertEqual(scene_0.rigid_objects, dict())
            self.assertNotEqual(scene_0.rigid_objects, scene_1.rigid_objects)
            self.assertEqual(scene_0.sensors, dict())
            self.assertNotEqual(scene_0.sensors, scene_1.sensors)
            self.assertEqual(scene_0.extras, dict())
            self.assertNotEqual(scene_0.extras, scene_1.extras)


if __name__ == "__main__":
    run_tests()
