"""Parts list in metres and link-local coordinates (for design.json["parts_m"] and the tables in DESIGN.md)."""
import design_kin as K

S = 0.0022
ORIGIN_PX = {   # link object origins in the A frame at rest (px)
    "Carriage": (0, 0, 0), "Turret": (0, 0, 0), "LowerArm": (K.PX["J2"][0], 0, K.PX["J2"][1]),
    "UpperArm": (K.PX["J3"][0], 0, K.PX["J3"][1]), "Forearm": (-35, 0, 937), "WristHead": (K.PX["WC"][0], 0, K.PX["WC"][1]),
    "Flange": (K.PX["WC"][0], 0, K.PX["WC"][1]), "ToolA": (K.PX["WC"][0], 0, K.PX["WC"][1]), "ToolB": (K.PX["WC"][0], 0, K.PX["WC"][1]),
    "Finger": (0, 0, 0),
}
NUM_SIZE = {"box": 3, "rbox": 4, "cyl": 2, "ring": 3, "disc": 2, "U": 3, "decal": 2, "knurl": 2, "links": 3, "channel": 3, "cone": 3,
            "hex": 2, "belt": 2, "tube": 1}


def conv_pt(p, o):
    return [round((p[i] - o[i]) * S, 4) for i in range(3)]


def to_m(parts):
    out = {}
    for link, lst in parts.items():
        o = ORIGIN_PX.get(link, (0, 0, 0))
        rows = []
        for pt in lst:
            q = dict(pt)
            if pt["units"] == "px":
                sh = pt["shape"]
                if sh == "stack":
                    q["size"] = [[round(d * S, 4), round(h * S, 4), mat] for d, h, mat in pt["size"]]
                elif sh == "plate2d":
                    q["size"] = [[round((x - o[0]) * S, 4), round((z - o[2]) * S, 4)] for x, z in pt["size"]]
                    q["size_note"] = "outline (x, z) in the link frame, metres"
                else:
                    n = NUM_SIZE.get(sh, len(pt["size"]))
                    q["size"] = [round(v * S, 4) if i < n else v for i, v in enumerate(pt["size"])]
                at = pt["at"]
                if at and isinstance(at[0], (list, tuple)):
                    q["at"] = [conv_pt(a, o) for a in at]
                elif sh == "plate2d":
                    q["at"] = [0, 0, 0]
                else:
                    q["at"] = conv_pt(at, o)
                q["units"] = "m"
                q["frame"] = "%s object (origin %s m in the arm frame A at rest)" % (link, [round(v * S, 4) for v in o])
            rows.append(q)
        out[link] = rows
    return out


def md_tables(parts_m):
    lines = []
    for link, rows in parts_m.items():
        lines.append("\n### %s\n" % link)
        fr = rows[0].get("frame", "")
        lines.append("Frame: %s.\n" % fr)
        lines.append("| id | part | shape | size (m) | at (m) | refs | material | notes |")
        lines.append("|---|---|---|---|---|---|---|---|")
        for q in rows:
            size = q["size"]
            if q["shape"] == "stack":
                size = " / ".join("dia %.3f h %.3f %s" % (d, h, m) for d, h, m in size)
            elif q["shape"] == "plate2d":
                size = "outline " + " ".join("(%.3f, %.3f)" % (x, z) for x, z in size)
            else:
                size = ", ".join(str(v) for v in size)
            at = q["at"]
            if at and isinstance(at[0], list):
                at = "; ".join("(%s)" % ", ".join("%.3f" % v for v in a) for a in at)
            elif at:
                at = "(%s)" % ", ".join("%.3f" % v for v in at)
            else:
                at = "-"
            note = q.get("note", "")
            if q.get("frame") and q.get("frame") != fr and q["units"] == "m":
                note = "[frame: %s] " % q["frame"] + note
            if q.get("both"):
                note = "both sides (mirror Y). " + note
            if q.get("axis"):
                note = "axis %s. " % q["axis"] + note
            lines.append("| %s | %s | %s | %s | %s | %s | %s | %s |" % (q["id"], q["name"], q["shape"], size, at, q["refs"], q["mat"], note.replace("|", "/")))
    return "\n".join(lines)