import pybullet as p
import pybullet_data

import time
import motion_capture_data
import quadrupedPoseInterpolator

p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())

plane = p.loadURDF("plane.urdf")
p.setGravity(0,0,-9.8)
timeStep=1./500
p.setTimeStep(timeStep)
#p.setDefaultContactERP(0)
#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS 
urdfFlags = p.URDF_USE_SELF_COLLISION


startPos=[0.007058990464444105, 0.03149299192130908, 0.4918981912395484]
startOrn=[0.005934649695708604, 0.7065453990917289, 0.7076373820553712, -0.0027774940359030264]
quadruped = p.loadURDF("laikago/laikago.urdf",startPos,startOrn, flags = urdfFlags,useFixedBase=False)
p.resetBasePositionAndOrientation(quadruped,startPos,startOrn)

#This cube is added as a soft constraint to keep the laikago from falling 
#since we didn't train it yet, it doesn't balance
cube = p.loadURDF("cube_no_rotation.urdf",[0,0,-0.5],[0,0.5,0.5,0])
p.setCollisionFilterGroupMask(cube,-1,0,0)
for j in range(p.getNumJoints(cube)):
  p.setJointMotorControl2(cube,j,p.POSITION_CONTROL,force=0)
  p.setCollisionFilterGroupMask(cube,j,0,0)
  p.changeVisualShape(cube,j,rgbaColor=[1,0,0,0])
cid = p.createConstraint(cube,p.getNumJoints(cube)-1,quadruped,-1,p.JOINT_FIXED,[0,0,0],[0,1,0],[0,0,0])
p.changeConstraint(cid, maxForce=10)


jointIds=[]
paramIds=[]
jointOffsets=[]
jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1]
jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0]

for i in range (4):
  jointOffsets.append(0)
  jointOffsets.append(-0.7)
  jointOffsets.append(0.7)

maxForceId = p.addUserDebugParameter("maxForce",0,100,20)

for j in range (p.getNumJoints(quadruped)):
        p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
        info = p.getJointInfo(quadruped,j)
        #print(info)
        jointName = info[1]
        jointType = info[2]
        if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
                jointIds.append(j)

    
startQ=[0.08389, 0.8482, -1.547832, -0.068933, 0.625726, -1.272086, 0.074398, 0.61135, -1.255892, -0.068262, 0.836745, -1.534517]
for j in range(p.getNumJoints(quadruped)):
  p.resetJointState(quadruped,jointIds[j],jointDirections[j]*startQ[j]+jointOffsets[j])


qpi = quadrupedPoseInterpolator.QuadrupedPoseInterpolator()

#enable collision between lower legs

for j in range (p.getNumJoints(quadruped)):
		print(p.getJointInfo(quadruped,j))

#2,5,8 and 11 are the lower legs
lower_legs = [2,5,8,11]
for l0 in lower_legs:
	for l1 in lower_legs:
		if (l1>l0):
			enableCollision = 1
			print("collision for pair",l0,l1, p.getJointInfo(quadruped,l0)[12],p.getJointInfo(quadruped,l1)[12], "enabled=",enableCollision)
			p.setCollisionFilterPair(quadruped, quadruped, 2,5,enableCollision)

jointIds=[]
paramIds=[]
jointOffsets=[]
jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1]
jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0]

for i in range (4):
	jointOffsets.append(0)
	jointOffsets.append(-0.7)
	jointOffsets.append(0.7)

maxForceId = p.addUserDebugParameter("maxForce",0,100,20)

for j in range (p.getNumJoints(quadruped)):
        p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
        info = p.getJointInfo(quadruped,j)
        #print(info)
        jointName = info[1]
        jointType = info[2]
        if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
                jointIds.append(j)

		
p.getCameraImage(480,320)
p.setRealTimeSimulation(0)

joints=[]


mocapData = motion_capture_data.MotionCaptureData()

motionPath = pybullet_data.getDataPath()+"/data/motions/laikago_walk.json"

mocapData.Load(motionPath)
print("mocapData.NumFrames=",mocapData.NumFrames())
print("mocapData.KeyFrameDuraction=",mocapData.KeyFrameDuraction())
print("mocapData.getCycleTime=",mocapData.getCycleTime())
print("mocapData.computeCycleOffset=",mocapData.computeCycleOffset())


cycleTime = mocapData.getCycleTime()
t=0

while t<10.*cycleTime:
  #get interpolated joint
  keyFrameDuration = mocapData.KeyFrameDuraction()
  cycleTime = mocapData.getCycleTime()
  cycleCount = mocapData.calcCycleCount(t, cycleTime)
  
  #print("cycleTime=",cycleTime)
  #print("cycleCount=",cycleCount)
  
  #print("cycles=",cycles)
  frameTime = t - cycleCount*cycleTime
  #print("frameTime=",frameTime)
  if (frameTime<0):
    frameTime += cycleTime

  frame = int(frameTime/keyFrameDuration)
  frameNext = frame+1
  if (frameNext >=  mocapData.NumFrames()):
    frameNext = frame
  frameFraction = (frameTime - frame*keyFrameDuration)/(keyFrameDuration)
  #print("frame=",frame)
  #print("frameFraction=",frameFraction)
  frameData = mocapData._motion_data['Frames'][frame]
  frameDataNext = mocapData._motion_data['Frames'][frameNext]
    
  joints,qdot=qpi.Slerp(frameFraction, frameData, frameDataNext, p)
  
  maxForce = p.readUserDebugParameter(maxForceId)
  for j in range (12):
    targetPos = float(joints[j])
    p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce)
  p.stepSimulation()
  t+=timeStep
  time.sleep(timeStep)

useOrgData=False
if useOrgData:
  with open("data1.txt","r") as filestream:
  	for line in filestream:
  		maxForce = p.readUserDebugParameter(maxForceId)
  		currentline = line.split(",")
  		frame = currentline[0]
  		t = currentline[1]
  		joints=currentline[2:14]
  		for j in range (12):
  			targetPos = float(joints[j])
  			p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce)
  		p.stepSimulation()
  		for lower_leg in lower_legs:
  			#print("points for ", quadruped, " link: ", lower_leg)
  			pts = p.getContactPoints(quadruped,-1, lower_leg)
  			#print("num points=",len(pts))
  			#for pt in pts:
  			#	print(pt[9])
  		time.sleep(1./500.)


for j in range (p.getNumJoints(quadruped)):
        p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
        info = p.getJointInfo(quadruped,j)
        js = p.getJointState(quadruped,j)
        #print(info)
        jointName = info[1]
        jointType = info[2]
        if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
                paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,(js[0]-jointOffsets[j])/jointDirections[j]))


p.setRealTimeSimulation(1)

while (1):
	
	for i in range(len(paramIds)):
		c = paramIds[i]
		targetPos = p.readUserDebugParameter(c)
		maxForce = p.readUserDebugParameter(maxForceId)
		p.setJointMotorControl2(quadruped,jointIds[i],p.POSITION_CONTROL,jointDirections[i]*targetPos+jointOffsets[i], force=maxForce)