'''
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
from threading import Thread, Lock
import sys

import rclpy

from utils.robot_control_cmd_lcmt import robot_control_cmd_lcmt
from utils.robot_control_response_lcmt import robot_control_response_lcmt
from utils.localization_lcmt import localization_lcmt
from utils.image_raw import ImageProcessor
from utils.marker_client import MarkerRunner
from utils.base_msg import BaseMsg

from task_1.task_1 import run_task_1
from task_5.task_5 import run_task_5

def main():
    rclpy.init()  # 新增：在主程序中统一初始化 ROS 2 上下文
    Ctrl = Robot_Ctrl()
    Ctrl.run()
    msg = robot_control_cmd_lcmt()

    try:
        print("Recovery stand")
        msg.mode = 12  # Recovery stand
        msg.gait_id = 0
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        Ctrl.Wait_finish(12, 0)
        
        # time.sleep(100) # TEST 

        run_task_1(Ctrl, msg)

        # run_task_5(Ctrl, msg)

        # time.sleep(100)

    except KeyboardInterrupt:
        print("\n程序被用户中断")
    except Exception as e:
        print(f"发生错误: {e}")
    finally:
        print("正在清理资源...")
        Ctrl.quit()
        rclpy.shutdown()  # 新增：在主程序中统一销毁 ROS 2 上下文
        print("程序已退出")
        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.odo_thread = Thread(target=self.rec_responce_o)
        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.lc_o = lcm.LCM("udpm://239.255.76.67:7667?ttl=255")
        self.cmd_msg = robot_control_cmd_lcmt()
        self.rec_msg = robot_control_response_lcmt()
        self.odo_msg = localization_lcmt()
        self.image_processor = ImageProcessor()
        # DEBUG
        self.marker_runner = MarkerRunner()
        self.send_lock = Lock()
        self.delay_cnt = 0
        self.mode_ok = 0
        self.gait_ok = 0
        self.runing = 1
        # 新增: 校准相关变量
        self.is_calibrated = False  # 是否已完成校准
        self.calibration_offset = [0, 0, 0]  # 校准偏移量

        # 新增: 基础消息
        self.base_msg = BaseMsg(self, self.cmd_msg)

    def run(self):
        self.lc_r.subscribe("robot_control_response", self.msg_handler)
        self.lc_o.subscribe("global_to_robot", self.msg_handler_o)
        self.send_thread.start()
        self.rec_thread.start()
        self.odo_thread.start()
        self.image_processor.run()
        self.marker_runner.run()

    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 msg_handler_o(self, channel, data):
        self.odo_msg = localization_lcmt().decode(data)
        # 如果尚未校准，记录第一帧数据作为校准基准
        if not self.is_calibrated:
            self.calibration_offset = self.odo_msg.xyz
            self.is_calibrated = True
            print(f"校准完成，基准值: {self.calibration_offset}")
        # 将接收到的 odo 数据减去校准基准值
        self.odo_msg.xyz = [
            self.odo_msg.xyz[0] - self.calibration_offset[0],
            self.odo_msg.xyz[1] - self.calibration_offset[1],
            self.odo_msg.xyz[2] - self.calibration_offset[2]
        ]
        # if self.odo_msg.timestamp % 100 == 0:
        #     print(self.odo_msg.xyz)

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

    def rec_responce_o(self):
        while self.runing:
            self.lc_o.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
        print("Wait_finish timeout.")
        return False

    def send_publish(self):
        while self.runing:
            self.send_lock.acquire()
            if self.delay_cnt > 20:  # Heartbeat signal 10HZ
                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 place_marker(self, x, y, z, color, observe=False):
        """调用 MarkerRunner 放置标志物"""
        if self.marker_runner is None or self.marker_runner.marker_client is None:
            print("MarkerRunner 未初始化，无法放置标志物")
            return None
        try:
            response = self.marker_runner.send_request(x, y, z, color, observe=observe)
            print(f"放置标志物结果: {response.success}, 消息: {response.message}")
            return response
        except Exception as e:
            print(f"放置标志物时发生异常: {e}")
            return None

    def quit(self):
        self.runing = 0
        self.rec_thread.join()
        self.send_thread.join()
        self.image_processor.destroy()
        # 销毁 MarkerRunner
        if hasattr(self, 'marker_runner') and self.marker_runner is not None:
            try:
                self.marker_runner.destroy()
            except Exception as e:
                print(f"MarkerRunner 销毁失败: {e}")

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