# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

# Copyright (c) 2025, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

# Ignore private usage of variables warning.
# pyright: reportPrivateUsage=none

from __future__ import annotations

from isaaclab.app import AppLauncher

# Can set this to False to see the GUI for debugging.
HEADLESS = True

# Launch omniverse app.
app_launcher = AppLauncher(headless=HEADLESS)
simulation_app = app_launcher.app

import numpy as np

import carb
import omni.usd
import pytest
from isaacsim.core.prims import XFormPrim

from isaaclab.devices import OpenXRDevice, OpenXRDeviceCfg
from isaaclab.devices.openxr import XrCfg
from isaaclab.envs import ManagerBasedEnv, ManagerBasedEnvCfg
from isaaclab.scene import InteractiveSceneCfg
from isaaclab.utils import configclass


@configclass
class EmptyManagerCfg:
    """Empty manager."""

    pass


@configclass
class EmptySceneCfg(InteractiveSceneCfg):
    """Configuration for an empty scene."""

    pass


@configclass
class EmptyEnvCfg(ManagerBasedEnvCfg):
    """Configuration for the empty test environment."""

    scene: EmptySceneCfg = EmptySceneCfg(num_envs=1, env_spacing=1.0)
    actions: EmptyManagerCfg = EmptyManagerCfg()
    observations: EmptyManagerCfg = EmptyManagerCfg()

    def __post_init__(self):
        """Post initialization."""
        self.decimation = 5
        self.episode_length_s = 30.0
        self.sim.dt = 0.01  # 100Hz
        self.sim.render_interval = 2


@pytest.fixture
def mock_xrcore(mocker):
    """Set up a mock for XRCore and related classes."""
    # Create mock for XRCore and XRPoseValidityFlags
    xr_core_mock = mocker.MagicMock()
    xr_pose_validity_flags_mock = mocker.MagicMock()

    # Set up the validity flags
    xr_pose_validity_flags_mock.POSITION_VALID = 1
    xr_pose_validity_flags_mock.ORIENTATION_VALID = 2

    # Setup the singleton pattern used by XRCore
    singleton_mock = mocker.MagicMock()
    xr_core_mock.get_singleton.return_value = singleton_mock

    # Setup message bus for teleop commands
    message_bus_mock = mocker.MagicMock()
    singleton_mock.get_message_bus.return_value = message_bus_mock
    message_bus_mock.create_subscription_to_pop_by_type.return_value = mocker.MagicMock()

    # Setup input devices (left hand, right hand, head)
    left_hand_mock = mocker.MagicMock()
    right_hand_mock = mocker.MagicMock()
    head_mock = mocker.MagicMock()

    def get_input_device_mock(device_path):
        device_map = {
            "/user/hand/left": left_hand_mock,
            "/user/hand/right": right_hand_mock,
            "/user/head": head_mock,
        }
        return device_map.get(device_path)

    singleton_mock.get_input_device.side_effect = get_input_device_mock

    # Setup the joint poses for hand tracking
    joint_pose_mock = mocker.MagicMock()
    joint_pose_mock.validity_flags = (
        xr_pose_validity_flags_mock.POSITION_VALID | xr_pose_validity_flags_mock.ORIENTATION_VALID
    )

    pose_matrix_mock = mocker.MagicMock()
    pose_matrix_mock.ExtractTranslation.return_value = [0.1, 0.2, 0.3]

    rotation_quat_mock = mocker.MagicMock()
    rotation_quat_mock.GetImaginary.return_value = [0.1, 0.2, 0.3]
    rotation_quat_mock.GetReal.return_value = 0.9

    pose_matrix_mock.ExtractRotationQuat.return_value = rotation_quat_mock
    joint_pose_mock.pose_matrix = pose_matrix_mock

    joint_poses = {"palm": joint_pose_mock, "wrist": joint_pose_mock}
    left_hand_mock.get_all_virtual_world_poses.return_value = joint_poses
    right_hand_mock.get_all_virtual_world_poses.return_value = joint_poses

    head_mock.get_virtual_world_pose.return_value = pose_matrix_mock

    # Patch the modules
    mocker.patch("isaaclab.devices.openxr.openxr_device.XRCore", xr_core_mock)
    mocker.patch("isaaclab.devices.openxr.openxr_device.XRPoseValidityFlags", xr_pose_validity_flags_mock)

    return {
        "XRCore": xr_core_mock,
        "XRPoseValidityFlags": xr_pose_validity_flags_mock,
        "singleton": singleton_mock,
        "message_bus": message_bus_mock,
        "left_hand": left_hand_mock,
        "right_hand": right_hand_mock,
        "head": head_mock,
    }


@pytest.fixture
def empty_env():
    """Fixture to create and cleanup an empty environment."""
    # Create a new stage
    omni.usd.get_context().new_stage()
    # Create environment with config
    env_cfg = EmptyEnvCfg()
    env = ManagerBasedEnv(cfg=env_cfg)

    yield env, env_cfg

    # Cleanup
    env.close()


def test_xr_anchor(empty_env, mock_xrcore):
    """Test XR anchor creation and configuration."""
    env, env_cfg = empty_env
    env_cfg.xr = XrCfg(anchor_pos=(1, 2, 3), anchor_rot=(0, 1, 0, 0))

    device = OpenXRDevice(OpenXRDeviceCfg(xr_cfg=env_cfg.xr))

    # Check that the xr anchor prim is created with the correct pose
    xr_anchor_prim = XFormPrim("/XRAnchor")
    assert xr_anchor_prim.is_valid()

    position, orientation = xr_anchor_prim.get_world_poses()
    np.testing.assert_almost_equal(position.tolist(), [[1, 2, 3]])
    np.testing.assert_almost_equal(orientation.tolist(), [[0, 1, 0, 0]])

    # Check that xr anchor mode and custom anchor are set correctly
    assert carb.settings.get_settings().get("/persistent/xr/profile/ar/anchorMode") == "custom anchor"
    assert carb.settings.get_settings().get("/xrstage/profile/ar/customAnchor") == "/XRAnchor"

    device.reset()


def test_xr_anchor_default(empty_env, mock_xrcore):
    """Test XR anchor creation with default configuration."""
    env, _ = empty_env
    # Create a proper config object with default values
    device = OpenXRDevice(OpenXRDeviceCfg())

    # Check that the xr anchor prim is created with the correct default pose
    xr_anchor_prim = XFormPrim("/XRAnchor")
    assert xr_anchor_prim.is_valid()

    position, orientation = xr_anchor_prim.get_world_poses()
    np.testing.assert_almost_equal(position.tolist(), [[0, 0, 0]])
    np.testing.assert_almost_equal(orientation.tolist(), [[1, 0, 0, 0]])

    # Check that xr anchor mode and custom anchor are set correctly
    assert carb.settings.get_settings().get("/persistent/xr/profile/ar/anchorMode") == "custom anchor"
    assert carb.settings.get_settings().get("/xrstage/profile/ar/customAnchor") == "/XRAnchor"

    device.reset()


def test_xr_anchor_multiple_devices(empty_env, mock_xrcore):
    """Test XR anchor behavior with multiple devices."""
    env, _ = empty_env
    # Create proper config objects with default values
    device_1 = OpenXRDevice(OpenXRDeviceCfg())
    device_2 = OpenXRDevice(OpenXRDeviceCfg())

    # Check that the xr anchor prim is created with the correct default pose
    xr_anchor_prim = XFormPrim("/XRAnchor")
    assert xr_anchor_prim.is_valid()

    position, orientation = xr_anchor_prim.get_world_poses()
    np.testing.assert_almost_equal(position.tolist(), [[0, 0, 0]])
    np.testing.assert_almost_equal(orientation.tolist(), [[1, 0, 0, 0]])

    # Check that xr anchor mode and custom anchor are set correctly
    assert carb.settings.get_settings().get("/persistent/xr/profile/ar/anchorMode") == "custom anchor"
    assert carb.settings.get_settings().get("/xrstage/profile/ar/customAnchor") == "/XRAnchor"

    device_1.reset()
    device_2.reset()


def test_get_raw_data(empty_env, mock_xrcore):
    """Test the _get_raw_data method returns correctly formatted tracking data."""
    env, _ = empty_env
    # Create a proper config object with default values
    device = OpenXRDevice(OpenXRDeviceCfg())

    # Get raw tracking data
    raw_data = device._get_raw_data()

    # Check that the data structure is as expected
    assert OpenXRDevice.TrackingTarget.HAND_LEFT in raw_data
    assert OpenXRDevice.TrackingTarget.HAND_RIGHT in raw_data
    assert OpenXRDevice.TrackingTarget.HEAD in raw_data

    # Check left hand joints
    left_hand = raw_data[OpenXRDevice.TrackingTarget.HAND_LEFT]
    assert "palm" in left_hand
    assert "wrist" in left_hand

    # Check that joint pose format is correct
    palm_pose = left_hand["palm"]
    assert len(palm_pose) == 7  # [x, y, z, qw, qx, qy, qz]
    np.testing.assert_almost_equal(palm_pose[:3], [0.1, 0.2, 0.3])  # Position
    np.testing.assert_almost_equal(palm_pose[3:], [0.9, 0.1, 0.2, 0.3])  # Orientation

    # Check head pose
    head_pose = raw_data[OpenXRDevice.TrackingTarget.HEAD]
    assert len(head_pose) == 7
    np.testing.assert_almost_equal(head_pose[:3], [0.1, 0.2, 0.3])  # Position
    np.testing.assert_almost_equal(head_pose[3:], [0.9, 0.1, 0.2, 0.3])  # Orientation
