'''
This demo show the communication interface of MR813 motion control board based on Lcm.
Dependency: 
- robot_control_cmd_lcmt.py
- robot_control_response_lcmt.py
'''
import lcm
import sys
import os
import time
import threading
from threading import Thread, Lock

from utils.robot_control_cmd_lcmt import robot_control_cmd_lcmt
from utils.robot_control_response_lcmt import robot_control_response_lcmt
# from camera import MiroCameraROS2

# from pyzbar import pyzbar
# from PIL import Image
# import rclpy

# from qreader import QReader
# import cv2

def main():
    Ctrl = Robot_Ctrl()
    Ctrl.run()
    msg = robot_control_cmd_lcmt()
    # qreader = QReader()
    try:
        #x=-0.118246,y=0.011020,z=0.066921,yaw=-0.000436
        msg.mode = 12 # Recovery stand
        msg.gait_id = 0
        msg.life_count += 1 # Command will take effect when life_count update
        Ctrl.Send_cmd(msg)
        Ctrl.Wait_finish(12, 0)

        msg.mode = 11
        msg.gait_id = 3
        msg.step_height = [0.06, 0.06]
        msg.vel_des = [0.1,0.0,0.0]
        msg.duration = 2000
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        time.sleep(5)

###################### S 弯 ###########################
        # msg.vel_des = [0.3, 0.02, 0.05] #转向
        # msg.duration = 3000 # Zero duration means continuous motion until a new command is used.
        #                  # Continuous motion can interrupt non-zero duration interpolation motion
        # msg.life_count += 1
        # Ctrl.Send_cmd(msg)
        # time.sleep( 5 )
        
        msg.vel_des = [0.3, 0, 0.42] 
        msg.duration = 10300 
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        time.sleep( 15 )

        # msg.vel_des = [0.3, 0, 0] 
        # msg.duration = 200 
        # msg.life_count += 1
        # Ctrl.Send_cmd(msg)
        # time.sleep( 2 )

        msg.vel_des = [0.3, 0, -0.43] 
        msg.duration = 12200 
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        time.sleep( 15 )

        # msg.vel_des = [0.3, 0, 0] 
        # msg.duration = 100 
        # msg.life_count += 1
        # Ctrl.Send_cmd(msg)
        # time.sleep( 2 )

        msg.vel_des = [0.3, 0, 0.43] 
        msg.duration = 10200 
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        time.sleep( 15 )

        msg.vel_des = [0.3, 0, -0.5] 
        msg.duration = 3500 
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        time.sleep( 10 )

        msg.vel_des = [0, 0.3, 0] 
        msg.duration = 1000 
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        time.sleep( 10 )

        msg.vel_des = [0.3, 0, 0] 
        msg.duration = 3000 
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        time.sleep( 10 )

        
###################### S 弯 ###########################

    except KeyboardInterrupt:
        pass
    Ctrl.quit()
    sys.exit()


class Robot_Ctrl(object):
    def __init__(self):
        self.rec_thread = Thread(target=self.rec_responce)
        self.send_thread = Thread(target=self.send_publish)
        self.lc_r = lcm.LCM("udpm://239.255.76.67:7670?ttl=255")
        self.lc_s = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
        self.cmd_msg = robot_control_cmd_lcmt()
        self.rec_msg = robot_control_response_lcmt()
        self.send_lock = Lock()
        self.delay_cnt = 0
        self.mode_ok = 0
        self.gait_ok = 0
        self.runing = 1

    def run(self):
        self.lc_r.subscribe("robot_control_response", self.msg_handler)
        self.send_thread.start()
        self.rec_thread.start()

    def msg_handler(self, channel, data):
        self.rec_msg = robot_control_response_lcmt().decode(data)
        if(self.rec_msg.order_process_bar >= 95):
            self.mode_ok = self.rec_msg.mode
        else:
            self.mode_ok = 0

    def rec_responce(self):
        while self.runing:
            self.lc_r.handle()
            time.sleep( 0.002 )

    def Wait_finish(self, mode, gait_id):
        count = 0
        while self.runing and count < 2000: #10s
            if self.mode_ok == mode and self.gait_ok == gait_id:
                return True
            else:
                time.sleep(0.005)
                count += 1

    def send_publish(self):
        while self.runing:
            self.send_lock.acquire()
            if self.delay_cnt > 20: # Heartbeat signal 10HZ, It is used to maintain the heartbeat when life count is not updated
                self.lc_s.publish("robot_control_cmd",self.cmd_msg.encode())
                self.delay_cnt = 0
            self.delay_cnt += 1
            self.send_lock.release()
            time.sleep( 0.005 )

    def Send_cmd(self, msg):
        self.send_lock.acquire()
        self.delay_cnt = 50
        self.cmd_msg = msg
        self.send_lock.release()

    def quit(self):
        self.runing = 0
        self.rec_thread.join()
        self.send_thread.join()

class MiroCameraThread(threading.Thread):
    def __init__(self):
        super().__init__(daemon=True)
        self.ros_initialized = False
        self.camera = None
        self.image = None
    
    def run(self):
        rclpy.init()
        self.ros_initialized = True
        self.camera = MiroCameraROS2()
        self.image = self.camera.get_latest_image()
        rclpy.shutdown()

# Main function
if __name__ == '__main__':
    main()