'''
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 time
from threading import Thread, Lock

from robot_control_cmd_lcmt import robot_control_cmd_lcmt
from robot_control_response_lcmt import robot_control_response_lcmt

def main():
    Ctrl = Robot_Ctrl()
    Ctrl.run()
    msg = robot_control_cmd_lcmt()
    msg.life_count = 0  # Initialize life_count to ensure command updates

    try:
        print("Recovery stand")

        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)

        print("Shake hand")
        msg.mode = 62 # Shake hand, based on position interpolation control
        msg.gait_id = 2
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        Ctrl.Wait_finish(62, 2)

        print("Twoleg Stand")
        msg.mode = 64 # Twoleg Stand
        msg.gait_id = 0
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        Ctrl.Wait_finish(64, 0)

        print("Head up")

        msg.mode = 21 # Position interpolation control  # INFO 挺适合用来作为捕获qrcode的方式。
        msg.gait_id = 0
        msg.rpy_des = [0, 0.3, 0] # Head up
        msg.duration = 1000 # Expected execution time, 0.5s 
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        time.sleep( 5 )

        print("Head down")

        msg.mode = 21 # Position interpolation control
        msg.gait_id = 0
        msg.rpy_des = [0, -0.3, 0] # Head down
        msg.duration = 1000
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        time.sleep( 5 )

        print("Body height")

        msg.mode = 21 # Position interpolation control
        msg.gait_id = 5
        msg.rpy_des = [0, 0, 0]
        msg.pos_des = [0, 0, 0.2] # Set body height
        msg.duration = 400 
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        time.sleep( 2 )

        print("Trot fast")

        msg.mode = 11 # Locomotion
        msg.gait_id = 26 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
        msg.vel_des = [0, 0, 0.5] #转向
        msg.duration = 0 # Zero duration means continuous motion until a new command is used.
                         # Continuous motion can interrupt non-zero duration interpolation motion
        msg.step_height = [0.06, 0.06] # ground clearness of swing leg
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        time.sleep( 5 )

        print("Pure damper")

        msg.mode = 7    # PureDamper
        msg.gait_id = 0
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        Ctrl.Wait_finish(7, 0)

    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())
                # 解析并格式化 cmd_msg 内容
                parsed_msg = (
                    f"Heartbeat sent:\n"
                    f"  mode: {self.cmd_msg.mode}\n"
                    f"  gait_id: {self.cmd_msg.gait_id}\n"
                    f"  life_count: {self.cmd_msg.life_count}\n"
                    f"  rpy_des: {self.cmd_msg.rpy_des}\n"
                    f"  pos_des: {self.cmd_msg.pos_des}\n"
                    f"  vel_des: {self.cmd_msg.vel_des}\n"
                    f"  step_height: {self.cmd_msg.step_height}\n"
                    f"  duration: {self.cmd_msg.duration}"
                )
                print(parsed_msg)  # 格式化输出 cmd_msg
                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()

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