# !/usr/bin/env python

# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.processor import RobotAction, RobotObservation, RobotProcessorPipeline
from lerobot.processor.converters import (
    robot_action_observation_to_transition,
    robot_action_to_transition,
    transition_to_robot_action,
)
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower.pipelines import make_so10x_fk_observation_pipeline
from lerobot.robots.so_follower.robot_kinematic_processor import (
    EEBoundsAndSafety,
    EEReferenceAndDelta,
    GripperVelocityToJoint,
    InverseKinematicsEEToJoints,
)
from lerobot.scripts.lerobot_record import record_loop
from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
from lerobot.teleoperators.phone.teleop_phone import Phone
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.pipeline_utils import build_dataset_features
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import init_rerun

NUM_EPISODES = 2
FPS = 30
EPISODE_TIME_SEC = 60
RESET_TIME_SEC = 30
TASK_DESCRIPTION = "My task description"
HF_REPO_ID = "<hf_username>/<dataset_repo_id>"

# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo:
# https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
URDF_PATH = "./SO101/so101_new_calib.urdf"


def main():
    # Create the robot and teleoperator configurations
    camera_config = {"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS)}
    robot_config = SO100FollowerConfig(
        port="/dev/tty.usbmodem5A460814411",
        id="my_awesome_follower_arm",
        cameras=camera_config,
        use_degrees=True,
    )
    teleop_config = PhoneConfig(phone_os=PhoneOS.IOS)  # or PhoneOS.ANDROID

    # Initialize the robot and teleoperator
    robot = SO100Follower(robot_config)
    phone = Phone(teleop_config)

    motor_names = list(robot.bus.motors.keys())

    from lerobot.model.kinematics import RobotKinematics

    kinematics_solver = RobotKinematics(
        urdf_path=URDF_PATH,
        target_frame_name="gripper_frame_link",
        joint_names=motor_names,
    )

    # Phone output pipeline: map raw phone gesture to EE delta (no robot obs needed)
    phone.set_output_pipeline(
        RobotProcessorPipeline[RobotAction, RobotAction](
            steps=[MapPhoneActionToRobotAction(platform=teleop_config.phone_os)],
            to_transition=robot_action_to_transition,
            to_output=transition_to_robot_action,
        )
    )

    # Robot FK observation pipeline: joints → EE pose
    robot.set_output_pipeline(make_so10x_fk_observation_pipeline(URDF_PATH, motor_names))

    # Robot input pipeline: EE delta + current robot obs → joint commands
    robot.set_input_pipeline(
        RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
            steps=[
                EEReferenceAndDelta(
                    kinematics=kinematics_solver,
                    end_effector_step_sizes={"x": 0.5, "y": 0.5, "z": 0.5},
                    motor_names=motor_names,
                    use_latched_reference=True,
                ),
                EEBoundsAndSafety(
                    end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
                    max_ee_step_m=0.20,
                ),
                GripperVelocityToJoint(speed_factor=20.0),
                InverseKinematicsEEToJoints(
                    kinematics=kinematics_solver,
                    motor_names=motor_names,
                    initial_guess_current_joints=True,
                ),
            ],
            to_transition=robot_action_observation_to_transition,
            to_output=transition_to_robot_action,
        )
    )

    # Dataset features auto-derived from robot's FK obs pipeline and phone's mapped action pipeline
    dataset = LeRobotDataset.create(
        repo_id=HF_REPO_ID,
        fps=FPS,
        features=build_dataset_features(robot, phone, use_videos=True),
        robot_type=robot.name,
        use_videos=True,
        image_writer_threads=4,
    )

    # Connect the robot and teleoperator
    robot.connect()
    phone.connect()

    # Initialize the keyboard listener and rerun visualization
    listener, events = init_keyboard_listener()
    init_rerun(session_name="phone_so100_record")

    try:
        if not robot.is_connected or not phone.is_connected:
            raise ValueError("Robot or teleop is not connected!")

        print("Starting record loop. Move your phone to teleoperate the robot...")
        episode_idx = 0
        while episode_idx < NUM_EPISODES and not events["stop_recording"]:
            log_say(f"Recording episode {episode_idx + 1} of {NUM_EPISODES}")

            # Main record loop — pipelines applied internally by robot and phone
            record_loop(
                robot=robot,
                events=events,
                fps=FPS,
                teleop=phone,
                dataset=dataset,
                control_time_s=EPISODE_TIME_SEC,
                single_task=TASK_DESCRIPTION,
                display_data=True,
            )

            # Reset the environment if not stopping or re-recording
            if not events["stop_recording"] and (
                episode_idx < NUM_EPISODES - 1 or events["rerecord_episode"]
            ):
                log_say("Reset the environment")
                record_loop(
                    robot=robot,
                    events=events,
                    fps=FPS,
                    teleop=phone,
                    control_time_s=RESET_TIME_SEC,
                    single_task=TASK_DESCRIPTION,
                    display_data=True,
                )

            if events["rerecord_episode"]:
                log_say("Re-recording episode")
                events["rerecord_episode"] = False
                events["exit_early"] = False
                dataset.clear_episode_buffer()
                continue

            # Save episode
            dataset.save_episode()
            episode_idx += 1
    finally:
        # Clean up
        log_say("Stop recording")
        robot.disconnect()
        phone.disconnect()
        listener.stop()

        dataset.finalize()
        dataset.push_to_hub()


if __name__ == "__main__":
    main()