"""
default package settings definition
author: Michael Grupp

This file is part of evo (github.com/MichaelGrupp/evo).

evo is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

evo is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with evo.  If not, see <http://www.gnu.org/licenses/>.
"""

import os
import importlib.util
import sys


def get_default_plot_backend() -> str:
    if os.name == "posix" and os.getenv("DISPLAY", default="") == "":
        # Expect Quartz as default on Mac, X11 DISPLAY is not there by default.
        if sys.platform != "darwin":
            return "Agg"

    backends = {"PyQt5": "qtagg", "PyQt6": "qtagg"}
    for pkg in backends:
        if importlib.util.find_spec(pkg) is not None:
            return backends[pkg]
    return "TkAgg"


# default settings with documentation
# fmt: off
DEFAULT_SETTINGS_DICT_DOC = {
    "global_logfile_enabled": (
        False,
        ("Whether to write a global logfile to the home folder.\n"
         "Run 'evo pkg --logfile' to see the logfile location.")
    ),
    "console_logging_format": (
        "%(message)s",
        "Format string for the logging module (affects only console output)."
    ),
    "euler_angle_sequence": (
        "sxyz",
        ("Only used in evo_traj's RPY plot: Euler rotation axis sequence.\n"
         "E.g. 'sxyz' or 'ryxy', where s=static or r=rotating frame.\n"
         "See evo/core/transformations.py for more information.")
    ),
    "map_tile_provider": (
        "OpenStreetMap.Mapnik",
        ("Map tile provider used by the --map_tile option.\n"
         "Requires the contextily package to be installed.\n"
         "See: https://contextily.readthedocs.io/en/latest/providers_deepdive.html")
    ),
    "map_tile_api_token": (
        "",
        "API token for the map_tile_provider, if required."
    ),
    "plot_3d_zoom": (
        0.9,
        "Default zoom factor for 3D plots. Can be used to avoid clipping labels."
    ),
    "plot_axis_marker_scale": (
        0.,
        "Scaling parameter of pose coordinate frame markers. 0 will draw nothing."
    ),
    "plot_backend": (
        get_default_plot_backend(),
        "matplotlib backend - default is 'qtagg' (if PyQt5/PyQt6 is installed) or 'TkAgg'."
    ),
    "plot_pose_correspondences": (
        False,
        "If enabled, lines will be plotted that connect corresponding poses"
        " between the reference and synced trajectories."
    ),
    "plot_pose_correspondences_linestyle": (
        "dotted",
        "Style of pose correspondence markers: "
        "'solid', 'dashed', 'dashdot' or 'dotted'"
    ),
    "plot_statistics": (
        ["rmse", "median", "mean", "std", "min", "max"],
        ("Statistics that are included in plots of evo_{ape, rpe, res}.\n"
         "Can also be set to 'none'.")
    ),
    "plot_figsize": (
        [10, 10],
        "The default size of one (sub)plot figure (width, height)."
    ),
    "plot_fontfamily": (
        "sans-serif",
        "Font family string supported by matplotlib."
    ),
    "plot_fontscale": (
        1.0,
        "Font scale value, see: https://seaborn.pydata.org/generated/seaborn.set.html"
    ),
    "plot_invert_xaxis": (
        False,
        "Invert the x-axis of plots."
    ),
    "plot_invert_yaxis": (
        False,
        "Invert the y-axis of plots."
    ),
    "plot_legend_loc": (
        "best",
        "Plot legend location. See here for the available 'loc' options:\n"
        "https://matplotlib.org/stable/api/_as_gen/matplotlib.pyplot.legend.html"
    ),
    "plot_linewidth": (
        1.5,
        "Line width value supported by matplotlib."
    ),
    "plot_mode_default": (
        "xyz",
        "Default value for --plot_mode used in evo_{traj, ape, rpe}."
    ),
    "plot_multi_cmap": (
        "none",
        "Color map for coloring plots from multiple data sources.\n"
        + "'none' will use the default color palette, see plot_seaborn_palette."
    ),
    "plot_reference_alpha": (
        0.5,
        "Alpha value of the reference trajectories in plots."
    ),
    "plot_reference_color": (
        "#444444",
        "Color of the reference trajectories in plots."
    ),
    "plot_reference_linestyle": (
        "--",
        "matplotlib linestyle of reference trajectories in plots."
    ),
    "plot_reference_axis_marker_scale": (
        0.,
        "Scaling parameter of pose coordinate frame markers of reference trajectories. "
        + "0 will draw nothing."
    ),
    "plot_seaborn_enabled": (
        True,
        "Enables / disables seaborn's styling for plots.\n"
        "Setting this to false will use the classic matplotlib style."
    ),
    "plot_seaborn_palette": (
        "deep6",
        "Default color cycle, taken from a palette of the seaborn package.\n"
        "Can also be a list of colors.\n"
        "See: https://seaborn.pydata.org/generated/seaborn.color_palette.html"
    ),
    "plot_seaborn_style": (
        "darkgrid",
        "Defines the plot background/grid.\n"
        + "Options: 'whitegrid', 'darkgrid', 'white' or 'dark'."
    ),
    "plot_show_axis": (
        True,
        "Enables / disables the plot axis in trajectory plots."
    ),
    "plot_show_legend": (
        True,
        "Enables / disables the legend in trajectory plots."
    ),
    "plot_split": (
        False,
        "Show / save each figure separately instead of a collection."
    ),
    "plot_start_end_markers": (
        False,
        "Mark the start and end of a trajectory with a symbol.\n"
        "Start is marked with a circle, end with a cross."
    ),
    "plot_texsystem": (
        "pdflatex",
        "'xelatex', 'lualatex' or 'pdflatex', see: https://matplotlib.org/users/pgf.html",
    ),
    "plot_trajectory_alpha": (
        0.75,
        "Alpha value of non-reference trajectories in plots.",
    ),
    "plot_trajectory_cmap": (
        "jet",
        "matplotlib color map used for mapping values on a trajectory.",
    ),
    "plot_trajectory_length_unit": (
        "m",
        "Length unit in which trajectories are displayed.\n"
        "Supported units: mm, cm, m, km"
    ),
    "plot_trajectory_linestyle": (
        "-",
        "matplotlib linestyle of non-reference trajectories in plots.",
    ),
    "plot_usetex": (
        False,
        "Use the LaTeX renderer configured in plot_texsystem for plots.",
    ),
    "plot_xyz_realistic": (
        True,
        "Equal axes ratio for realistic trajectory plots.\n"
        "Turning it off allows to stretch the plot without keeping the ratio."
    ),
    "pygments_style": (
        "monokai",
        "Style used for the syntax highlighting in evo_config.\n"
        "See here for available styles: https://pygments.org/styles/"
    ),
    "rerun_spawn": (
        True,
        "Spawn a viewer window when logging data to Rerun.\n"
        "If set to False, the viewer must be started manually."
    ),
    "rerun_viewer_port": (
        9876,
        "Port for the Rerun viewer gRPC proxy."
    ),
    "rerun_base_url": (
        "rerun+http://127.0.0.1",
        "Rerun viewer/server URL without port and path."
    ),
    "ros2_bag_storage_plugin": (
        "mcap",
        "ROS 2 bag storage plugin to use when writing files ('mcap' or 'sqlite3')."
    ),
    "ros2_bag_format_version": (
        9,
        "ROS 2 bag file format version to use when writing files."
    ),
    "ros_fallback_frame_id": (
        "world",
        "frame_id to use when exporting bags from sources without a frame_id."
    ),
    "ros_map_alpha_value": (
        1.0,
        "Alpha value for blending ROS map image slices."
    ),
    "ros_map_cmap": (
        "Greys_r",
        "matplotlib colormap for coloring ROS map cells."
    ),
    "ros_map_enable_masking": (
        True,
        "Enables/disables the masking of unknown cells from a map image,\n"
        "based on the 'ros_map_unknown_cell_value'."
    ),
    "ros_map_unknown_cell_value": (
        205,
        "uint8 value that represents unknown cells in a ROS map image.\n"
        "Used to remove unknown cell pixels when a ROS map is added to a plot."
        "\nmap_saver uses 205, other tools might not.\n"
        "(for example, Cartographer uses 128 for images of probability grids)"
        "\nHas no effect if ros_map_enable_masking is set to false."
    ),
    "ros_map_viewport": (
        "keep_unchanged",
        "How to change the plot axis limits (viewport) when plotting a map.\n"
        "One of the following options: keep_unchanged, zoom_to_map, update"
    ),
    "save_traj_in_zip": (
        False,
        "Store backup trajectories in result zip files (increases size)."
    ),
    "table_export_data": (
        "stats",
        "Which data to export: 'info', 'stats' or 'error_array'.",
    ),
    "table_export_format": (
        "csv",
        "Format for exporting tables, e.g. 'csv', 'excel', 'latex', 'json'...",
    ),
    "table_export_transpose": (
        True,
        "Transpose tables for export."
    ),
    "tf_cache_debug": (
        False,
        "Log debug information about the TF buffer contents.\n"
        "Potentially very spammy and only shown when debug/verbose logging is enabled."
    ),
    "tf_cache_lookup_frequency": (
        10,
        "Frequency for looking up transformations when loading trajectories \n"
        "from a TF topic, in Hz."
    ),
    "tf_cache_max_time": (
        1e4,
        "TF transform cache time in seconds."
    ),
}
# fmt: on

# without documentation
DEFAULT_SETTINGS_DICT = {k: v[0] for k, v in DEFAULT_SETTINGS_DICT_DOC.items()}