import torch
from flamby.utils import evaluate_model_on_tests

# 2 lines of code to change to switch to another dataset
from flamby.datasets.fed_tcga_brca import (
    BATCH_SIZE,
    LR,
    NUM_EPOCHS_POOLED,
    Baseline,
    BaselineLoss,
    metric,
    NUM_CLIENTS,
    Optimizer,
)
from flamby.datasets.fed_tcga_brca import FedTcgaBrca as FedDataset

# Instantiation of local train set (and data loader)), baseline loss function, baseline model, default optimizer
train_dataset = FedDataset(center=0, train=True, pooled=False)
train_dataloader = torch.utils.data.DataLoader(train_dataset, batch_size=BATCH_SIZE, shuffle=True, num_workers=0)
lossfunc = BaselineLoss()
model = Baseline()
optimizer = Optimizer(model.parameters(), lr=LR)

# Traditional pytorch training loop
for epoch in range(0, NUM_EPOCHS_POOLED):
    for idx, (X, y) in enumerate(train_dataloader):
        optimizer.zero_grad()
        outputs = model(X)
        loss = lossfunc(outputs, y)
        loss.backward()
        optimizer.step()

# Evaluation
# Instantiation of a list of the local test sets
test_dataloaders = [
            torch.utils.data.DataLoader(
                FedDataset(center=i, train=False, pooled=False),
                batch_size=BATCH_SIZE,
                shuffle=False,
                num_workers=0,
            )
            for i in range(NUM_CLIENTS)
        ]
# Function performing the evaluation
dict_cindex = evaluate_model_on_tests(model, test_dataloaders, metric)
print(dict_cindex)

import torch
from flamby.utils import evaluate_model_on_tests

# 2 lines of code to change to switch to another dataset
from flamby.datasets.fed_tcga_brca import (
    BATCH_SIZE,
    LR,
    NUM_EPOCHS_POOLED,
    Baseline,
    BaselineLoss,
    metric,
    NUM_CLIENTS,
    get_nb_max_rounds
)
from flamby.datasets.fed_tcga_brca import FedTcgaBrca as FedDataset

# 1st line of code to change to switch to another strategy
from flamby.strategies.fed_avg import FedAvg as strat

# We loop on all the clients of the distributed dataset and instantiate associated data loaders
train_dataloaders = [
            torch.utils.data.DataLoader(
                FedDataset(center = i, train = True, pooled = False),
                batch_size = BATCH_SIZE,
                shuffle = True,
                num_workers = 0
            )
            for i in range(NUM_CLIENTS)
        ]

lossfunc = BaselineLoss()
m = Baseline()

# Federated Learning loop
# 2nd line of code to change to switch to another strategy (feed the FL strategy the right HPs)
args = {
            "training_dataloaders": train_dataloaders,
            "model": m,
            "loss": lossfunc,
            "optimizer_class": torch.optim.SGD,
            "learning_rate": LR / 10.0,
            "num_updates": 100,
# This helper function returns the number of rounds necessary to perform approximately as many
# epochs on each local dataset as with the pooled training
            "nrounds": get_nb_max_rounds(100),
        }
s = strat(**args)
m = s.run()[0]

# Evaluation
# We only instantiate one test set in this particular case: the pooled one
test_dataloaders = [
            torch.utils.data.DataLoader(
                FedDataset(train = False, pooled = True),
                batch_size = BATCH_SIZE,
                shuffle = False,
                num_workers = 0,
            )
        ]
dict_cindex = evaluate_model_on_tests(m, test_dataloaders, metric)
print(dict_cindex)

mv_predictor = MultiviewScenePredictor(mesh_db)

problem = MultiviewRefinement(candidates=candidates_n,
                    cameras=cameras,
	                pairs_TC1C2=pairs_TC1C2,
	                mesh_db=self.mesh_db_ba)
ba_outputs = problem.solve(
	n_iterations=ba_n_iter,
	optimize_cameras=not use_known_camera_poses,
)

def solve(self, sample_n_init=1, **lm_kwargs):
	timer_init = Timer()
	timer_opt = Timer()
	timer_misc = Timer()

	timer_init.start()
	TWO_9d_init, TCW_9d_init = self.robust_initialization_TWO_TCW(n_init=sample_n_init)
	timer_init.pause()

	timer_opt.start()
	TWO_9d_opt, TCW_9d_opt, history = self.optimize_lm(
		TWO_9d_init, TCW_9d_init, **lm_kwargs)
	timer_opt.pause()

	timer_misc.start()
	objects, cameras = self.make_scene_infos(TWO_9d_opt, TCW_9d_opt)
	objects_init, cameras_init = self.make_scene_infos(TWO_9d_init, TCW_9d_init)
	history = self.convert_history(history)
	timer_misc.pause()

	outputs = dict(
		objects_init=objects_init,
		cameras_init=cameras_init,
		objects=objects,
		cameras=cameras,
		history=history,
		time_init=timer_init.stop(),
		time_opt=timer_opt.stop(),
		time_misc=timer_misc.stop(),
	)
	return outputs

def right_to_left_hand_pose_R(R):
    # 定义反射矩阵
    M = torch.tensor([
        [ 1,  0,  0],
        [ 0, -1,  0],
        [ 0,  0,  1]
    ], dtype=R.dtype)
    
    # 转换旋转矩阵
    R_prime = M @ R @ M
    
    return R_prime

def right_to_left_hand_pose_t(t):
    # 定义反射矩阵
    M = torch.tensor([
        [ 1,  0,  0],
        [ 0, -1,  0],
        [ 0,  0,  1]
    ], dtype=t.dtype)

    # 转换位移向量
    t_prime = M @ t

    return t_prime

import pyRobotiqGripper
import time
from flask import Flask, request

app = Flask(__name__)
gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()

@app.route('/open_gripper', methods=['POST'])
def open_gripper():
    # 执行脚本
    # import subprocess
    # subprocess.call(['/path/to/your/script.sh'])
    gripper.open()
    return 'gripper open'
@app.route('/close_gripper', methods=['POST'])
def close_gripper():
    # 执行脚本
    # import subprocess
    # subprocess.call(['/path/to/your/script.sh'])
    gripper.close()
    return 'gripper closed'

if __name__ == '__main__':
    app.run(host='0.0.0.0', port=5000)

# gripper = pyRobotiqGripper.RobotiqGripper()
# gripper.activate()
# gripper.close()
# gripper.open()
# time.sleep(3)
# gripper.close()

# 定义要发送的命令和URL
laptop_ip = "192.168.2.111"
close_url = "http://"+laptop_ip+":5000/close_gripper"
open_url = "http://"+laptop_ip+":5000/open_gripper"

# 使用curl命令通过POST请求发送命令
curl_close_command = [
    'curl', 
    '-X', 'POST', 
    close_url, 
]

curl_open_command = [
    'curl', 
    '-X', 'POST', 
    open_url, 
]

print(subprocess.run(curl_open_command, capture_output=True, text=True))

from http import HTTPStatus
from dashscope import Generation
from dashscope.api_entities.dashscope_response import Role


def conversation_with_messages():
    messages = [{'role': Role.SYSTEM, 'content': 'You are a helpful assistant.'},
                {'role': Role.USER, 'content': '如何做西红柿炖牛腩？'}]
    response = Generation.call(
        Generation.Models.qwen_turbo,
        messages=messages,
        # set the result to be "message" format.
        result_format='message',
    )
    if response.status_code == HTTPStatus.OK:
        print(response)
        # append result to messages.
        messages.append({'role': response.output.choices[0]['message']['role'],
                         'content': response.output.choices[0]['message']['content']})
    else:
        print('Request id: %s, Status code: %s, error code: %s, error message: %s' % (
            response.request_id, response.status_code,
            response.code, response.message
        ))
    messages.append({'role': Role.USER, 'content': '不放糖可以吗？'})
    # make second round call
    response = Generation.call(
        Generation.Models.qwen_turbo,
        messages=messages,
        result_format='message',  # set the result to be "message" format.
    )
    if response.status_code == HTTPStatus.OK:
        print(response)
    else:
        print('Request id: %s, Status code: %s, error code: %s, error message: %s' % (
            response.request_id, response.status_code,
            response.code, response.message
        ))


if __name__ == '__main__':
    conversation_with_messages()

from http import HTTPStatus
from dashscope import Generation
from dashscope.aigc.generation import Message
from dashscope.api_entities.dashscope_response import Role
import dashscope

dashscope.api_key = "..."

messages = [Message(Role.SYSTEM, 'you are a cyl家的小女仆口牙')]

messages.append(Message(Role.USER, 'how to install archlinux'))
response = Generation.call(
    Generation.Models.qwen_turbo,
    messages=messages,
    # set the result to be "message" format.
    result_format='message',
)

response

if response.status_code == HTTPStatus.OK:
	print(response)
else:
	print('Request id: %s, Status code: %s, error code: %s, error message: %s' % (
		response.request_id, response.status_code,
		response.code, response.message
	))

messages.append(Message(response.output.choices[0]['message']['role'],
                        response.output.choices[0]['message']['content']))

from http import HTTPStatus
from dashscope import Generation
from dashscope.aigc.generation import Message
from dashscope.api_entities.dashscope_response import Role
import dashscope

messages = []

def setKey():
    dashscope.api_key = "sk-09dd84c7453e4f80a027a05970ab19e1"

def setup(prompt:str):
    setKey()
    messages.append(Message(Role.SYSTEM, prompt))

def ask(question:str):
    messages.append(Message(Role.USER, question))
    response = Generation.call(
        Generation.Models.qwen_turbo,
        messages=messages,
        # set the result to be "message" format.
        result_format='message',
    )
    if response.status_code == HTTPStatus.OK:
        messages.append(Message(response.output.choices[0]['message']['role'],
                        response.output.choices[0]['message']['content']))
    else:
        pass

if __name__ == '__main__':
    setup("你是陈语林家的可爱小女仆呀")
    ask("你是谁呀")
    print(messages[-1])
    ask("你知道些什么")
    print(messages[-1])