import csv
import os
import sys
from copy import deepcopy
from glob import glob
from kikit.panelize import Origin,getOriginCoord
from kikit.common import findBoardBoundingBox
from pcbnewTransition.pcbnew import LoadBoard

YY1_SEP = ["","","","","","","","","","","","","",""]
YY1_HEADER = ["NEODEN","YY1","P&P FILE","","","","","","","","","","",""]
YY1_PANEL = ["PanelizedPCB","UnitLength",0,"UnitWidth",0,"Rows",1,"Columns",1,]
YY1_NOZZLE_DEF = ["NozzleChange","OFF","BeforeComponent",1,"Head1","Drop","Station1","PickUp","Station1",]
YY1_COMP_HEADER = ["Designator","Comment","Footprint","Mid X(mm)","Mid Y(mm) ","Rotation","Head ","FeederNo","Mount Speed(%)","Pick Height(mm)","Place Height(mm)","Mode", "Skip"]

YY1_EXTRA_IND = YY1_COMP_HEADER.index("Head ")
YY1_FEEDER_IND = YY1_COMP_HEADER.index("FeederNo") - YY1_EXTRA_IND

YY1_DEF_EXTRA = [0, 0, 50, 0.0, 0.0, 1, 0]

KI_POS_SUFFIX = "_cpl"

pcb_dir = sys.argv[1]

pcb_file = glob(pcb_dir + "/*.kicad_pcb")
board = LoadBoard(pcb_file[0])
sourceArea = findBoardBoundingBox(board)
bottomOrig = [(a - b)/10**6 for a,b in zip(*[list(getOriginCoord(o, sourceArea)) for o in [Origin.BottomRight, Origin.BottomLeft]])]
print("bottom Orig: ", bottomOrig)



output_dir = deepcopy(pcb_dir)
csv_files = glob(output_dir + "/*.csv")
print("CSV Files: ", csv_files)
if len(csv_files) < 1:
    output_dir = os.path.join(os.environ.get('CI_PROJECT_DIR', ''), '') + "Fabrication/" + output_dir
    csv_files = glob(output_dir + "/*.csv")

input = next(filter(lambda f: KI_POS_SUFFIX in f, csv_files))
output = output_dir + "/" + input.split("/")[-1].split(KI_POS_SUFFIX)[0] + "-neo-pos.csv"
try: 
    feed_opt = next(filter(lambda f: "feed" in f, csv_files)) 
except:
    feed_opt = None

rows_in = []
with open(input, newline='') as csvfile:
    spamreader = csv.reader(csvfile, delimiter=',', quotechar='|')
    for row in spamreader:
        # Round floats to 2 places
        for n, r in enumerate(row):
            r = r.strip('"')
            row[n] = r
            try:
                r = round(float(r),2)
                row[n] = "{:.2f}".format(r)
            except:
                continue
        rows_in.append(row)

in_header = rows_in[0]
posx = in_header.index("PosX")
posy = in_header.index("PosY")
desig = in_header.index("Ref")
comm = in_header.index("Val")
foot = in_header.index("Package")
rot = in_header.index("Rot")

out_inds = [desig, comm, foot, posx, posy, rot]

def pos_diff(pos1, pos2):
    return sum([(pos1[i] - pos2[i])**2 for i in range(2)])**1/2  

# Fiducial
fids = [x for x in filter(lambda x: "Fiducial" in x, rows_in)]
for f in fids:
    rows_in.remove(f)

# Components
comps = rows_in[1:]
comp_feed = {}
feeder = 1
# Load in optional file
if feed_opt is not None:
    # Read in feeder options for components
    with open(feed_opt, newline='') as csvfile:
        spamreader = csv.reader(csvfile, delimiter=',', quotechar='|')
        for row in spamreader:
            comp_feed[row[0]] = row[1:]
            f = int(row[YY1_FEEDER_IND])
            if f > feeder:
                feeder = f
                
def comp_name(row):
    return row[foot] + row[comm]

# Add all component types
for comp in comps:
    name = comp_name(comp) 
    if name not in comp_feed:
        entry = deepcopy(YY1_DEF_EXTRA)
        entry[YY1_FEEDER_IND] = feeder
        comp_feed[name] = entry
        feeder += 1

def comp_format(filt, offset):
    filt_rows = filter(filt, rows_in[1:])
    out = []
    for r in filt_rows:
        t = []
        for i in out_inds:
            t.append(r[i])
        t.extend(comp_feed[comp_name(r)])
        # Cannot go below 0, so just use abs to take care of sign
        for n,p in enumerate([out_inds.index(n) for n in [posx, posy]]):
            t[p] = "{:.2f}".format(abs(float(t[p]) - offset[n]))
        rotation = float(t[rot])
        rotation = rotation + offset[2]
        # Wrap the phase [-180, 180]
        rotation = (rotation + 180.0) % (2 * 180.0) - 180.0
        t[rot] = "{:.2f}".format(rotation)
        out.append(t)
    return out

# Top and bottom
origins = {"top": [0.0,0.0], "bottom": list(bottomOrig)}
print("origins:", origins)

for tag, origin in origins.items():
    rotation = 180.0 * (tag != "top")
    print("rot: ", rotation)
    # Find fiducial furthest away from origin
    fid_pos = deepcopy(origin)
    fid_dist = 0.0
    for f in fids:
        pos = [float(f[posx]), float(f[posy])]
        d = pos_diff(pos, origin)
        if d > fid_dist :
            fid_pos = pos
            fid_dist = d


    print("Fid pos: ", fid_pos)

    # component formatting
    comp = comp_format(lambda x: tag in x, origin + [rotation])

    # Format output
    rows_out = [YY1_HEADER, YY1_SEP, YY1_PANEL, YY1_SEP]
    # y is still same dir, but x gets flipped, so the x calc is opposite sign
    rows_out.append(["Fiducial","1-X", "{:.2f}".format(abs(fid_pos[0] - origin[0])) ,"1-Y","{:.2f}".format(fid_pos[1] - origin[1]) ,"OverallOffsetX",0,"OverallOffsetY",0,])
    rows_out.append(YY1_SEP)
    for _ in range(4):
        rows_out.append(YY1_NOZZLE_DEF)
    rows_out.append(YY1_SEP)
    rows_out.append(YY1_COMP_HEADER)
    rows_out.extend(comp)

    # Write output
    with open(output.split(".csv")[0] + "_" + tag + ".csv", 'w', newline='') as csvfile:
        spamwriter = csv.writer(csvfile, delimiter=',',
                                quotechar='|', quoting=csv.QUOTE_MINIMAL)
        for row in rows_out:
            spamwriter.writerow(row)