#!/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 threading


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.gello_sub = self.create_subscription(JointState, "/gello/joint_states", self.gello_callback, 10)
        self.last_js = JointState()
        self.last_gello = JointState()

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

        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

        self.timer = self.create_timer(1.0, self.run_sequence)

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

    def gello_callback(self, msg: JointState):
        self.last_gello = msg

    def send_gripper_command(
        self, target_pose: float, tolerance: float = 0.01, timeout: float = 3.0
    ) -> bool:
        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")
            else:
                self.get_logger().warn(f"Joint '{self.gripper_joint_name}' not found")
                return False

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

    def handle_gripper_step(
        self, target_pose: float, timeout: float = 3.0, tolerance: float = 0.01
    ):
        try:
            success = self.send_gripper_command(target_pose, tolerance, timeout)
            if success:
                self.get_logger().info("Gripper moved successfully")
                self.waiting_for_gripper = False
            else:
                self.get_logger().warn("Gripper movement failed or timed out.")
        except Exception as e:
            self.get_logger().error(f"Exception in gripper thread: {str(e)}")

    def run_sequence(self):
        print(f"STEP #{self.sequence_step}")
        if not self.waiting_for_gripper:
            self.waiting_for_gripper = True
            threading.Thread(
                target=self.handle_gripper_step,
                args=(self.last_gello.position[-1], 10.0, 0.1),
                daemon=True,
            ).start()
            self.sequence_step += 1

        


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

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

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

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


if __name__ == "__main__":
    main()