import os
import time
from aloha_mobile import AlohaRobotRos
from utils import save_data, init_keyboard_listener, load_config, log_say


def main(config_path):
    args = load_config(config_path)
    
    ros_operator = AlohaRobotRos(args)
    dataset_dir = os.path.join(args.dataset_dir, args.task_name)
    # Ensure dataset directory exists
    os.makedirs(dataset_dir, exist_ok=True)
    
    # Single episode collection mode
    if args.num_episodes == 1:
        print(f"Recording single episode {args.episode_idx}...")
        timesteps, actions = ros_operator.process()
        
        if len(actions) < args.max_timesteps:
            print(f"\033[31m\nSave failure: Recorded only {len(actions)}/{args.max_timesteps} timesteps.\033[0m\n")
            return -1
            
        dataset_path = os.path.join(dataset_dir, f"episode_{args.episode_idx}")
        save_data(args, timesteps, actions, dataset_path)
        print(f"\033[32mEpisode {args.episode_idx} saved successfully at {dataset_path}\033[0m")
        return 0
    
    # Multi-episode collection mode
    print("""
\033[1;36mKeyboard Controls:\033[0m
← \033[1mLeft Arrow\033[0m:  Start Recording
→ \033[1mRight Arrow\033[0m: Save Current Data
↓ \033[1mDown Arrow\033[0m:  Discard Current Data
↑ \033[1mUp Arrow\033[0m:    Replay Data (if implemented)
\033[1mESC\033[0m:           Exit Program
""")
    log_say("欢迎您为 具身智能科学家项目采集数据，您辛苦了。我已经将一切准备就绪，请您按方向左键开始录制数据。", play_sounds=True)

    listener, events = init_keyboard_listener()
    episode_idx = args.episode_idx
    collected_episodes = 0
    
    try:
        while collected_episodes < args.num_episodes:
            if events["exit_early"]:
                print("\033[33mOperation terminated by user\033[0m")
                log_say("操作被你停止了，如果这是个误操作，请重新开始。", play_sounds=True)
                break
                
            if events["record_start"]:
                # Reset event states for new recording
                events["record_start"] = False
                events["save_data"] = False
                events["discard_data"] = False
                log_say(f"开始录制第{episode_idx}条轨迹，请开始操作机械臂。", play_sounds=True)
                print(f"\n\033[1;32mRecording episode {episode_idx}...\033[0m")
                timesteps, actions = ros_operator.process()
                print(f"\033[1;33mRecorded {len(actions)} timesteps. (→ to save, ↓ to discard)\033[0m")
                log_say(f"第{episode_idx}条轨迹的录制已经到达最大时间步并录制结束，请选择是否保留该条轨迹。按方向右键保留，方向下键丢弃。", play_sounds=True)
                
                # Wait for user decision to save or discard
                while True:
                    if events["save_data"]:
                        events["save_data"] = False
                        
                        if len(actions) < args.max_timesteps:
                            print(f"\033[31mSave failure: Recorded only {len(actions)}/{args.max_timesteps} timesteps.\033[0m")
                            log_say(f"由于当前轨迹的实际时间步数小于最大时间步数，因此无法保存该条轨迹。该条轨迹将被丢弃，请重新录制。", play_sounds=True)
                        else:
                            dataset_path = os.path.join(dataset_dir, f"episode_{episode_idx}")
                            log_say(f"你选择了保留该轨迹作为第{episode_idx}条轨迹数据。接下来请你按方向左键开始录制下一条轨迹。", play_sounds=True)
                            save_data(args, timesteps, actions, dataset_path)
                            print(f"\033[32mEpisode {episode_idx} saved successfully at {dataset_path}\033[0m")
                            episode_idx += 1
                            collected_episodes += 1
                            print(f"\033[1mProgress: {collected_episodes}/{args.num_episodes} episodes collected. (← to start new episode)\033[0m")
                        break
                        
                    if events["discard_data"]:
                        events["discard_data"] = False
                        log_say(f"你选择了丢弃该轨迹作为第{episode_idx}条轨迹数据。接下来请你按方向左键开始录制下一条轨迹。", play_sounds=True)
                        print("\033[33mData discarded. Press ← to start a new recording.\033[0m")
                        break
                        
                    if events["exit_early"]:
                        print("\033[33mOperation terminated by user\033[0m")
                        log_say("操作被你停止了，如果这是个误操作，请重新开始。", play_sounds=True)
                        return 0
                        
                    time.sleep(0.1)  # Reduce CPU usage
            
            time.sleep(0.1)  # Reduce CPU usage
            
        if collected_episodes == args.num_episodes:
            log_say("恭喜你，本次数据已经全部录制完成。您辛苦了~", play_sounds=True)
            print(f"\n\033[1;32mData collection complete! All {args.num_episodes} episodes collected.\033[0m")
            
    finally:
        # Ensure listener is cleaned up
        if listener:
            listener.stop()
            print("Keyboard listener stopped")

            
if __name__ == '__main__':
    try:
        exit_code = main("/home/ubuntu/LYT/lerobot_aloha/collect_data/aloha.yaml")
        exit(exit_code if exit_code is not None else 0)
    except KeyboardInterrupt:
        print("\n\033[33mProgram interrupted by user\033[0m")
        exit(0)
    except Exception as e:
        print(f"\n\033[31mError: {e}\033[0m")