'''
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

before running:
cd /home/cyberdog_sim
source /opt/ros/galactic/setup.bash

实现闭环感知直角拐弯：
Ctrl 类中：
detect_lines 是扫描直线的函数
odo_changeback 通过读里程计和转向实现朝向一个特定方向
side_equal用来对齐两侧直线的距离
walk_forward 输入一个期望保留的距离，然后通过直线前进到达位置，使狗前方能剩下预定距离

参数还调得不算好，尤其walk_forward函数里面的一个常参，可能需要多跑，选更加合适的一个值。
'''
import lcm
import sys
import os
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
from localization_lcmt import localization_lcmt

import toml
import copy
import math
from file_send_lcmt import file_send_lcmt

import rclpy
import numpy
from rclpy.node import Node
from sensor_msgs.msg import LaserScan
from rclpy.qos import QoSProfile, qos_profile_sensor_data
from pprint import pprint

# 自定义步态发送数据的结构
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
}

# 读取到的运动数据
# 使用 self.rec_msg.xxx 代替motion_rec 如：
# motion_rec['mode'] 替换为 self.rec_msg.mode
motion_rec = {
    'mode': 0,
    'gait_id': 0,
    'contact': 0,
    'order_process_bar': 0,
    'switch_status': 0,
    'ori_error': 0,
    'footpos_error': 0,
    'motor_error': (0) * 12,
}

# 里程计数据
# 使用 self.odo_msg.xxx 代替odo_rec 如：
# odo_rec['xyz'] 替换为 self.odo_msg.xyz
odo_rec = {
    'xyz': (0.0, 0.0, 0.0),
    'vxyz': (0.0, 0.0, 0.0),
    'rpy': (0.0, 0.0, 0.0),
    'omegaBody': (0.0, 0.0, 0.0),
    'vBody': (0.0, 0.0, 0.0),
    'timestamp': 0
}

# 雷达数据  data 是 180个的list 每个度数一个点
laser_rec = {
    'data': [0] * 180
}


def main():
    Ctrl = Robot_Ctrl()
    Ctrl.run()
    msg = robot_control_cmd_lcmt()

    try:
        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('init',Ctrl.odo_msg.rpy[2])
        # Ctrl.odo_changeback(-0.785,msg=msg)
        Ctrl.odo_changeback(0, msg=msg)
        # time.sleep(2)

        # lines = Ctrl.detect_lines()
        Ctrl.side_equal(msg=msg)
        # dist = round(abs(lines[0][1]) / ((lines[0][0] * lines[0][0] + 1) ** 0.5),2)
        # print('initline',dist)
        # dist = round(abs(lines[2][1]) / ((lines[2][0] * lines[2][0] + 1) ** 0.5),2)
        # print('initline',dist)
        # print(Ctrl.odo_msg.rpy[2])
        time.sleep(0.2)
        Ctrl.walk_forward(msg=msg, left_dist=0.70)
        time.sleep(0.2)
        Ctrl.odo_changeback(target=1.5708, msg=msg)

        time.sleep(0.2)
        msg.mode = 11  # Locomotion
        msg.gait_id = 27
        msg.vel_des = [0.6, 0, 0]
        msg.duration = 3000
        msg.step_height = [0.06, 0.06]  # ground clearness of swing leg
        msg.life_count += 1
        Ctrl.Send_cmd(msg)
        Ctrl.Wait_finish(11, 27)

        time.sleep(60)


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


class LaserScanSubscriber(Node):

    def __init__(self):
        super().__init__('laser_scan_subscriber')
        # 使用SensorDataQoS作为QoS配置文件
        qos_profile = qos_profile_sensor_data  # 这就是SensorDataQoS
        self.subscription = self.create_subscription(
            LaserScan,
            'scan',  # 替换为你的激光雷达数据发布的话题名
            self.listener_callback,
            qos_profile)

    def listener_callback(self, msg):
        # self.get_logger().info('Received laser scan message:')
        # 在这里处理激光雷达数据，例如打印出范围的最大值
        global laser_rec
        laser_rec['data'] = msg.ranges.tolist()

        # print(type(laser_rec['data']))
        # print(laser_rec['data'])
        # print(odo_rec['rpy'][2])
        time.sleep(3)


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.cmd_msg = robot_control_cmd_lcmt()
        self.rec_msg = robot_control_response_lcmt()
        self.odo_msg = localization_lcmt()
        self.send_lock = Lock()

        self.delay_cnt = 0
        self.mode_ok = 0
        self.gait_ok = 0
        self.runing = 1
        self.laser_scan_data = [0] * 180

        self.lc_o = lcm.LCM("udpm://239.255.76.67:7667?ttl=255")  ###里程计
        # self.handle_lock = Lock()   ###当前读数据只允许一个handle

        self.lcm_cmd = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
        self.lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
        self.usergait_msg = file_send_lcmt()

        rclpy.init(args=None)
        self.laser_scan_subscriber = LaserScanSubscriber()
        self.laser_thread = Thread(target=self.laser_spin_func, kwargs={'subscriber': self.laser_scan_subscriber})

    def laser_spin_func(self, subscriber):
        rclpy.spin(subscriber)
        time.sleep(0.2)

    def run(self):
        self.lc_r.subscribe("robot_control_response", self.msg_handler)
        self.lc_o.subscribe("global_to_robot", self.msg_handler_o)  ###里程计订阅话题
        self.send_thread.start()
        self.rec_thread.start()
        self.odo_thread.start()  ###启动里程计
        self.laser_thread.start()

    def msg_handler(self, channel, data):  # 运动反馈解码函数。
        self.rec_msg = robot_control_response_lcmt().decode(data)
        if (self.rec_msg.order_process_bar >= 95):
            self.mode_ok = self.rec_msg.mode

            # motion_rec['mode'] = self.rec_msg.mode
            # motion_rec['gait_id'] = self.rec_msg.gait_id
            # motion_rec['contact'] = self.rec_msg.contact
            # motion_rec['order_process_bar'] = self.rec_msg.order_process_bar
            # motion_rec['switch_status'] = self.rec_msg.switch_status
            # motion_rec['ori_error'] =self.rec_msg.ori_error
            # motion_rec['footpos_error'] = self.rec_msg.footpos_error
            # motion_rec['motor_error'] = self.rec_msg.motor_error
            # print(motion_rec)

        else:
            self.mode_ok = 0

    def msg_handler_o(self, channel, data):  ###里程计解码函数，被按照频率调用
        self.odo_msg = localization_lcmt().decode(data)
        # odo_rec['xyz'] = self.odo_msg.xyz
        # odo_rec['vxyz'] = self.odo_msg.vxyz
        # odo_rec['rpy'] = self.odo_msg.rpy
        # odo_rec['omegaBody'] = self.odo_msg.omegaBody
        # odo_rec['vBody'] = self.odo_msg.vBody
        # odo_rec['timestamp'] = self.odo_msg.timestamp
        # print(odo_rec)

    def rec_responce(self):
        while self.runing:
            # self.handle_lock.acquire()
            self.lc_r.handle()
            # self.handle_lock.release()
            time.sleep(0.002)

    def rec_responce_o(self):  ###里程计函数，调用msg_hadler_o
        while self.runing:
            # self.handle_lock.acquire()
            self.lc_o.handle()
            # self.handle_lock.release()
            time.sleep(0.002)

    # 探测直线的时候需要的二分查找
    def bio_select(self, k, b, start, end, dist_limit, data_with_order_x, data_with_order_y):
        left, right = start, end - 1

        # 二分查找
        while left < right:
            mid = (left + right) // 2
            x_mid, y_mid = data_with_order_x[mid], data_with_order_y[mid]

            # 计算点到直线的距离
            distance = abs(k * x_mid - y_mid + b) / (k ** 2 + 1) ** 0.5
            if distance <= dist_limit:
                # 点在直线附近，继续向右搜索
                left = mid + 1
            else:
                # 点不在直线附近，缩小搜索范围
                right = mid
        # 返回直线附近点的范围
        return left

    def detect_lines(self):  # data 180个的数组
        dist_limit = 0.10
        init_points = 5
        data_with_order_x = []
        data_with_order_y = []
        data = laser_rec['data']
        # degree = self.odo_msg.rpy[2]

        # 过滤无效值
        for i in range(180):
            if data[i] < 0.12 or data[i] > 12:
                continue
            # data_with_order.append([math.radians(i-90) - degree,data[i]])  #新坐标系里面的偏转角（弧度）+ 距离
            data_with_order_x.append(data[i] * math.cos(math.radians(i - 90)))
            data_with_order_y.append(data[i] * math.sin(math.radians(i - 90)))  # x y 轴
        len_filtered = len(data_with_order_x)

        # print(len(data_with_order_x))
        # for i in range(0, len(data_with_order_x)):
        #     print('(', end='')
        #     print(data_with_order_x[i], data_with_order_y[i], sep=' ,', end='')
        #     print('),', end='\n')
        # 储存直线方程
        lines = []
        # 拐动位置
        corners = [0]
        while corners[-1] < len_filtered - init_points - 1:
            start = corners[-1]
            k1_init, b_init = numpy.polyfit(data_with_order_x[start:start + init_points],
                                            data_with_order_y[start:start + init_points], 1)

            # print(k1_init, b_init)
            # 二分查找 end 是范围内最后一个点
            end = self.bio_select(k1_init, b_init, start, len_filtered, dist_limit, data_with_order_x,
                                  data_with_order_y)
            # 允许一次偏差出现，此时end + 1 被击毙了,用现有的start - end 再拟合新直线，看 end + 1 还在不在外边，
            # 如果还在外边，大概率是救不回了
            # 在里面还可以二分一下
            k1_fixed, b1_fixed = numpy.polyfit(data_with_order_x[start:end], data_with_order_y[start:end], 1)
            dist_bias = (abs(k1_fixed * data_with_order_x[end] - data_with_order_y[end] + b1_fixed) /
                         (k1_fixed ** 2 + 1) ** 0.5)
            if dist_bias < dist_limit:
                end_new = self.bio_select(k1_fixed, b1_fixed, end, len_filtered, dist_limit, data_with_order_x,
                                          data_with_order_y)
                k1_fixed, b1_fixed = numpy.polyfit(data_with_order_x[start:end_new],
                                                   data_with_order_y[start:end_new], 1)
            else:
                end_new = end

            corners.append(end_new)
            # print(end)
            lines.append([k1_fixed, b1_fixed])
            if len(lines) >= 3:
                # print(corners)
                break

        # for i in lines:
        # print(f'{i[0]}x  - y + {i[2]} = 0')
        # print(f'[{i[0]}, {i[1]}],')
        return lines

    def selaction(self):
        try:
            self.send_lock.acquire()
            steps = toml.load("Gait_Params_moonwalk.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_moonwalk_full.toml", 'w')
            f.write("# Gait Params\n")
            f.writelines(toml.dumps(full_steps))
            f.close()

            file_obj_gait_def = open("Gait_Def_moonwalk.toml", 'r')
            file_obj_gait_params = open("Gait_Params_moonwalk_full.toml", 'r')
            self.usergait_msg.data = file_obj_gait_def.read()

            self.lcm_usergait.publish("user_gait_file", self.usergait_msg.encode())

            time.sleep(0.5)
            self.usergait_msg.data = file_obj_gait_params.read()
            self.lcm_usergait.publish("user_gait_file", self.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']:
                self.cmd_msg.mode = step['mode']
                self.cmd_msg.value = step['value']
                self.cmd_msg.contact = step['contact']
                self.cmd_msg.gait_id = step['gait_id']
                self.cmd_msg.duration = step['duration']
                self.cmd_msg.life_count += 1
                for i in range(3):
                    self.cmd_msg.vel_des[i] = step['vel_des'][i]
                    self.cmd_msg.rpy_des[i] = step['rpy_des'][i]
                    self.cmd_msg.pos_des[i] = step['pos_des'][i]
                    self.cmd_msg.acc_des[i] = step['acc_des'][i]
                    self.cmd_msg.acc_des[i + 3] = step['acc_des'][i + 3]
                    self.cmd_msg.foot_pose[i] = step['foot_pose'][i]
                    self.cmd_msg.ctrl_point[i] = step['ctrl_point'][i]
                for i in range(2):
                    self.cmd_msg.step_height[i] = step['step_height'][i]
                self.lcm_cmd.publish("robot_control_cmd", self.cmd_msg.encode())
                time.sleep(0.1)
            for i in range(75):  # 15s Heat beat It is used to maintain the heartbeat when life count is not updated
                self.lcm_cmd.publish("robot_control_cmd", self.cmd_msg.encode())
                time.sleep(0.2)
            self.send_lock.release()
        except KeyboardInterrupt:
            self.cmd_msg.mode = 7  # PureDamper before KeyboardInterrupt:
            self.cmd_msg.gait_id = 0
            self.cmd_msg.duration = 0
            self.cmd_msg.life_count += 1
            self.lcm_cmd.publish("robot_control_cmd", self.cmd_msg.encode())
            self.send_lock.release()
            pass

    def odo_changeback(self, target, msg, limit=0.05):  ##允许误差0.05弧度，大概是2.86度
        const_int = 2400  # 对 差的角度 进行倍数放大 控制旋转时间
        dist = target - self.odo_msg.rpy[2]
        while abs(dist) > limit:
            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 if dist > 0 else -0.5]  # 转向
            msg.duration = int(const_int * abs(dist))
            # 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
            self.Send_cmd(msg)
            self.Wait_finish(11, 26)
            time.sleep(0.2)
            # print('1 times finish angle',self.odo_msg.rpy[2])
            # return
            dist = target - self.odo_msg.rpy[2]

    def side_equal(self, msg, limit=0.08):  ## 允许最大误差0.08米，即离最中线左右偏向4厘米
        ###先里程计回正再算距离
        const_int = 2600  # 对 差的距离 进行倍数放大 控制左右移动时间
        lines = self.detect_lines()
        dist1 = round(abs(lines[0][1] / ((lines[0][0] * lines[0][0] + 1)) ** 0.5), 3)
        dist2 = round(abs(lines[2][1] / ((lines[2][0] * lines[2][0] + 1)) ** 0.5), 3)
        dist_diff = dist1 - dist2
        while abs(dist_diff) > limit:
            msg.mode = 11  # Locomotion
            msg.gait_id = 27
            msg.vel_des = [0, -0.15 if dist_diff > 0 else 0.15, 0]
            msg.duration = int(const_int * abs(dist_diff))
            msg.step_height = [0.06, 0.06]  # ground clearness of swing leg
            msg.life_count += 1
            msg.rpy_des = [0, 0.3, 0]
            self.Send_cmd(msg)
            self.Wait_finish(11, 27)

            lines = self.detect_lines()

            dist1 = round(abs(lines[0][1] / ((lines[0][0] * lines[0][0] + 1)) ** 0.5), 3)
            dist2 = round(abs(lines[2][1] / ((lines[2][0] * lines[2][0] + 1)) ** 0.5), 3)
            dist_diff = dist1 - dist2

    def walk_forward(self, msg, left_dist, limit=0.04):  ##在对正之后才能调用，left_dist指定前面预留多长的距离
        const_int = 1800  # 对 差的距离 进行倍数放大 控制前进时间
        lines = self.detect_lines()
        dist = round(abs(lines[1][1] / ((lines[1][0] * lines[1][0] + 1)) ** 0.5), 3)
        dist_need_walk = dist - left_dist
        while abs(dist_need_walk) > limit:
            msg.mode = 11  # Locomotion
            msg.gait_id = 27
            msg.vel_des = [0.6 if dist_need_walk > 0 else -0.6, 0, 0]
            msg.duration = int(const_int * abs(dist_need_walk))
            msg.step_height = [0.06, 0.06]  # ground clearness of swing leg
            msg.life_count += 1
            self.Send_cmd(msg)
            self.Wait_finish(11, 27)

            lines = self.detect_lines()
            dist = round(abs(lines[1][1] / ((lines[1][0] * lines[1][0] + 1)) ** 0.5), 3)
            dist_need_walk = dist - left_dist

            print('forward dis_after', dist)
            return

    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()
        self.odo_thread.join()
        self.laser_thread.join()


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