#!/usr/bin/env python

import unittest
import os

from argaze import ArFeatures

import numpy

class TestArEnvironmentClass(unittest.TestCase):
    """Test ArEnvironment class."""

    def test_from_json(self):
        """Test ArEnvironment creation from json file."""
        
        # Edit test environment file path
        current_directory = os.path.dirname(os.path.abspath(__file__))
        json_filepath = os.path.join(current_directory, 'utils/environment.json')

        # Load test environment
        ar_environment = ArFeatures.ArEnvironment.from_json(json_filepath)

        # Check environment meta data
        self.assertEqual(ar_environment.name, "TestEnvironment")

        # Check ArUco detector
        self.assertEqual(ar_environment.aruco_detector.dictionary.name, "DICT_ARUCO_ORIGINAL")
        self.assertEqual(ar_environment.aruco_detector.marker_size, 3.0)
        self.assertEqual(ar_environment.aruco_detector.parameters.cornerRefinementMethod, 3)
        self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagQuadSigma, 2)
        self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagDeglitch, 1)

        # Check ArUco detector camera
        self.assertEqual(ar_environment.aruco_detector.camera.rms, 1.0)
        self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.dimensions, [1920, 1080]))
        self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]]))
        self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))

        # Check environment scenes
        self.assertEqual(len(ar_environment.scenes), 2)
        self.assertIsNone(numpy.testing.assert_array_equal(list(ar_environment.scenes.keys()), ["TestSceneA", "TestSceneB"]))

        # Load test scene
        ar_scene = ar_environment.scenes["TestSceneA"]

        # Check Aruco scene
        self.assertEqual(len(ar_scene.aruco_scene.places), 2)
        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places[0].translation, [1, 0, 0]))
        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places[0].rotation, [[1.,0.,0.],[0.,1.,0.],[0.,0.,1.]]))
        self.assertEqual(ar_scene.aruco_scene.places[0].marker.identifier, 0)

        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places[1].translation, [0, 1, 0]))
        self.assertIsNone(numpy.testing.assert_array_almost_equal(ar_scene.aruco_scene.places[1].rotation, [[0.,0.,1.],[0., 1.,0.],[-1.,0.,0.]]))
        self.assertEqual(ar_scene.aruco_scene.places[1].marker.identifier, 1)

        # Check AOI scene 
        self.assertEqual(len(ar_scene.aoi_scene.items()), 1)
        self.assertEqual(ar_scene.aoi_scene['Test'].size, 4)

        # Check ArScene
        self.assertEqual(ar_scene.angle_tolerance, 1.0)
        self.assertEqual(ar_scene.distance_tolerance, 2.0)
        

if __name__ == '__main__':

    unittest.main()