"""Isolated pusher diagnostic: place one item right at the blade, sweep it, log velocity
every step. Determines push (item picks up tangential speed) vs teleport (item barely
moves, gets a depenetration nudge, stops) - probe_push_physics.py's own distinction.
Reuses the CURRENTLY prepared stage (belts/plow/pusher/rails already configured by the
last full run) rather than reopening.
"""
import sys
REPO = "/home/dasha/robozon-sorter"
if REPO not in sys.path:
    sys.path.insert(0, REPO)
for _m in [k for k in list(sys.modules) if k.startswith("robozon_sorter")]:
    del sys.modules[_m]
import importlib
importlib.invalidate_caches()

import omni.usd, omni.timeline
from pxr import Gf, UsdGeom, UsdPhysics, PhysxSchema
import isaacsim.core.experimental.utils.app as app_utils
from isaacsim.core.experimental.prims import RigidPrim

from robozon_sorter import config as C
from robozon_sorter.sim import scene as _scene

stage = omni.usd.get_context().get_stage()
tl = omni.timeline.get_timeline_interface()
if tl.is_playing():
    tl.stop()
    await app_utils.update_app_async(steps=10)

print("=== blade geometry now ===")
geom = stage.GetPrimAtPath("/World/Diverters/DiverterY_Split/Pusher/Geom")
bbc = UsdGeom.BBoxCache(0, ["default", "render"])
r = bbc.ComputeWorldBound(geom).ComputeAlignedRange()
print(f"  blade bbox x[{r.GetMin()[0]:+.3f}..{r.GetMax()[0]:+.3f}] "
      f"y[{r.GetMin()[1]:+.3f}..{r.GetMax()[1]:+.3f}] z[{r.GetMin()[2]:+.3f}..{r.GetMax()[2]:+.3f}]")
print(f"  BLADE_HOME_Y={C.BLADE_HOME_Y} BLADE_OUT_Y={C.BLADE_OUT_Y} PUSH_X={C.PUSH_X} BELT_Z={C.BELT_Z}")

blade_prim = stage.GetPrimAtPath(_scene.BLADE)
print("  blade kinematic:", UsdPhysics.RigidBodyAPI(blade_prim).GetKinematicEnabledAttr().Get())
print("  blade collision enabled (self):", blade_prim.GetAttribute("physics:collisionEnabled").Get())
for c in blade_prim.GetChildren():
    print("   child", c.GetPath(), "collisionEnabled:", c.GetAttribute("physics:collisionEnabled").Get())

# reset blade to home
def blade_op():
    for op in UsdGeom.Xformable(blade_prim).GetOrderedXformOps():
        if op.GetOpType() == UsdGeom.XformOp.TypeTranslate:
            return op
blade_base = blade_op().Get()
def blade_to(y):
    b = blade_base
    blade_op().Set(Gf.Vec3d(b[0], y - _scene.BLADE_PARENT_Y, b[2]))
blade_to(C.BLADE_HOME_Y)

# place a fresh item just upstream of the blade, in its path
name = "probe_item"
items_dir = C.ROOT / "assets" / "items"
prim = UsdGeom.Xform.Define(stage, f"/World/Items/{name}").GetPrim()
prim.GetReferences().ClearReferences()
prim.GetReferences().AddReference(str(items_dir / "box_300x200x200.usd"))
xf = UsdGeom.Xformable(prim)
xf.ClearXformOpOrder()
xf.AddTranslateOp(precision=UsdGeom.XformOp.PrecisionDouble).Set(Gf.Vec3d(C.PUSH_X + 0.05, 0.0, C.BELT_Z + 0.10))
UsdPhysics.RigidBodyAPI.Apply(prim)
UsdPhysics.RigidBodyAPI(prim).CreateKinematicEnabledAttr().Set(False)
UsdPhysics.MassAPI.Apply(prim).CreateMassAttr().Set(0.6)
px = PhysxSchema.PhysxRigidBodyAPI.Apply(prim)
px.CreateEnableCCDAttr().Set(True)
px.CreateSolverPositionIterationCountAttr().Set(24)
px.CreateSleepThresholdAttr().Set(0.0)
UsdGeom.Imageable(prim).MakeVisible()
rp = RigidPrim(paths=[f"/World/Items/{name}"])

tl.play()
await app_utils.update_app_async(steps=40)
p0 = rp.get_world_poses()[0].numpy()[0]
print(f"\n--- settled at x={p0[0]:+.3f} y={p0[1]:+.3f} z={p0[2]:+.3f} ---")

print("\n--- sweeping blade out at PUSHER_MAX_SAFE, logging item state ---")
speed = C.PUSHER_MAX_SAFE
a, b = C.BLADE_HOME_Y, C.BLADE_OUT_Y
duration = abs(b - a) / speed
t0 = float(tl.get_current_time())
i = 0
print(f"{'i':>3} {'t':>6} {'blade_y':>8} {'item_x':>8} {'item_y':>8} {'item_z':>8} {'vx':>7} {'vy':>7}")
while True:
    u = min(1.0, (float(tl.get_current_time()) - t0) / duration)
    blade_to(a + (b - a) * u)
    await app_utils.update_app_async(steps=1)
    p = rp.get_world_poses()[0].numpy()[0]
    v = rp.get_velocities()[0].numpy()[0]
    if i % 3 == 0 or u >= 1.0:
        print(f"{i:3d} {float(tl.get_current_time())-t0:6.3f} {a+(b-a)*u:8.3f} "
              f"{p[0]:8.3f} {p[1]:8.3f} {p[2]:8.3f} {v[0]:7.3f} {v[1]:7.3f}")
    i += 1
    if u >= 1.0:
        break

p_final = rp.get_world_poses()[0].numpy()[0]
print(f"\n--- after stroke: x={p_final[0]:+.3f} y={p_final[1]:+.3f} (started y={p0[1]:+.3f}, moved {p_final[1]-p0[1]:+.3f}) ---")
tl.stop()