import os

import ecto

from opendm import log
from opendm import io
from opendm import system
from opendm import context


class ODMSlamCell(ecto.Cell):
    def declare_params(self, params):
        pass

    def declare_io(self, params, inputs, outputs):
        inputs.declare("tree", "Struct with paths", [])
        inputs.declare("args", "The application arguments.", {})
        outputs.declare("reconstruction", "list of ODMReconstructions", [])

    def process(self, inputs, outputs):

        log.ODM_INFO('Running OMD Slam Cell')

        # get inputs
        tree = self.inputs.tree
        args = self.inputs.args
        video = os.path.join(tree.root_path, args['video'])

        if not video:
            log.ODM_ERROR('No video provided')
            return ecto.QUIT

        # create working directories
        system.mkdir_p(tree.opensfm)
        system.mkdir_p(tree.pmvs)

        vocabulary = os.path.join(context.orb_slam2_path, 'Vocabulary/ORBvoc.txt')
        config_file = os.path.join(context.orb_slam2_path, 'Examples/Monocular/TUM1.yaml')
        orb_slam_cmd = os.path.join(context.odm_modules_path, 'odm_slam')

        # run slam binary
        system.run(' '.join([
            'cd {} &&'.format(tree.opensfm),
            orb_slam_cmd,
            vocabulary,
            config_file,
            video,
        ]))

        system.run(' '.join([
            'cd {} &&'.format(tree.opensfm),
            'PYTHONPATH={}:{}'.format(context.pyopencv_path, context.opensfm_path),
            'python',
            os.path.join(context.odm_modules_src_path, 'odm_slam/src/orb_slam_to_opensfm.py'),
            video,
            os.path.join(tree.opensfm, 'KeyFrameTrajectory.txt'),
            config_file,
        ]))



        ### check if reconstruction was exported to bundler before

        if not io.file_exists(tree.opensfm_bundle_list) or rerun_cell:
            # convert back to bundler's format
            system.run('PYTHONPATH=%s %s/bin/export_bundler %s' %
                (context.pyopencv_path, context.opensfm_path, tree.opensfm))
        else:
            log.ODM_WARNING('Found a valid Bundler file in: %s' % 
                (tree.opensfm_reconstruction))


        ### check if reconstruction was exported to pmvs before

        if not io.file_exists(tree.pmvs_visdat) or rerun_cell:
            # run PMVS converter
            system.run('PYTHONPATH=%s %s/bin/export_pmvs %s --output %s' % 
                (context.pyopencv_path, context.opensfm_path, tree.opensfm, tree.pmvs))
        else:
            log.ODM_WARNING('Found a valid CMVS file in: %s' % tree.pmvs_visdat)

        log.ODM_INFO('Running OMD Slam Cell - Finished')
        return ecto.OK if args['end_with'] != 'odm_slam' else ecto.QUIT