# -*- coding: utf-8 -*-
""" 
Export PyBullet adaptive stl and URDF file

@syuntoku
@yanshil
"""

import adsk, adsk.core, adsk.fusion, traceback
import os
from .utils import utils
from .core import Link, Joint, Write

"""
# length unit is 'cm' and inertial unit is 'kg/cm^2'
# If there is no 'body' in the root component, maybe the corrdinates are wrong.
"""

# joint effort: 100
# joint velocity: 100
# supports "Revolute", "Rigid" and "Slider" joint types

# I'm not sure how prismatic joint acts if there is no limit in fusion model

def run(context):
    ui = None
    success_msg = 'Successfully create URDF file'
    msg = success_msg
    
    try:
        # --------------------
        # initialize
        app = adsk.core.Application.get()
        ui = app.userInterface
        product = app.activeProduct
        design = adsk.fusion.Design.cast(product)
        
        title = 'Fusion2URDF'
        if not design:
            ui.messageBox('No active Fusion design', title)
            return

        root = design.rootComponent  # root component 
        components = design.allComponents

        # set the names        
        package_name = 'fusion2urdf'
        robot_name = root.name.split()[0].lower()
        save_dir = utils.file_dialog(ui)
        if save_dir == False:
            ui.messageBox('Fusion2URDF was canceled', title)
            return 0
        
        save_dir = save_dir + '/' + robot_name
        try: os.mkdir(save_dir)
        except: pass
        
        ## Set "Do not capture design history"
        design.designType = adsk.fusion.DesignTypes.DirectDesignType
        
        # --------------------
        # set dictionaries
        
        # Generate joints_dict. All joints are related to root. 
        joints_dict, msg = Joint.make_joints_dict(root, msg)
        if msg != success_msg:
            ui.messageBox(msg, title)
            return 0   
        
        # Generate inertial_dict
        inertial_dict, msg = Link.make_inertial_dict(root, msg)
        if msg != success_msg:
            ui.messageBox(msg, title)
            return 0
        elif not 'base_link' in inertial_dict:
            msg = 'There is no base_link. Please set base_link and run again.'
            ui.messageBox(msg, title)
            return 0
        
        links_xyz_dict = {}
        
        # --------------------
        # Generate URDF
        Write.write_urdf(joints_dict, links_xyz_dict, inertial_dict, package_name, save_dir, robot_name)
        Write.write_hello_pybullet(robot_name, save_dir)
        
        # Generate STl files   
        utils.export_stl(app, save_dir)        
        # utils.copy_occs(root)
        # utils.export_stl(design, save_dir, components)   
        # utils.export_stl(app, save_dir, components)  
        # utils.export_stl(design, save_dir, components) 
        # utils.export_stl(app, save_dir)   
        ui.messageBox(msg, title)
        
    except:
        if ui:
            ui.messageBox('Failed:\n{}'.format(traceback.format_exc()))