#!/usr/bin/env python3

import rclpy
from rclpy.node import Node
from std_msgs.msg import Float64MultiArray
from sensor_msgs.msg import JointState
from utils import RobotClient
import time
from main import config, HOST, PORT
import asyncio


class RobotControllerNode(Node):
    def __init__(self):
        super().__init__("robot_controller_node")

        self.pub = self.create_publisher(
            Float64MultiArray, "/forward_position_controller/commands", 10
        )
        self.js_sub = self.create_subscription(
            JointState, "/joint_states", self.js_callback, 10
        )
        self.last_js = JointState()

        self.robot_client = RobotClient(HOST, PORT)
        self.get_logger().info("Robot client connected")
        self.loop = asyncio.get_event_loop()
        self.waiting_for_gripper = False

        # Настройка скорости и ускорения
        self.robot_client.set_end_max_line_velc(0.6)
        self.robot_client.set_end_max_line_acc(0.8)
        self.gripper_joint_name = "left_outer_knuckle_joint"
        self.sequence_step = 0

        # Запуск основного сценария через таймер
        self.timer = self.create_timer(
            1.0, self.run_sequence
        )  # Задержка 1 сек для инициализации

    def js_callback(self, msg: JointState):
        self.last_js = msg

    async def send_gripper_command_async(
        self, target_pose: float, tolerance: float = 0.01, timeout: float = 3.0
    ):
        msg = Float64MultiArray()
        msg.data = [target_pose]
        self.pub.publish(msg)
        self.get_logger().info(f"Sent gripper pose: {target_pose}")

        start_time = time.time()
        while rclpy.ok():
            rclpy.spin_once(self, timeout_sec=0.1)

            joint_name_list = list(self.last_js.name) if self.last_js.name else []
            joint_position_list = (
                list(self.last_js.position) if self.last_js.position else []
            )

            if self.gripper_joint_name in joint_name_list:
                index = joint_name_list.index(self.gripper_joint_name)
                if index < len(joint_position_list):
                    current_pose = joint_position_list[index]
                    if abs(current_pose - target_pose) < tolerance:
                        self.get_logger().info(
                            f"Gripper reached pose: {current_pose:.3f}"
                        )
                        return True
                else:
                    self.get_logger().warn(
                        "Gripper joint index out of bounds in position list"
                    )
            else:
                self.get_logger().warn(
                    f"Gripper joint '{self.gripper_joint_name}' not found in joint_states"
                )
                return False

            if time.time() - start_time > timeout:
                self.get_logger().warn("Timeout waiting for gripper to reach position")
                return False

    async def handle_gripper_step(
        self, target_pose: float, timeout: float = 3.0, tolerance: float = 0.01
    ):
        try:
            success = await self.send_gripper_command_async(
                target_pose, tolerance, timeout
            )
            if success:
                self.sequence_step += 1
                self.get_logger().info(
                    f"Gripper action succeeded, moving to step {self.sequence_step}"
                )
            else:
                self.get_logger().warn(
                    f"Gripper action failed or timed out at pose {target_pose}"
                )
        except Exception as e:
            self.get_logger().error(f"Exception in handle_gripper_step: {str(e)}")
        finally:
            self.waiting_for_gripper = False

    def run_sequence(self):
        print(f"STEP #{self.sequence_step}")
        if self.sequence_step == 0:
            self.get_logger().info("Moving to pre-grasp")
            self.robot_client.move_to_pose_joint(config["pre_grasp_position"])
            self.sequence_step += 1

        elif self.sequence_step == 1:
            self.get_logger().info("Moving to grasp")
            self.robot_client.move_to_pose_cart(config["grasp_position"])
            self.sequence_step += 1

        elif self.sequence_step == 2:
            if not self.waiting_for_gripper:
                self.waiting_for_gripper = True
                self.loop.create_task(
                    self.handle_gripper_step(
                        target_pose=0.582, timeout=10.0, tolerance=0.1
                    )
                )

        elif self.sequence_step == 3:
            self.get_logger().info("Moving to post-grasp")
            self.robot_client.move_to_pose_cart(config["post_grasp_position"])
            self.sequence_step += 1

        elif self.sequence_step == 4:
            self.get_logger().info("Moving to pre_insert_position")
            self.robot_client.move_to_pose_cart(config["pre_insert_position"])
            self.sequence_step += 1

        elif self.sequence_step == 5:
            self.get_logger().info("Moving to insert_position")
            self.robot_client.move_to_pose_joint(config["insert_position"])
            self.sequence_step += 1

        elif self.sequence_step == 6:
            self.get_logger().info("Moving to post_insert_position")
            self.robot_client.move_to_pose_joint(config["post_insert_position"])
            self.sequence_step += 1

        elif self.sequence_step == 7:
            if not self.waiting_for_gripper:
                self.waiting_for_gripper = True
                self.loop.create_task(
                    self.handle_gripper_step(target_pose=0.54, timeout=10.0)
                )

        elif self.sequence_step >= 8:
            self.get_logger().info("Sequence complete")
            self.robot_client.close()
            self.destroy_timer(self.timer)


def main(args=None):
    rclpy.init(args=args)

    try:
        node = RobotControllerNode()
        executor = rclpy.executors.MultiThreadedExecutor()
        executor.add_node(node)

        try:
            executor.spin()
        finally:
            node.destroy_node()

    except Exception as e:
        print(f"Fatal error: {str(e)}")
    finally:
        rclpy.shutdown()


if __name__ == "__main__":
    main()