from pathlib import Path
import cv2

from lane_detection.Background_Motion import estimate_background_motion
from lane_detection.Bottom_Line_Detection import get_bottom_lines
from lane_detection.Bottom_Line_Postprocessing import postprocessing_bottom_lines
from lane_detection.Lateral_Lines_Postprocessing import postprocessing_lateral_lines
from lane_detection.Lateral_Lines_detection import get_lateral_lines
from lane_detection.Upper_Line_Detection import get_upper_lines
from lane_detection.Upper_Line_Postprocessing import (
    postprocessing_upper_lines,
    publish_csv_lane_points,
    generate_video_lines,
)

from ball_detection.Detection import process_video_with_roi
from ball_detection.Post_processing_outliers import process_data
from reconstruction.Post_processing_positions import process_data_transformed
from reconstruction.Reconstruction import process_reconstruction
from reconstruction.Reconstruction_deformed import process_reconstruction_deformed
from spin.Detection import process_spin
from spin.Post_processing import spin_post_processing
from spin.Video_creation import spin_video_creation
from trajectory.Trajectory_on_reconstruction import trajectory_on_reconstruction
from trajectory.Trajectory_on_reconstruction_deformed import (
    trajectory_on_reconstruction_deformed,
)
from trajectory.Trajectory_on_video import trajectory_on_video
from ball_detection.Post_processing_smoothing import process_coordinates_final
from utility.Final_video_creation import create_final_video


# ===================================================================================
# This script runs the entire pipeline for the ball analysis
# ===================================================================================

if __name__ == "__main__":
    # ===============================================================================
    # PATHS
    # ===============================================================================
    VIDEO_NUM = "4"
    PROJECT_ROOT = Path().resolve()

    # Lane detection
    INPUT_VIDEO_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / f"Recording_{VIDEO_NUM}.mp4"
    )
    TEMPLATE_PIN_PATH = str(
        PROJECT_ROOT / "output_data" / "templates" / "Template_pin.png"
    )
    VIDEO_LANE_DETECTION_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / "other_video"
        / f"Lane_detection_{VIDEO_NUM}.mp4"
    )
    LANE_POINTS_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / "other_data"
        / f"Lane_points_{VIDEO_NUM}.csv"
    )

    # Ball detection
    VIDEO_BALL_DETECTION_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / "other_video"
        / f"Ball_detected_raw_{VIDEO_NUM}.mp4"
    )
    BALL_COORD_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / "other_data"
        / f"Circle_positions_raw_{VIDEO_NUM}.csv"
    )
    BALL_COORD_CLEAR_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / "other_data"
        / f"Circle_positions_cleaned_{VIDEO_NUM}.csv"
    )
    BALL_COORD_TRANS_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / "other_data"
        / f"Transformed_positions_raw_{VIDEO_NUM}.csv"
    )
    BALL_COORD_TRANS_CLEAR_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / "other_data"
        / f"Transformed_positions_processed_{VIDEO_NUM}.csv"
    )
    VIDEO_TRAJ_ON_RECORDING = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / "other_video"
        / f"Tracked_output_{VIDEO_NUM}.mp4"
    )
    BALL_LOWER_COORD_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / "other_data"
        / f"Ball_lower_point_raw_{VIDEO_NUM}.csv"
    )
    BALL_LOWER_COORD_CLEAN_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / "other_data"
        / f"Adjusted_positions_{VIDEO_NUM}.csv"
    )
    VIDEO_BALL_PROCESSED_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / "other_video"
        / f"Ball_detected_processed_{VIDEO_NUM}.mp4"
    )

    # Reconstruction
    BALL_COORD_DEFORMED_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / "other_data"
        / f"Transformed_positions_deformed_{VIDEO_NUM}.csv"
    )

    # Trajectory
    VIDEO_TRAJ_ON_LANE = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / f"Reconstructed_trajectory_processed_{VIDEO_NUM}.mp4"
    )
    TEMPLATE_LANE_PATH = str(
        PROJECT_ROOT / "output_data" / "templates" / "Template_lane.png"
    )
    VIDEO_TRAJ_ON_LANE_DEFORMED = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / f"Reconstructed_trajectory_deformed_{VIDEO_NUM}.mp4"
    )

    # Spin
    ROTATION_DATA_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / "other_data"
        / f"Rotation_data_{VIDEO_NUM}.csv"
    )
    ROTATION_DATA_PROCESSED_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / "other_data"
        / f"Rotation_data_processed_{VIDEO_NUM}.csv"
    )
    VIDEO_SPHERE_RAW_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / "other_video"
        / f"Rotating_sphere_raw_{VIDEO_NUM}.mp4"
    )
    VIDEO_SPHERE_PATH = str(
        PROJECT_ROOT / "output_data" / f"recording_{VIDEO_NUM}" / "Rotating_sphere.mp4"
    )

    # Video creation
    VIDEO_FINAL_PATH = str(
        PROJECT_ROOT
        / "output_data"
        / f"recording_{VIDEO_NUM}"
        / f"Final_{VIDEO_NUM}.mp4"
    )

    # ===============================================================================
    # LANE DETECTION
    # ===============================================================================
    cap = cv2.VideoCapture(INPUT_VIDEO_PATH)
    avg_motion = estimate_background_motion(cap)
    bottom_lines_raw = get_bottom_lines(cap)
    bottom_lines = postprocessing_bottom_lines(bottom_lines_raw, avg_motion)
    left_lines_raw, right_lines_raw = get_lateral_lines(cap, bottom_lines)
    left_lines, right_lines = postprocessing_lateral_lines(
        left_lines_raw, right_lines_raw, avg_motion
    )
    upper_lines_raw = get_upper_lines(
        cap, TEMPLATE_PIN_PATH, bottom_lines, left_lines, right_lines
    )
    points_df = postprocessing_upper_lines(
        cap, bottom_lines, left_lines, right_lines, upper_lines_raw, avg_motion
    )
    generate_video_lines(cap, VIDEO_LANE_DETECTION_PATH, points_df)
    publish_csv_lane_points(LANE_POINTS_PATH, points_df)

    # ===============================================================================
    # BALL DETECTION
    # ===============================================================================
    process_video_with_roi(
        INPUT_VIDEO_PATH, LANE_POINTS_PATH, VIDEO_BALL_DETECTION_PATH, BALL_COORD_PATH
    )
    process_data(BALL_COORD_PATH, BALL_COORD_CLEAR_PATH)
    process_reconstruction(
        LANE_POINTS_PATH, BALL_COORD_CLEAR_PATH, BALL_COORD_TRANS_PATH
    )
    process_data_transformed(BALL_COORD_TRANS_PATH, BALL_COORD_TRANS_CLEAR_PATH)
    trajectory_on_video(
        INPUT_VIDEO_PATH,
        BALL_COORD_TRANS_CLEAR_PATH,
        LANE_POINTS_PATH,
        VIDEO_TRAJ_ON_RECORDING,
        BALL_LOWER_COORD_PATH,
    )
    process_coordinates_final(
        INPUT_VIDEO_PATH,
        BALL_COORD_CLEAR_PATH,
        BALL_LOWER_COORD_PATH,
        BALL_LOWER_COORD_CLEAN_PATH,
        VIDEO_BALL_PROCESSED_PATH,
    )

    # ===============================================================================
    # RECONSTRUCTION
    # ===============================================================================
    # process_reconstruction(LANE_POINTS_PATH, BALL_COORD_CLEAR_PATH, BALL_COORD_TRANS_PATH)
    # process_data_transformed(BALL_COORD_TRANS_PATH, BALL_COORD_TRANS_CLEAR_PATH)
    process_reconstruction_deformed(
        BALL_COORD_TRANS_CLEAR_PATH, BALL_COORD_DEFORMED_PATH, TEMPLATE_LANE_PATH
    )

    # ===============================================================================
    # TRAJECTORY
    # ===============================================================================
    # trajectory_on_video(INPUT_VIDEO_PATH, BALL_COORD_TRANS_CLEAR_PATH, LANE_POINTS_PATH, VIDEO_TRAJ_ON_RECORDING, BALL_LOWER_COORD_PATH)
    trajectory_on_reconstruction(
        INPUT_VIDEO_PATH, BALL_COORD_TRANS_CLEAR_PATH, VIDEO_TRAJ_ON_LANE
    )
    trajectory_on_reconstruction_deformed(
        INPUT_VIDEO_PATH,
        BALL_COORD_DEFORMED_PATH,
        TEMPLATE_LANE_PATH,
        VIDEO_TRAJ_ON_LANE_DEFORMED,
    )

    # ===============================================================================
    # SPIN
    # ===============================================================================
    process_spin(INPUT_VIDEO_PATH, BALL_LOWER_COORD_CLEAN_PATH, ROTATION_DATA_PATH)
    spin_post_processing(
        ROTATION_DATA_PATH,
        ROTATION_DATA_PROCESSED_PATH,
        BALL_LOWER_COORD_CLEAN_PATH,
        INPUT_VIDEO_PATH,
    )
    spin_video_creation(
        INPUT_VIDEO_PATH,
        VIDEO_SPHERE_RAW_PATH,
        VIDEO_SPHERE_PATH,
        ROTATION_DATA_PROCESSED_PATH,
    )

    # ===============================================================================
    # FINAL VIDEO
    # ===============================================================================
    create_final_video(
        VIDEO_TRAJ_ON_RECORDING,
        VIDEO_TRAJ_ON_LANE_DEFORMED,
        VIDEO_SPHERE_PATH,
        VIDEO_FINAL_PATH,
    )