from dataclasses import dataclass, field
from typing import List
import numpy as np

@dataclass
class MicState:
    """麦克风状态"""
    is_initialized: bool = False
    is_running: bool = False
    is_recording: bool = False
    volume: int = 0
    error_message: str = ""

@dataclass
class SpeakerState:
    """扬声器状态"""
    is_initialized: bool = False
    is_running: bool = False
    is_decoding: bool = False
    is_paused: bool = False
    volume: int = 0

@dataclass
class CameraState:
    """相机状态"""
    is_initialized: bool = False
    is_opened: bool = False
    is_streaming: bool = False
    is_recording: bool = False
    width: int = 0
    height: int = 0
    fps: int = 0
@dataclass
class CameraIntrinsics:
    """相机内参（与Protobuf CameraIntrinsics对齐）"""
    cx: float = 0.0  # 对应Protobuf tag=1
    cy: float = 0.0  # 对应Protobuf tag=2
    fx: float = 0.0  # 对应Protobuf tag=3
    fy: float = 0.0  # 对应Protobuf tag=4
    # 畸变系数：固定5个元素（k1, k2, p1, p2, k3），与Protobuf tag=5对齐
    coeffs: List[float] = field(default_factory=lambda: [0.0]*5)

@dataclass
class FreedomState:
    """灵巧手自由度状态"""
    dof_id: int = 0
    angle: int = 0
    speed: int = 0
    force: int = 0
    position: int = 0
    current: int = 0
    temperature: int = 0
    error: int = 0
    error_message: List[str] = field(default_factory=list)

@dataclass
class DexHandState:
    """灵巧手整体状态"""
    is_initialized: bool = False
    hands: List[FreedomState] = field(default_factory=lambda: [FreedomState() for _ in range(6)])

@dataclass
class FacialExpressionState:
    """面部表情状态"""
    # 眉毛
    left_eyebrow_outside_y: float = 0.0
    left_eyebrow_inside_y: float = 0.0
    right_eyebrow_outside_y: float = 0.0
    right_eyebrow_inside_y: float = 0.0
    
    # 眼睑
    left_eye_upper_lid_y: float = 0.0
    left_eye_lower_lid_y: float = 0.0
    right_eye_upper_lid_y: float = 0.0
    right_eye_lower_lid_y: float = 0.0
    
    # 眼球
    left_eye_ball_x: float = 0.0
    left_eye_ball_y: float = 0.0
    right_eye_ball_x: float = 0.0
    right_eye_ball_y: float = 0.0
    
    # 鼻子
    left_nose_y: float = 0.0
    right_nose_y: float = 0.0
    
    # 嘴巴
    upper_lip_y: float = 0.0
    upper_lip_z: float = 0.0
    lower_lip_y: float = 0.0
    lower_lip_z: float = 0.0
    
    # 左唇角
    upper_left_lip_x: float = 0.0
    upper_left_lip_y: float = 0.0
    left_corner_lip_x: float = 0.0
    left_corner_lip_y: float = 0.0
    lower_left_lip_x: float = 0.0
    lower_left_lip_y: float = 0.0
    
    # 右唇角
    upper_right_lip_x: float = 0.0
    upper_right_lip_y: float = 0.0
    right_corner_lip_x: float = 0.0
    right_corner_lip_y: float = 0.0
    lower_right_lip_x: float = 0.0
    lower_right_lip_y: float = 0.0
    
    # 下巴
    jaw_x: float = 0.0
    jaw_y: float = 0.0

@dataclass
class FingerTactileData:
    """手指触觉数据"""
    data: np.ndarray = None
    rows: int = 0
    cols: int = 0
    byteSize: int = 0
    name: str = ""

    def __post_init__(self):
        if self.data is None and self.rows > 0 and self.cols > 0:
            self.data = np.zeros((self.rows, self.cols), dtype=np.uint16)

@dataclass
class PalmTactileData:
    """手掌触觉数据"""
    data: np.ndarray = None
    rows: int = 8
    cols: int = 14
    byteSize: int = 224
    name: str = "掌心"

    def __post_init__(self):
        if self.data is None:
            self.data = np.zeros((self.rows, self.cols), dtype=np.uint16)

@dataclass
class HandTactileSensors:
    """整只手的触觉传感器数据"""
    pinky_tip: FingerTactileData = None
    pinky_finger: FingerTactileData = None
    pinky_pad: FingerTactileData = None

    ring_tip: FingerTactileData = None
    ring_finger: FingerTactileData = None
    ring_pad: FingerTactileData = None

    middle_tip: FingerTactileData = None
    middle_finger: FingerTactileData = None
    middle_pad: FingerTactileData = None

    index_tip: FingerTactileData = None
    index_finger: FingerTactileData = None
    index_pad: FingerTactileData = None

    thumb_tip: FingerTactileData = None
    thumb_finger: FingerTactileData = None
    thumb_middle: FingerTactileData = None
    thumb_pad: FingerTactileData = None

    palm: PalmTactileData = None

    def __post_init__(self):
        """初始化所有传感器数据"""
        # 小拇指
        self.pinky_tip = FingerTactileData(rows=3, cols=3, byteSize=18, name="小拇指指端")
        self.pinky_finger = FingerTactileData(rows=12, cols=8, byteSize=192, name="小拇指指尖")
        self.pinky_pad = FingerTactileData(rows=10, cols=8, byteSize=160, name="小拇指指腹")

        # 无名指
        self.ring_tip = FingerTactileData(rows=3, cols=3, byteSize=18, name="无名指指端")
        self.ring_finger = FingerTactileData(rows=12, cols=8, byteSize=192, name="无名指指尖")
        self.ring_pad = FingerTactileData(rows=10, cols=8, byteSize=160, name="无名指指腹")

        # 中指
        self.middle_tip = FingerTactileData(rows=3, cols=3, byteSize=18, name="中指指端")
        self.middle_finger = FingerTactileData(rows=12, cols=8, byteSize=192, name="中指指尖")
        self.middle_pad = FingerTactileData(rows=10, cols=8, byteSize=160, name="中指指腹")

        # 食指
        self.index_tip = FingerTactileData(rows=3, cols=3, byteSize=18, name="食指指端")
        self.index_finger = FingerTactileData(rows=12, cols=8, byteSize=192, name="食指指尖")
        self.index_pad = FingerTactileData(rows=10, cols=8, byteSize=160, name="食指指腹")

        # 大拇指
        self.thumb_tip = FingerTactileData(rows=3, cols=3, byteSize=18, name="大拇指指端")
        self.thumb_finger = FingerTactileData(rows=12, cols=8, byteSize=192, name="大拇指尖")
        self.thumb_middle = FingerTactileData(rows=3, cols=3, byteSize=18, name="大拇指指中")
        self.thumb_pad = FingerTactileData(rows=12, cols=8, byteSize=192, name="大拇指指腹")

        # 掌心
        self.palm = PalmTactileData()

    def get_finger_name(self, finger_type):
        """获取手指名称"""
        from .enums import FingerType

        names = {
            FingerType.PINKY: "小拇指",
            FingerType.RING: "无名指",
            FingerType.MIDDLE: "中指",
            FingerType.INDEX: "食指",
            FingerType.THUMB: "大拇指"
        }
        return names.get(finger_type, "未知")
    def print_summary(self):
        """打印传感器数据摘要信息"""
        print(f"  小拇指指端: {self.pinky_tip.rows}x{self.pinky_tip.cols} (数据大小: {self.pinky_tip.byteSize} bytes)")
        print(f"  无名指指端: {self.ring_tip.rows}x{self.ring_tip.cols} (数据大小: {self.ring_tip.byteSize} bytes)")
        print(f"  中指指端: {self.middle_tip.rows}x{self.middle_tip.cols} (数据大小: {self.middle_tip.byteSize} bytes)")
        print(f"  食指指端: {self.index_tip.rows}x{self.index_tip.cols} (数据大小: {self.index_tip.byteSize} bytes)")
        print(f"  大拇指指端: {self.thumb_tip.rows}x{self.thumb_tip.cols} (数据大小: {self.thumb_tip.byteSize} bytes)")
        print(f"  大拇指指中: {self.thumb_middle.rows}x{self.thumb_middle.cols} (数据大小: {self.thumb_middle.byteSize} bytes)")
        print(f"  掌心: {self.palm.rows}x{self.palm.cols} (数据大小: {self.palm.byteSize} bytes)")

# 机器人相关数据结构
@dataclass
class JointCmd:
    """关节控制命令"""
    joint_name: str = ""      # 关节名称
    rad: float = 0.0          # 弧度
    vel: float = 0.0          # 角速度，rad/s

@dataclass
class Pose3D:
    """3D位姿"""
    x: float = 0.0    # X坐标
    y: float = 0.0    # Y坐标
    z: float = 0.0    # Z坐标
    rx: float = 0.0   # 绕X轴旋转（弧度）
    ry: float = 0.0   # 绕Y轴旋转（弧度）
    rz: float = 0.0   # 绕Z轴旋转（弧度）
    
    def to_array(self) -> np.ndarray:
        """转换为numpy数组"""
        return np.array([self.x, self.y, self.z, self.rx, self.ry, self.rz])
    
    @classmethod
    def from_array(cls, arr: np.ndarray) -> 'Pose3D':
        """从numpy数组创建Pose3D"""
        return cls(arr[0], arr[1], arr[2], arr[3], arr[4], arr[5])

@dataclass
class JointState:
    """关节状态"""
    name: List[str] = field(default_factory=list)      # 关节名称列表
    position: List[float] = field(default_factory=list) # 关节位置列表（弧度）
    velocity: List[float] = field(default_factory=list) # 关节速度列表（rad/s）
    effort: List[float] = field(default_factory=list)   # 关节力矩列表
    timestamp: float = 0.0                             # 时间戳
    
    def __post_init__(self):
        """确保列表长度一致"""
        if len(self.name) > 0:
            n_joints = len(self.name)
            self.position = self.position[:n_joints] + [0.0] * (n_joints - len(self.position))
            self.velocity = self.velocity[:n_joints] + [0.0] * (n_joints - len(self.velocity))
            self.effort = self.effort[:n_joints] + [0.0] * (n_joints - len(self.effort))
    
    def get_joint_by_name(self, joint_name: str) -> tuple:
        """根据关节名称获取状态"""
        if joint_name in self.name:
            idx = self.name.index(joint_name)
            return (self.position[idx], self.velocity[idx], self.effort[idx])
        return (0.0, 0.0, 0.0)
    
    def to_dict(self) -> dict:
        """转换为字典格式"""
        return {
            'name': self.name,
            'positions': self.position,
            'velocities': self.velocity,
            'efforts': self.effort,
            'timestamp': self.timestamp
        }