#!/usr/bin/env python

######################################################################
# Software License Agreement (BSD License)
#
#  Copyright (c) 2010, Rice University
#  All rights reserved.
#
#  Redistribution and use in source and binary forms, with or without
#  modification, are permitted provided that the following conditions
#  are met:
#
#   * Redistributions of source code must retain the above copyright
#     notice, this list of conditions and the following disclaimer.
#   * Redistributions in binary form must reproduce the above
#     copyright notice, this list of conditions and the following
#     disclaimer in the documentation and/or other materials provided
#     with the distribution.
#   * Neither the name of the Rice University nor the names of its
#     contributors may be used to endorse or promote products derived
#     from this software without specific prior written permission.
#
#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
#  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
#  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
#  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
#  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
#  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
#  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES
#  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
#  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
#  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
#  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
#  POSSIBILITY OF SUCH DAMAGE.
######################################################################

# Author: Ioan Sucan, Mark Moll

try:
    from ompl import util as ou
    from ompl import base as ob
    from ompl import geometric as og
except:
    # if the ompl module is not in the PYTHONPATH assume it is installed in a
    # subdirectory of the parent directory called "py-bindings."
    sys.path.insert(0, join(dirname(dirname(abspath(__file__))),'py-bindings'))
    from ompl import util as ou
    from ompl import base as ob
    from ompl import geometric as og
from os.path import abspath, dirname, join
import sys
from functools import partial

class Plane2DEnvironment:
    def __init__(self, ppm_file):
        self.ppm_ = ou.PPM()
        self.ppm_.loadFile(ppm_file)
        space = ob.RealVectorStateSpace()
        space.addDimension(0.0, self.ppm_.getWidth())
        space.addDimension(0.0, self.ppm_.getHeight())
        self.maxWidth_ = self.ppm_.getWidth() - 1
        self.maxHeight_ = self.ppm_.getHeight() - 1
        self.ss_ = og.SimpleSetup(space)

        # set state validity checking for this space
        self.ss_.setStateValidityChecker(ob.StateValidityCheckerFn(
            partial(Plane2DEnvironment.isStateValid, self)))
        space.setup()
        self.ss_.getSpaceInformation().setStateValidityCheckingResolution(1.0 / space.getMaximumExtent())
        #      self.ss_.setPlanner(og.RRTConnect(self.ss_.getSpaceInformation()))

    def plan(self, start_row, start_col, goal_row, goal_col):
        if not self.ss_:
            return false
        start = ob.State(self.ss_.getStateSpace())
        start()[0] = start_row
        start()[1] = start_col
        goal = ob.State(self.ss_.getStateSpace())
        goal()[0] = goal_row
        goal()[1] = goal_col
        self.ss_.setStartAndGoalStates(start, goal)
        # generate a few solutions; all will be added to the goal
        for i in range(10):
            if self.ss_.getPlanner():
                self.ss_.getPlanner().clear()
            self.ss_.solve()
        ns = self.ss_.getProblemDefinition().getSolutionCount()
        print("Found %d solutions" % ns)
        if self.ss_.haveSolutionPath():
            self.ss_.simplifySolution()
            p = self.ss_.getSolutionPath()
            ps = og.PathSimplifier(self.ss_.getSpaceInformation())
            ps.simplifyMax(p)
            ps.smoothBSpline(p)
            return True
        else:
            return False

    def recordSolution(self):
        if not self.ss_ or not self.ss_.haveSolutionPath():
            return
        p = self.ss_.getSolutionPath()
        p.interpolate()
        for i in range(p.getStateCount()):
            w = min(self.maxWidth_, int(p.getState(i)[0]))
            h = min(self.maxHeight_, int(p.getState(i)[1]))
            c = self.ppm_.getPixel(h, w)
            c.red = 255
            c.green = 0
            c.blue = 0

    def save(self, filename):
        if not self.ss_:
            return
        self.ppm_.saveFile(filename)

    def isStateValid(self, state):
        w = min(int(state[0]), self.maxWidth_)
        h = min(int(state[1]), self.maxHeight_)

        c = self.ppm_.getPixel(h, w)
        return c.red > 127 and c.green > 127 and c.blue > 127


if __name__ == "__main__":
    fname = join(join(join(join(dirname(dirname(abspath(__file__))),
        'tests'), 'resources'), 'ppm'), 'floor.ppm')
    env = Plane2DEnvironment(fname)

    if env.plan(0, 0, 777, 1265):
        env.recordSolution()
        env.save("result_demo.ppm")
