import pybullet as p
import time
import math
from datetime import datetime
from numpy import *
from pylab import *
import struct
import sys
import os, fnmatch
import argparse
from time import sleep

def readLogFile(filename, verbose = True):
  f = open(filename, 'rb')
  
  print('Opened'),
  print(filename)

  keys = f.readline().decode('utf8').rstrip('\n').split(',')
  fmt = f.readline().decode('utf8').rstrip('\n')
  
  # The byte number of one record
  sz = struct.calcsize(fmt)
  # The type number of one record
  ncols = len(fmt)

  if verbose:
    print('Keys:'),
    print(keys)
    print('Format:'),
    print(fmt)
    print('Size:'),
    print(sz)
    print('Columns:'),
    print(ncols)

  # Read data
  wholeFile = f.read()
  # split by alignment word
  chunks = wholeFile.split(b'\xaa\xbb')
  print ("num chunks")
  print (len(chunks))
  
  log = list()
  for chunk in chunks:
    if len(chunk) == sz:
      values = struct.unpack(fmt, chunk)
      record = list()
      for i in range(ncols):
        record.append(values[i])
      log.append(record)

  return log

clid = p.connect(p.SHARED_MEMORY)

log = readLogFile("LOG00076.TXT");

recordNum = len(log)
print('record num:'),
print(recordNum)
itemNum = len(log[0])
print('item num:'),
print(itemNum)

useRealTime = 0
fixedTimeStep = 0.001
speed = 10
amplitude = 0.8
jump_amp = 0.5
maxForce = 3.5
kp = .05
kd = .5



quadruped = 1
nJoints = p.getNumJoints(quadruped)
jointNameToId = {}
for i in range(nJoints):
  jointInfo = p.getJointInfo(quadruped, i)
  jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0]

motor_front_rightR_joint = jointNameToId['motor_front_rightR_joint']
hip_front_rightR_link = jointNameToId['hip_front_rightR_link']
knee_front_rightR_link = jointNameToId['knee_front_rightR_link']
motor_front_rightL_joint = jointNameToId['motor_front_rightL_joint']
motor_front_rightL_link = jointNameToId['motor_front_rightL_link']
knee_front_rightL_link = jointNameToId['knee_front_rightL_link']
motor_front_leftR_joint = jointNameToId['motor_front_leftR_joint']
hip_front_leftR_link = jointNameToId['hip_front_leftR_link']
knee_front_leftR_link = jointNameToId['knee_front_leftR_link']
motor_front_leftL_joint = jointNameToId['motor_front_leftL_joint']
motor_front_leftL_link = jointNameToId['motor_front_leftL_link']
knee_front_leftL_link = jointNameToId['knee_front_leftL_link']
motor_back_rightR_joint = jointNameToId['motor_back_rightR_joint']
hip_rightR_link = jointNameToId['hip_rightR_link']
knee_back_rightR_link = jointNameToId['knee_back_rightR_link']
motor_back_rightL_joint = jointNameToId['motor_back_rightL_joint']
motor_back_rightL_link = jointNameToId['motor_back_rightL_link']
knee_back_rightL_link = jointNameToId['knee_back_rightL_link']
motor_back_leftR_joint = jointNameToId['motor_back_leftR_joint']
hip_leftR_link = jointNameToId['hip_leftR_link']
knee_back_leftR_link = jointNameToId['knee_back_leftR_link']
motor_back_leftL_joint = jointNameToId['motor_back_leftL_joint']
motor_back_leftL_link = jointNameToId['motor_back_leftL_link']
knee_back_leftL_link = jointNameToId['knee_back_leftL_link']

motorDir = [1, 1, 1, 1, 1, 1, 1, 1];
legnumbering=[motor_front_leftR_joint,motor_front_leftL_joint,motor_back_leftR_joint,motor_back_leftL_joint,motor_front_rightR_joint,motor_front_rightL_joint,motor_back_rightR_joint,motor_back_rightL_joint]


for record in log:
  p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[0], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[0]*record[7], positionGain=kp, velocityGain=kd, force=maxForce)
  p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[1], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[1]*record[8], positionGain=kp, velocityGain=kd, force=maxForce)
  p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[2], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[2]*record[9], positionGain=kp, velocityGain=kd, force=maxForce)
  p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[3], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[3]*record[10], positionGain=kp, velocityGain=kd, force=maxForce)
  p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[4], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[4]*record[11], positionGain=kp, velocityGain=kd, force=maxForce)
  p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[5], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[5]*record[12], positionGain=kp, velocityGain=kd, force=maxForce)
  p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[6], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[6]*record[13], positionGain=kp, velocityGain=kd, force=maxForce)
  p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[7], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[7]*record[14], positionGain=kp, velocityGain=kd, force=maxForce)
  p.setGravity(0.000000,0.000000,-10.000000)
  p.stepSimulation()
  p.stepSimulation()
  sleep(0.01)