#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
#otherwise use testrender.py (slower but compatible without numpy)
#you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU)

import os
import sys
import time
import itertools
import subprocess
import numpy as np
import pybullet
from multiprocessing import Process

camTargetPos = [0,0,0]
cameraUp = [0,0,1]
cameraPos = [1,1,1]

pitch = -10.0
roll=0
upAxisIndex = 2
camDistance = 4
pixelWidth = 320
pixelHeight = 200
nearPlane = 0.01
farPlane = 100
fov = 60

import matplotlib.pyplot as plt


class BulletSim():
    def __init__(self, connection_mode, *argv):
        self.connection_mode = connection_mode
        self.argv = argv

    def __enter__(self):
        print("connecting")
        optionstring='--width={} --height={}'.format(pixelWidth,pixelHeight)
        optionstring += ' --window_backend=2 --render_device=0'
        #optionstring += ' --window_backend=X11 --render_device=0'

        print(self.connection_mode, optionstring,*self.argv)
        cid = pybullet.connect(self.connection_mode, options=optionstring,*self.argv)
        if cid < 0:
            raise ValueError
        print("connected")
        pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI,0)
        pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SEGMENTATION_MARK_PREVIEW,0)
        pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_DEPTH_BUFFER_PREVIEW,0)
        pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RGB_BUFFER_PREVIEW,0)

        pybullet.resetSimulation()
        pybullet.loadURDF("plane.urdf",[0,0,-1])
        pybullet.loadURDF("r2d2.urdf")
        pybullet.loadURDF("duck_vhacd.urdf")
        pybullet.setGravity(0,0,-10)

    def __exit__(self,*_,**__):
        pybullet.disconnect()

def test(num_runs=100, shadow=1, plot=False):
    if plot:
        plt.ion()

        img = np.random.rand(200, 320)
        #img = [tandard_normal((50,100))
        image = plt.imshow(img,interpolation='none',animated=True,label="blah")
        ax = plt.gca()


    times = np.zeros(num_runs)
    yaw_gen = itertools.cycle(range(0,360,10))
    for i, yaw in zip(range(num_runs),yaw_gen):
        pybullet.stepSimulation()
        start = time.time()
        viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
        aspect = pixelWidth / pixelHeight;
        projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
        img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,
            projectionMatrix, shadow=shadow,lightDirection=[1,1,1],
            renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
            #renderer=pybullet.ER_TINY_RENDERER)
        stop = time.time()
        duration = (stop - start)
        if (duration):
        	fps = 1./duration
        	#print("fps=",fps)
        else:
        	fps=0
        	#print("fps=",fps)
        #print("duraction=",duration)
        #print("fps=",fps)
        times[i] = fps

        if plot:
            rgb = img_arr[2]
            image.set_data(rgb)#np_img_arr)
            ax.plot([0])
            #plt.draw()
            #plt.show()
            plt.pause(0.01)

    print("mean: {0} for {1} runs".format(np.mean(times), num_runs))
    print("")


if __name__ == "__main__":

    '''
    with BulletSim(pybullet.DIRECT):
        print("Testing DIRECT w/ shadow")
        test()

        print("Testing DIRECT w/o shadow")
        test(shadow=0)

    with BulletSim(pybullet.GUI):
        print("Testing GUI")  # could have OpenGL?
        test()

        print("Testing GUI w/o shadow")  # could have OpenGL?
        test(shadow=0)


    server_bin = "../../../build_cmake/examples/ExampleBrowser/App_ExampleBrowser"
    server_f = lambda : subprocess.run([server_bin],shell=True)
    server = Process(target=server_f)
    #server.start()
    '''
    
    with BulletSim(pybullet.GUI):
        logId = pybullet.startStateLogging(pybullet.STATE_LOGGING_PROFILE_TIMINGS, "renderTimings")
        print("Testing GUI")
        test()

        print("Testing GUI w/o shadow")
        test(shadow=0)
        pybullet.stopStateLogging(logId)
		
    #server.join()