#!/usr/bin/env python

from typing import TypeVar

import cv2 as cv
import cv2.aruco as aruco
import numpy

all_aruco_markers_dictionaries = {
    'DICT_4X4_50': aruco.DICT_4X4_50,
    'DICT_4X4_100': aruco.DICT_4X4_100,
    'DICT_4X4_250': aruco.DICT_4X4_250,
    'DICT_4X4_1000': aruco.DICT_4X4_1000,
    'DICT_5X5_50': aruco.DICT_5X5_50,
    'DICT_5X5_100': aruco.DICT_5X5_100,
    'DICT_5X5_250': aruco.DICT_5X5_250,
    'DICT_5X5_1000': aruco.DICT_5X5_1000,
    'DICT_6X6_50': aruco.DICT_6X6_50,
    'DICT_6X6_100': aruco.DICT_6X6_100,
    'DICT_6X6_250': aruco.DICT_6X6_250,
    'DICT_6X6_1000': aruco.DICT_6X6_1000,
    'DICT_7X7_50': aruco.DICT_7X7_50,
    'DICT_7X7_100': aruco.DICT_7X7_100,
    'DICT_7X7_250': aruco.DICT_7X7_250,
    'DICT_7X7_1000': aruco.DICT_7X7_1000,
    'DICT_ARUCO_ORIGINAL': aruco.DICT_ARUCO_ORIGINAL,
    'DICT_APRILTAG_16h5': aruco.DICT_APRILTAG_16h5,
    'DICT_APRILTAG_25h9': aruco.DICT_APRILTAG_25h9,
    'DICT_APRILTAG_36h10': aruco.DICT_APRILTAG_36h10,
    'DICT_APRILTAG_36h11': aruco.DICT_APRILTAG_36h11
}
"""Dictionnary to list all built-in ArUco markers dictionaries from OpenCV ArUco package."""

ArUcoMarkerType = TypeVar('ArUcoMarker', bound="ArUcoMarker")
# Type definition for type annotation convenience

class ArUcoMarkersDictionary():
    """Handle an ArUco markers dictionary."""

    def __init__(self, name):

        if all_aruco_markers_dictionaries.get(name, None) is None:
            raise NameError(f'Bad ArUco markers dictionary name: {name}')

        self.__name = name

        dict_name_split = name.split('_')

        self.__format = dict_name_split[1]

        # DICT_ARUCO_ORIGINAL case
        if self.__format == 'ARUCO':

            self.__format = '5X5'
            self.__number = 1024

        # DICT_APRILTAG case
        elif self.__format == 'APRILTAG':

            april_tag_format = dict_name_split[2]

            if april_tag_format == '16h5':

                self.__format = '4X4'
                self.__number = 30

            elif april_tag_format == '25h9':

                self.__format = '5X5'
                self.__number = 30

            elif april_tag_format == '36h10':

                self.__format = '6X6'
                self.__number = 2320

            elif april_tag_format == '36h11':

                self.__format = '6X6'
                self.__number = 587
  
        # other cases
        else:

            self.__number = int(dict_name_split[2])

        self.__aruco_dict = aruco.Dictionary_get(all_aruco_markers_dictionaries[self.__name])
    
    @property
    def name(self)-> str:
        """Get dictionary name."""

        return self.__name

    @property
    def markers(self) -> aruco.Dictionary:
        """Get all markers from dictionary."""

        return self.__aruco_dict

    @property
    def format(self) -> str:
        """Get markers format."""

        return self.__format

    @property
    def number(self) -> int:
        """Get number of markers inside dictionary."""

        return self.__number

    def create_marker(self, i, size) -> ArUcoMarkerType:
        """Create a marker."""

        if i >= 0 and i < self.__number:

            from argaze.ArUcoMarkers import ArUcoMarker

            return ArUcoMarker.ArUcoMarker(self, i, size)

        else:

            raise ValueError(f'Bad index: {i}')

    def save(self, destination_folder, size, dpi):
        """Save all markers dictionary into separated .png files."""

        for i in range(self.__number):

            self.create_marker(i, size).save(destination_folder, dpi)