import time
import sys
import os
import toml
import copy
import math

# 添加父目录到路径，以便能够导入utils
sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
# 添加当前目录到路径，确保可以找到local文件
sys.path.append(os.path.dirname(os.path.abspath(__file__)))

from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
from base_move.turn_degree import turn_degree
from file_send_lcmt import file_send_lcmt

# 创建本模块特定的日志记录器
logger = get_logger("任务3")

observe = True

robot_cmd = {
    'mode':0, 'gait_id':0, 'contact':0, 'life_count':0,
    'vel_des':[0.0, 0.0, 0.0],
    'rpy_des':[0.0, 0.0, 0.0],
    'pos_des':[0.0, 0.0, 0.0],
    'acc_des':[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    'ctrl_point':[0.0, 0.0, 0.0],
    'foot_pose':[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    'step_height':[0.0, 0.0],
    'value':0,  'duration':0
}

def load_gait_file(file_path):
    """加载步态文件"""
    try:
        with open(file_path, 'r') as f:
            return f.read()
    except Exception as e:
        error(f"加载步态文件失败: {e}", "文件")
        return None

def run_task_3(ctrl, msg):
    section('任务3：步态切换', "启动")
    info('开始执行任务3...', "启动")
    usergait_msg = file_send_lcmt()
    lcm_usergait = ctrl.lc_s
    
    try:
        steps = toml.load("Gait_Params_up.toml")
        full_steps = {'step':[robot_cmd]}
        k =0
        for i in steps['step']:
            cmd = copy.deepcopy(robot_cmd)
            cmd['duration'] = i['duration']
            if i['type'] == 'usergait':                
                cmd['mode'] = 11 # LOCOMOTION
                cmd['gait_id'] = 110 # USERGAIT
                cmd['vel_des'] = i['body_vel_des']
                cmd['rpy_des'] = i['body_pos_des'][0:3]
                cmd['pos_des'] = i['body_pos_des'][3:6]
                cmd['foot_pose'][0:2] = i['landing_pos_des'][0:2]
                cmd['foot_pose'][2:4] = i['landing_pos_des'][3:5]
                cmd['foot_pose'][4:6] = i['landing_pos_des'][6:8]
                cmd['ctrl_point'][0:2] = i['landing_pos_des'][9:11]
                cmd['step_height'][0] = math.ceil(i['step_height'][0] * 1e3) + math.ceil(i['step_height'][1] * 1e3) * 1e3
                cmd['step_height'][1] = math.ceil(i['step_height'][2] * 1e3) + math.ceil(i['step_height'][3] * 1e3) * 1e3
                cmd['acc_des'] = i['weight']
                cmd['value'] = i['use_mpc_traj']
                cmd['contact'] = math.floor(i['landing_gain'] * 1e1)
                cmd['ctrl_point'][2] =  i['mu']
            if k == 0:
                full_steps['step'] = [cmd]
            else:
                full_steps['step'].append(cmd)
            k=k+1
        f = open("Gait_Params_up_full.toml", 'w')
        f.write("# Gait Params\n")
        f.writelines(toml.dumps(full_steps))
        f.close()

        file_obj_gait_def = open("Gait_Def_up.toml",'r')
        file_obj_gait_params = open("Gait_Params_up_full.toml",'r')
        usergait_msg.data = file_obj_gait_def.read()
        lcm_usergait.publish("user_gait_file",usergait_msg.encode())
        time.sleep(0.5)
        usergait_msg.data = file_obj_gait_params.read()
        lcm_usergait.publish("user_gait_file",usergait_msg.encode())
        time.sleep(0.1)
        file_obj_gait_def.close()
        file_obj_gait_params.close()

        user_gait_list = open("Usergait_List.toml",'r')
        steps = toml.load(user_gait_list)
        for step in steps['step']:
            msg.mode = step['mode']
            msg.value = step['value']
            msg.contact = step['contact']
            msg.gait_id = step['gait_id']
            msg.duration = step['duration']
            msg.life_count += 1
            for i in range(3):
                msg.vel_des[i] = step['vel_des'][i]
                msg.rpy_des[i] = step['rpy_des'][i]
                msg.pos_des[i] = step['pos_des'][i]
                msg.acc_des[i] = step['acc_des'][i]
                msg.acc_des[i+3] = step['acc_des'][i+3]
                msg.foot_pose[i] = step['foot_pose'][i]
                msg.ctrl_point[i] = step['ctrl_point'][i]
            for i in range(2):
                msg.step_height[i] = step['step_height'][i]
            ctrl.Send_msg()
            time.sleep( 0.1 )
        for i in range(325): #15s Heat beat It is used to maintain the heartbeat when life count is not updated
            ctrl.Send_msg()
            time.sleep( 0.2 )
    except KeyboardInterrupt:
        msg.mode = 7 #PureDamper before KeyboardInterrupt:
        msg.gait_id = 0
        msg.duration = 0
        msg.life_count += 1
        ctrl.Send_msg()
        pass