# TODO(rcadene): measure fps in nightly?
# TODO(rcadene): test logs
# TODO(rcadene): test calibration
# TODO(rcadene): add compatibility with other motors bus

import time

import hydra
import numpy as np
import pytest

from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from lerobot.common.utils.utils import init_hydra_config
from tests.utils import KOCH_ROBOT_CONFIG_PATH, require_koch


def make_motors_bus():
    robot_cfg = init_hydra_config(KOCH_ROBOT_CONFIG_PATH)
    # Instantiating a common motors structure.
    # Here the one from Alexander Koch follower arm.
    motors_bus = hydra.utils.instantiate(robot_cfg.leader_arms.main)
    return motors_bus


@require_koch
def test_find_port(request):
    from lerobot.common.robot_devices.motors.dynamixel import find_port

    find_port()


@require_koch
def test_configure_motors_all_ids_1(request):
    # This test expect the configuration was already correct.
    motors_bus = make_motors_bus()
    motors_bus.connect()
    motors_bus.write("Baud_Rate", [0] * len(motors_bus.motors))
    motors_bus.set_bus_baudrate(9_600)
    motors_bus.write("ID", [1] * len(motors_bus.motors))
    del motors_bus

    # Test configure
    motors_bus = make_motors_bus()
    motors_bus.connect()
    assert motors_bus.are_motors_configured()
    del motors_bus


@require_koch
def test_motors_bus(request):
    motors_bus = make_motors_bus()

    # Test reading and writting before connecting raises an error
    with pytest.raises(RobotDeviceNotConnectedError):
        motors_bus.read("Torque_Enable")
    with pytest.raises(RobotDeviceNotConnectedError):
        motors_bus.write("Torque_Enable", 1)
    with pytest.raises(RobotDeviceNotConnectedError):
        motors_bus.disconnect()

    # Test deleting the object without connecting first
    del motors_bus

    # Test connecting
    motors_bus = make_motors_bus()
    motors_bus.connect()

    # Test connecting twice raises an error
    with pytest.raises(RobotDeviceAlreadyConnectedError):
        motors_bus.connect()

    # Test disabling torque and reading torque on all motors
    motors_bus.write("Torque_Enable", 0)
    values = motors_bus.read("Torque_Enable")
    assert isinstance(values, np.ndarray)
    assert len(values) == len(motors_bus.motors)
    assert (values == 0).all()

    # Test writing torque on a specific motor
    motors_bus.write("Torque_Enable", 1, "gripper")

    # Test reading torque from this specific motor. It is now 1
    values = motors_bus.read("Torque_Enable", "gripper")
    assert len(values) == 1
    assert values[0] == 1

    # Test reading torque from all motors. It is 1 for the specific motor,
    # and 0 on the others.
    values = motors_bus.read("Torque_Enable")
    gripper_index = motors_bus.motor_names.index("gripper")
    assert values[gripper_index] == 1
    assert values.sum() == 1  # gripper is the only motor to have torque 1

    # Test writing torque on all motors and it is 1 for all.
    motors_bus.write("Torque_Enable", 1)
    values = motors_bus.read("Torque_Enable")
    assert (values == 1).all()

    # Test ordering the motors to move slightly (+1 value among 4096) and this move
    # can be executed and seen by the motor position sensor
    values = motors_bus.read("Present_Position")
    motors_bus.write("Goal_Position", values + 1)
    # Give time for the motors to move to the goal position
    time.sleep(1)
    new_values = motors_bus.read("Present_Position")
    assert (new_values == values).all()