examples/play_react_pt.py

"""Interactive playback for React data — accepts a single `.pt` OR a
directory of segments / episodes, concatenates same-episode segments
into one continuous timeline, and lets you switch between source
episodes with N / P.

Usage
-----
Single file (mode1_v1 episode OR a single mode2_v1 segment):
    python examples/play_react_pt.py \\
        processed/mode2_v1/motherboard/2026-05-11/episode_012.segment_00.pt

Whole task — episode-by-episode browser:
    python examples/play_react_pt.py \\
        processed/mode2_v1/motherboard

  All segments of `episode_NNN` are concatenated into one playback
  timeline; N / P jumps to the next / previous source episode.

  Works with mode1_v1 too (each `.pt` is treated as a one-segment
  episode); N / P then jumps file-to-file.

Headless export (one MP4 per episode):
    python examples/play_react_pt.py <root> --save_video_dir /tmp/out

Controls
--------
    space         — pause / resume
    → / d         — next frame
    ← / a         — previous frame
    1..6          — playback speed 1× / 2× / 5× / 10× / 25× / 50×
    r             — reset GelSight diff reference to current frame
    n             — next episode
    p             — previous episode
    q             — quit
"""
import argparse
import collections
import re
import sys
import time
from pathlib import Path

import cv2
import numpy as np
import torch

# ──────────────────────────────────────────────────────────────────────────────
TRACKER_COLORS = {
    "sensor_left":  (  0, 255, 120),
    "sensor_right": (  0, 180, 255),
}
PANEL_W, PANEL_H = 1280, 480
VIEW_THUMB = (320, 240)
TAC_THUMB = (240, 240)
OT_PANEL = (320, 240)
TRAIL_PANEL = (640, 240)
CONTROLS_PANEL = (320, 240)

SEGMENT_FNAME_RE = re.compile(r"^(episode_\d+)\.segment_(\d+)\.pt$")
PLAIN_EPISODE_RE = re.compile(r"^(episode_\d+)\.pt$")


def _to_hwc(t):
    return t.permute(1, 2, 0).numpy() if t.ndim == 3 else t.numpy()

def _view_to_bgr(view_chw):
    return view_chw.permute(1, 2, 0).numpy()

def _tactile_to_bgr(tac_chw):
    rgb = tac_chw.permute(1, 2, 0).numpy()
    return rgb[..., ::-1]

def _diff_thumb(frame_bgr, ref_bgr, size):
    diff = np.clip(frame_bgr.astype(np.int16) - ref_bgr.astype(np.int16) + 128, 0, 255).astype(np.uint8)
    return cv2.resize(diff, size, interpolation=cv2.INTER_NEAREST)


# ──────────────────────────────────────────────────────────────────────────────
# Episode discovery
# ──────────────────────────────────────────────────────────────────────────────

def discover_episodes(root: Path) -> list[dict]:
    """Walk `root`, group .pt files by source episode key '<date>/episode_NNN',
    and return one entry per episode with its segment paths sorted.

    Handles both:
      - mode2_v1: `<root>/<date>/episode_NNN.segment_MM.pt`
      - mode1_v1: `<root>/<date>/episode_NNN.pt`
    """
    pts = sorted(root.rglob("*.pt"))
    if not pts:
        raise SystemExit(f"No .pt files under {root}")

    episodes: dict[str, dict] = {}    # key: "<date>/<ep>" → {date, ep_stem, segs: [(seg_idx, path)]}
    for p in pts:
        m_seg = SEGMENT_FNAME_RE.match(p.name)
        m_plain = PLAIN_EPISODE_RE.match(p.name)
        if m_seg:
            ep_stem, seg_idx = m_seg.group(1), int(m_seg.group(2))
        elif m_plain:
            ep_stem, seg_idx = m_plain.group(1), 0
        else:
            continue
        date = p.parent.name
        key = f"{date}/{ep_stem}"
        episodes.setdefault(key, {"date": date, "ep_stem": ep_stem, "segs": []})
        episodes[key]["segs"].append((seg_idx, p))

    out = []
    for key in sorted(episodes):
        ep = episodes[key]
        ep["segs"].sort(key=lambda x: x[0])
        out.append({"key": key, **ep})
    return out


# ──────────────────────────────────────────────────────────────────────────────
# Episode-load
# ──────────────────────────────────────────────────────────────────────────────

class LoadedEpisode:
    """One source episode, with all its segments concatenated for playback.

    Stores:
      - keys for the 5 image-shaped tensors (view, tactile_*) concatenated
      - keys for the 5 per-frame scalar/vector tensors
      - segment_bounds[i] = (start_in_concat, end_in_concat, seg_idx, source_h5_range)
        for the i-th segment
      - p01 reference frames pulled from the *first* segment's _contact_meta
    """
    PER_FRAME_KEYS = (
        "view", "tactile_left", "tactile_right",
        "sensor_left_pose", "sensor_right_pose", "timestamps",
        "tactile_left_intensity",  "tactile_right_intensity",
        "tactile_left_mixed",      "tactile_right_mixed",
    )

    def __init__(self, ep_meta: dict):
        self.key = ep_meta["key"]
        self.date = ep_meta["date"]
        self.ep_stem = ep_meta["ep_stem"]
        self.segment_paths = [p for _, p in ep_meta["segs"]]
        print(f"[player] loading episode {self.key}  "
              f"({len(self.segment_paths)} segment{'s' if len(self.segment_paths) > 1 else ''})...")

        per_seg = [torch.load(p, weights_only=False, map_location="cpu") for p in self.segment_paths]
        cat = {}
        for k in self.PER_FRAME_KEYS:
            if k in per_seg[0]:
                cat[k] = torch.cat([s[k] for s in per_seg], dim=0)
        # Boundaries
        bounds = []
        cursor = 0
        for i, s in enumerate(per_seg):
            n = s["view"].shape[0]
            meta = s.get("_contact_meta", {})
            bounds.append({
                "start_in_concat": cursor,
                "end_in_concat":   cursor + n - 1,
                "seg_idx":         int(meta.get("source_segment_idx", i)),
                "source_h5_range": meta.get("source_h5_frame_range"),
                "n_frames":        n,
            })
            cursor += n
        self.data = cat
        self.bounds = bounds
        self.n_frames = cursor
        meta0 = per_seg[0].get("_contact_meta", {})
        # p01 references from the first segment (same per-source-episode)
        self.ref_L = _tactile_to_bgr(meta0["ref_p01_left"]) if meta0.get("ref_p01_left") is not None else _tactile_to_bgr(per_seg[0]["tactile_left"][0])
        self.ref_R = _tactile_to_bgr(meta0["ref_p01_right"]) if meta0.get("ref_p01_right") is not None else _tactile_to_bgr(per_seg[0]["tactile_right"][0])
        print(f"[player]   total {self.n_frames} frames  ({self.n_frames / 30.0:.1f}s)")

    def segment_at(self, frame_idx: int) -> dict:
        for b in self.bounds:
            if b["start_in_concat"] <= frame_idx <= b["end_in_concat"]:
                return b
        return self.bounds[-1]

    def is_segment_start(self, frame_idx: int) -> bool:
        return any(frame_idx == b["start_in_concat"] for b in self.bounds[1:])


# ──────────────────────────────────────────────────────────────────────────────
# Panel renderer
# ──────────────────────────────────────────────────────────────────────────────

def _make_ot_panel(pose_L, pose_R, t_idx, t_sec, w, h):
    panel = np.zeros((h, w, 3), np.uint8)
    cv2.putText(panel, "OptiTrack (this frame)", (8, 22),
                cv2.FONT_HERSHEY_SIMPLEX, 0.55, (200, 200, 200), 1, cv2.LINE_AA)
    cv2.line(panel, (8, 30), (w - 8, 30), (60, 60, 60), 1)
    y = 56
    for name, p, color in [("sensor_left", pose_L, TRACKER_COLORS["sensor_left"]),
                            ("sensor_right", pose_R, TRACKER_COLORS["sensor_right"])]:
        cv2.putText(panel, name, (8, y), cv2.FONT_HERSHEY_SIMPLEX, 0.45, color, 1, cv2.LINE_AA)
        y += 18
        if p is None or all(v == 0 for v in p):
            cv2.putText(panel, "  no data", (8, y), cv2.FONT_HERSHEY_SIMPLEX, 0.4, (100, 100, 100), 1, cv2.LINE_AA)
            y += 36; continue
        x, yv, z, qx, qy, qz, qw = p
        cv2.putText(panel, f"  x={x:+.3f} y={yv:+.3f} z={z:+.3f}", (8, y), cv2.FONT_HERSHEY_SIMPLEX, 0.38, (220, 220, 220), 1, cv2.LINE_AA)
        y += 16
        cv2.putText(panel, f"  qx={qx:+.2f} qy={qy:+.2f}", (8, y), cv2.FONT_HERSHEY_SIMPLEX, 0.38, (160, 160, 160), 1, cv2.LINE_AA)
        y += 16
        cv2.putText(panel, f"  qz={qz:+.2f} qw={qw:+.2f}", (8, y), cv2.FONT_HERSHEY_SIMPLEX, 0.38, (160, 160, 160), 1, cv2.LINE_AA)
        y += 24
    cv2.putText(panel, f"t = {t_sec:.2f} s   (concat frame {t_idx})",
                (8, h - 14), cv2.FONT_HERSHEY_SIMPLEX, 0.45, (200, 200, 200), 1, cv2.LINE_AA)
    return panel


def _make_trail_panel(iL_trail, iR_trail, boundary_marks, w, h, threshold=0.4):
    panel = np.zeros((h, w, 3), np.uint8)
    cv2.putText(panel, "Contact intensity (mixed)  — orange = L  ·  blue = R  ·  red = segment cut",
                (8, 22), cv2.FONT_HERSHEY_SIMPLEX, 0.48, (200, 200, 200), 1, cv2.LINE_AA)
    cv2.line(panel, (8, 30), (w - 8, 30), (60, 60, 60), 1)
    mid_y = h - 26
    max_y = 50
    cv2.line(panel, (8, mid_y), (w - 8, mid_y), (80, 80, 80), 1)
    if not iL_trail:
        return panel
    N = len(iL_trail)
    smax = max(max(iL_trail), max(iR_trail), float(threshold) * 1.5, 1e-3)
    x_scale = (w - 16) / max(N - 1, 1)
    for i in range(N - 1):
        x0 = int(8 + i * x_scale); x1 = int(8 + (i + 1) * x_scale)
        y0L = mid_y - int(min(iL_trail[i],     smax) / smax * max_y)
        y1L = mid_y - int(min(iL_trail[i + 1], smax) / smax * max_y)
        cv2.line(panel, (x0, y0L), (x1, y1L), (0, 159, 230), 1, cv2.LINE_AA)
        y0R = mid_y + int(min(iR_trail[i],     smax) / smax * max_y)
        y1R = mid_y + int(min(iR_trail[i + 1], smax) / smax * max_y)
        cv2.line(panel, (x0, y0R), (x1, y1R), (178, 114, 0), 1, cv2.LINE_AA)
    # Segment-cut markers
    for off in boundary_marks:
        if 0 <= off < N:
            x = int(8 + off * x_scale)
            cv2.line(panel, (x, 35), (x, h - 30), (0, 0, 220), 1, cv2.LINE_AA)
    cv2.putText(panel, f"L = {iL_trail[-1]:.2f}", (10, 50),
                cv2.FONT_HERSHEY_SIMPLEX, 0.42, (0, 159, 230), 1, cv2.LINE_AA)
    cv2.putText(panel, f"R = {iR_trail[-1]:.2f}", (10, h - 8),
                cv2.FONT_HERSHEY_SIMPLEX, 0.42, (178, 114, 0), 1, cv2.LINE_AA)
    return panel


def _make_controls_panel(w, h, paused, speed, ep_idx, n_eps):
    panel = np.zeros((h, w, 3), np.uint8)
    cv2.putText(panel, "Controls", (10, 22),
                cv2.FONT_HERSHEY_SIMPLEX, 0.55, (200, 200, 200), 1, cv2.LINE_AA)
    cv2.line(panel, (10, 30), (w - 10, 30), (60, 60, 60), 1)
    keys = [
        ("SPACE",  "pause / resume"),
        ("←  →",   "prev / next frame"),
        ("1..6",   "speed 1x/2x/5x/10x/25x/50x"),
        ("n  p",   "next / prev episode"),
        ("r",      "reset gel-diff ref"),
        ("q",      "quit"),
    ]
    y = 52
    for k, v in keys:
        cv2.putText(panel, f"[{k}]", (10, y),
                    cv2.FONT_HERSHEY_SIMPLEX, 0.42, (140, 200, 140), 1, cv2.LINE_AA)
        cv2.putText(panel, v, (110, y),
                    cv2.FONT_HERSHEY_SIMPLEX, 0.42, (200, 200, 200), 1, cv2.LINE_AA)
        y += 22
    state = "|| PAUSED" if paused else "> PLAYING"
    state_col = (0, 140, 255) if paused else (0, 220, 80)
    cv2.putText(panel, state, (10, h - 50),
                cv2.FONT_HERSHEY_SIMPLEX, 0.55, state_col, 2, cv2.LINE_AA)
    cv2.putText(panel, f"speed: {speed}x", (10, h - 30),
                cv2.FONT_HERSHEY_SIMPLEX, 0.45, (180, 180, 180), 1, cv2.LINE_AA)
    cv2.putText(panel, f"episode {ep_idx + 1} / {n_eps}", (10, h - 10),
                cv2.FONT_HERSHEY_SIMPLEX, 0.45, (180, 180, 180), 1, cv2.LINE_AA)
    return panel


def build_panel(ep: LoadedEpisode, frame_idx: int, ref_L_bgr, ref_R_bgr,
                iL_trail, iR_trail, boundary_marks_local,
                paused: bool, speed: int,
                ep_idx: int, n_eps: int):
    view_bgr  = _view_to_bgr(ep.data["view"][frame_idx])
    tac_L_bgr = _tactile_to_bgr(ep.data["tactile_left"][frame_idx])
    tac_R_bgr = _tactile_to_bgr(ep.data["tactile_right"][frame_idx])

    view_thumb  = cv2.resize(view_bgr,  VIEW_THUMB, interpolation=cv2.INTER_NEAREST)
    tac_L_thumb = cv2.resize(tac_L_bgr, TAC_THUMB,  interpolation=cv2.INTER_NEAREST)
    tac_R_thumb = cv2.resize(tac_R_bgr, TAC_THUMB,  interpolation=cv2.INTER_NEAREST)
    tac_L_diff  = _diff_thumb(tac_L_bgr, ref_L_bgr, TAC_THUMB)
    tac_R_diff  = _diff_thumb(tac_R_bgr, ref_R_bgr, TAC_THUMB)
    for img, label in [(view_thumb, "cam0 / view"),
                       (tac_L_thumb, "tactile_left"),
                       (tac_L_diff,  "tac_L diff (vs p01)"),
                       (tac_R_thumb, "tactile_right"),
                       (tac_R_diff,  "tac_R diff (vs p01)")]:
        cv2.putText(img, label, (6, 14),
                    cv2.FONT_HERSHEY_SIMPLEX, 0.4, (220, 220, 220), 1, cv2.LINE_AA)
    row1 = np.hstack([view_thumb, tac_L_thumb, tac_L_diff, tac_R_thumb, tac_R_diff])

    pose_L = ep.data["sensor_left_pose"][frame_idx].tolist()
    pose_R = ep.data["sensor_right_pose"][frame_idx].tolist()
    t_sec  = float(ep.data["timestamps"][frame_idx] - ep.data["timestamps"][0])
    ot_panel       = _make_ot_panel(pose_L, pose_R, frame_idx, t_sec, *OT_PANEL)
    trail_panel    = _make_trail_panel(list(iL_trail), list(iR_trail),
                                        boundary_marks_local, *TRAIL_PANEL)
    controls_panel = _make_controls_panel(*CONTROLS_PANEL, paused=paused, speed=speed,
                                           ep_idx=ep_idx, n_eps=n_eps)
    row2 = np.hstack([ot_panel, trail_panel, controls_panel])
    panel = np.vstack([row1, row2])

    # Top status bar
    cv2.rectangle(panel, (0, 0), (PANEL_W, 22), (30, 30, 30), -1)
    state = "PAUSED" if paused else "PLAYING"
    seg = ep.segment_at(frame_idx)
    h5r = seg["source_h5_range"]
    seg_label = f"seg {seg['seg_idx']:02d}"
    if h5r:
        seg_label += f"  H5[{h5r[0]}..{h5r[1]}]"
    status = (f"[{state}]  ep {ep_idx + 1}/{n_eps}  {ep.key}  ·  "
              f"frame {frame_idx + 1}/{ep.n_frames}  ·  t={t_sec:.2f}s  ·  "
              f"{seg_label}  ·  {speed}x")
    cv2.putText(panel, status, (10, 16),
                cv2.FONT_HERSHEY_SIMPLEX, 0.46, (0, 200, 255), 1, cv2.LINE_AA)

    # Segment-cut flash: red border for the first 2 frames of a non-first segment
    if ep.is_segment_start(frame_idx):
        cv2.rectangle(panel, (0, 22), (PANEL_W - 1, PANEL_H - 1), (0, 0, 220), 3)

    return panel


# ──────────────────────────────────────────────────────────────────────────────
# Main
# ──────────────────────────────────────────────────────────────────────────────

def main():
    ap = argparse.ArgumentParser(description="Interactive React .pt player.")
    ap.add_argument("path", help="A single .pt file OR a directory of episodes/segments.")
    ap.add_argument("--save_video", default=None,
                    help="When `path` is a single .pt: write that one episode as MP4 here.")
    ap.add_argument("--save_video_dir", default=None,
                    help="When `path` is a directory: write one MP4 per episode into this dir.")
    ap.add_argument("--fps", type=float, default=30.0)
    ap.add_argument("--trail_frames", type=int, default=120)
    args = ap.parse_args()

    in_path = Path(args.path)
    if not in_path.exists():
        print(f"Not found: {in_path}", file=sys.stderr); sys.exit(1)

    if in_path.is_file():
        # Single .pt → one-episode mode (use parent dir for discovery to enable n/p)
        parent_root = in_path.parent.parent  # <root>/<date>/file.pt → <root>
        episodes = discover_episodes(parent_root)
        # Find the episode that contains this exact file
        target_path = in_path.resolve()
        start_idx = 0
        for i, ep_meta in enumerate(episodes):
            if any(p.resolve() == target_path for _, p in ep_meta["segs"]):
                start_idx = i; break
    else:
        episodes = discover_episodes(in_path)
        start_idx = 0
    print(f"[player] discovered {len(episodes)} episode(s) under {in_path}")

    headless_dir = Path(args.save_video_dir) if args.save_video_dir else None
    headless_single = args.save_video

    if headless_single and len(episodes) > 1 and in_path.is_dir():
        print("--save_video accepts a single output path; for a directory pass --save_video_dir instead.", file=sys.stderr)
        sys.exit(1)

    headless = headless_single is not None or headless_dir is not None

    if headless:
        if headless_dir:
            headless_dir.mkdir(parents=True, exist_ok=True)
        for ep_idx in range(start_idx, len(episodes)):
            ep = LoadedEpisode(episodes[ep_idx])
            out_path = (Path(headless_single)
                        if headless_single else
                        (headless_dir / f"{ep.date}_{ep.ep_stem}.mp4"))
            fourcc = cv2.VideoWriter_fourcc(*"mp4v")
            writer = cv2.VideoWriter(str(out_path), fourcc, args.fps, (PANEL_W, PANEL_H))
            iL_trail = collections.deque(maxlen=args.trail_frames)
            iR_trail = collections.deque(maxlen=args.trail_frames)
            print(f"  → {out_path}")
            for f in range(ep.n_frames):
                iL_trail.append(float(ep.data["tactile_left_mixed"][f]))
                iR_trail.append(float(ep.data["tactile_right_mixed"][f]))
                local_boundary_marks = [
                    args.trail_frames - 1 - (f - b["start_in_concat"])
                    for b in ep.bounds[1:]
                    if b["start_in_concat"] <= f and (f - b["start_in_concat"]) < args.trail_frames
                ]
                panel = build_panel(ep, f, ep.ref_L, ep.ref_R,
                                    iL_trail, iR_trail, local_boundary_marks,
                                    paused=False, speed=1,
                                    ep_idx=ep_idx, n_eps=len(episodes))
                writer.write(panel)
            writer.release()
            if headless_single:
                break
        return

    # Interactive
    paused, speed = False, 1
    SPEEDS = {ord('1'): 1, ord('2'): 2, ord('3'): 5,
              ord('4'): 10, ord('5'): 25, ord('6'): 50}

    ep_idx = start_idx
    while 0 <= ep_idx < len(episodes):
        ep = LoadedEpisode(episodes[ep_idx])
        WIN = "React .pt player"
        cv2.namedWindow(WIN, cv2.WINDOW_AUTOSIZE)
        cv2.createTrackbar("Frame", WIN, 0, max(1, ep.n_frames - 1), lambda v: None)
        ref_L, ref_R = ep.ref_L, ep.ref_R
        iL_trail = collections.deque(maxlen=args.trail_frames)
        iR_trail = collections.deque(maxlen=args.trail_frames)
        frame_idx = 0
        last_drawn = -1
        action = "stay"     # 'next' | 'prev' | 'quit' | 'stay'

        while True:
            frame_idx = max(0, min(frame_idx, ep.n_frames - 1))
            pos = cv2.getTrackbarPos("Frame", WIN)
            if pos != frame_idx and pos != last_drawn:
                frame_idx = pos; paused = True

            iL_trail.append(float(ep.data["tactile_left_mixed"][frame_idx]))
            iR_trail.append(float(ep.data["tactile_right_mixed"][frame_idx]))
            boundary_marks = [
                args.trail_frames - 1 - (frame_idx - b["start_in_concat"])
                for b in ep.bounds[1:]
                if b["start_in_concat"] <= frame_idx and (frame_idx - b["start_in_concat"]) < args.trail_frames
            ]

            panel = build_panel(ep, frame_idx, ref_L, ref_R,
                                iL_trail, iR_trail, boundary_marks,
                                paused=paused, speed=speed,
                                ep_idx=ep_idx, n_eps=len(episodes))
            cv2.imshow(WIN, panel)
            if cv2.getTrackbarPos("Frame", WIN) != frame_idx:
                cv2.setTrackbarPos("Frame", WIN, frame_idx)
            last_drawn = frame_idx

            key = cv2.waitKey(1) & 0xFF
            if   key == ord('q'): action = "quit"; break
            elif key == ord(' '): paused = not paused
            elif key in (81, ord('a')): paused = True; frame_idx -= 1
            elif key in (83, ord('d')): paused = True; frame_idx += 1
            elif key in SPEEDS:   speed = SPEEDS[key]
            elif key == ord('r'):
                ref_L = _tactile_to_bgr(ep.data["tactile_left"][frame_idx])
                ref_R = _tactile_to_bgr(ep.data["tactile_right"][frame_idx])
                print(f"  diff ref reset to frame {frame_idx}")
            elif key == ord('n'):
                action = "next"; break
            elif key == ord('p'):
                action = "prev"; break

            if not paused:
                frame_idx += speed
                if frame_idx >= ep.n_frames:
                    print(f"End of episode {ep.key}.")
                    paused = True
                    frame_idx = ep.n_frames - 1
                time.sleep(max(0.0, 1.0 / (args.fps * speed) - 0.001))

        cv2.destroyAllWindows()
        if action == "quit": return
        if action == "next":
            ep_idx = min(ep_idx + 1, len(episodes) - 1)
            if ep_idx == len(episodes) - 1 and episodes[ep_idx]["key"] == ep.key:
                print("Already at last episode.")
        elif action == "prev":
            ep_idx = max(ep_idx - 1, 0)
            if ep_idx == 0 and episodes[ep_idx]["key"] == ep.key:
                print("Already at first episode.")
        else:
            # natural end of an episode — pause; wait for explicit action
            paused = True


if __name__ == "__main__":
    main()