# flake8: noqa
from math import sqrt

from rospkg import RosPack

import dynamic_graph.sot_talos_balance.talos.base_estimator_conf as base_estimator_conf
import dynamic_graph.sot_talos_balance.talos.control_manager_conf as cm_conf
import dynamic_graph.sot_talos_balance.talos.ft_calibration_conf as ft_conf
import dynamic_graph.sot_talos_balance.talos.parameter_server_conf as param_server_conf
from dynamic_graph import plug
from dynamic_graph.sot.core import Flags
from dynamic_graph.sot.core.derivator import Derivator_of_Vector
from dynamic_graph.sot.core.feature_posture import FeaturePosture
from dynamic_graph.sot.core.matrix_util import matrixToTuple
from dynamic_graph.sot.core.meta_tasks_kine import (
    MetaTaskKine6d,
    MetaTaskKineCom,
    gotoNd,
)
from dynamic_graph.sot.core.sot import SOT
from dynamic_graph.sot.core.task import Task
from dynamic_graph.sot.dynamic_pinocchio import DynamicPinocchio
from dynamic_graph.sot.pattern_generator import PatternGenerator
from dynamic_graph.sot_talos_balance.boolean_identity import BooleanIdentity
from dynamic_graph.sot_talos_balance.create_entities_utils import *
from dynamic_graph.tracer_real_time import TracerRealTime


def init_online_walking(robot):
    # 09.04.20 est a 100 dans dcmZmpControl_file, used to be 10
    cm_conf.CTRL_MAX = 1000.0  # temporary hack
    dt = robot.device.getTimeStep()
    robot.timeStep = dt

    # --- Pendulum parameters
    robot_name = "robot"
    robot.dynamic.com.recompute(0)
    robotDim = robot.dynamic.getDimension()
    mass = robot.dynamic.data.mass[0]
    h = robot.dynamic.com.value[2]
    g = 9.81
    omega = sqrt(g / h)

    # --- Parameter server
    robot.param_server = create_parameter_server(param_server_conf, dt)

    # --- Initial feet and waist
    robot.dynamic.createOpPoint("LF", robot.OperationalPointsMap["left-ankle"])
    robot.dynamic.createOpPoint("RF", robot.OperationalPointsMap["right-ankle"])
    robot.dynamic.createOpPoint("WT", robot.OperationalPointsMap["waist"])
    robot.dynamic.add_signals()
    robot.dynamic.LF.recompute(0)
    robot.dynamic.RF.recompute(0)
    robot.dynamic.WT.recompute(0)

    # -------------------------- DESIRED TRAJECTORY --------------------------

    rospack = RosPack()

    # -------------------------- PATTERN GENERATOR --------------------------

    robot.pg = PatternGenerator("pg")

    # MODIFIED WITH MY PATHS
    talos_data_folder = rospack.get_path("jrl-walkgen")
    robot.pg.setURDFpath(talos_data_folder + "/urdf/talos_reduced_wpg.urdf")
    robot.pg.setSRDFpath(talos_data_folder + "/srdf/talos_wpg.srdf")
    ## END MODIFIED

    robot.pg.buildModel()

    robot.pg.parseCmd(":samplingperiod 0.005")
    robot.pg.parseCmd(":previewcontroltime 1.6")
    robot.pg.parseCmd(":omega 0.0")
    robot.pg.parseCmd(":stepheight 0.05")
    robot.pg.parseCmd(":doublesupporttime 0.2")
    robot.pg.parseCmd(":singlesupporttime 1.0")
    robot.pg.parseCmd(":armparameters 0.5")
    robot.pg.parseCmd(":LimitsFeasibility 0.0")
    robot.pg.parseCmd(":ZMPShiftParameters 0.015 0.015 0.015 0.015")
    robot.pg.parseCmd(":TimeDistributeParameters 2.0 3.5 1.7 3.0")
    robot.pg.parseCmd(":UpperBodyMotionParameters -0.1 -1.0 0.0")
    robot.pg.parseCmd(":comheight 0.876681")
    robot.pg.parseCmd(":setVelReference  0.1 0.0 0.0")

    robot.pg.parseCmd(":SetAlgoForZmpTrajectory Naveau")

    plug(robot.dynamic.position, robot.pg.position)
    plug(robot.dynamic.com, robot.pg.com)
    # plug(robot.dynamic.com, robot.pg.comStateSIN)
    plug(robot.dynamic.LF, robot.pg.leftfootcurrentpos)
    plug(robot.dynamic.RF, robot.pg.rightfootcurrentpos)
    robotDim = len(robot.dynamic.velocity.value)
    robot.pg.motorcontrol.value = np.zeros(robotDim)
    robot.pg.zmppreviouscontroller.value = np.zeros(3)

    robot.pg.initState()

    robot.pg.parseCmd(":setDSFeetDistance 0.162")

    robot.pg.parseCmd(":NaveauOnline")
    robot.pg.parseCmd(":numberstepsbeforestop 2")
    robot.pg.parseCmd(":setfeetconstraint XY 0.091 0.0489")

    robot.pg.parseCmd(":deleteallobstacles")
    robot.pg.parseCmd(":feedBackControl false")
    robot.pg.parseCmd(":useDynamicFilter true")

    robot.pg.velocitydes.value = np.array(
        (0.1, 0.0, 0.0)
    )  # DEFAULT VALUE (0.1,0.0,0.0)

    # -------------------------- TRIGGER --------------------------

    robot.triggerPG = BooleanIdentity("triggerPG")
    robot.triggerPG.sin.value = 0
    plug(robot.triggerPG.sout, robot.pg.trigger)

    # --------- Interface with controller entities -------------

    wp = DummyWalkingPatternGenerator("dummy_wp")
    wp.init()
    # #wp.displaySignals()
    wp.omega.value = omega

    # 22.04 after modifying pg.cpp, new way to try and connect the waist
    plug(robot.pg.waistattitudematrixabsolute, wp.waist)
    plug(robot.pg.leftfootref, wp.footLeft)
    plug(robot.pg.rightfootref, wp.footRight)
    plug(robot.pg.comref, wp.com)
    plug(robot.pg.dcomref, wp.vcom)
    plug(robot.pg.ddcomref, wp.acom)

    robot.wp = wp

    # --- Compute the values to use them in initialization
    robot.wp.comDes.recompute(0)
    robot.wp.dcmDes.recompute(0)
    robot.wp.zmpDes.recompute(0)

    ## END ADDED

    # -------------------------- ESTIMATION --------------------------

    # --- Base Estimation
    robot.device_filters = create_device_filters(robot, dt)
    robot.imu_filters = create_imu_filters(robot, dt)
    robot.base_estimator = create_base_estimator(robot, dt, base_estimator_conf)

    robot.m2qLF = MatrixHomoToPoseQuaternion("m2qLF")
    plug(robot.dynamic.LF, robot.m2qLF.sin)
    plug(robot.m2qLF.sout, robot.base_estimator.lf_ref_xyzquat)
    robot.m2qRF = MatrixHomoToPoseQuaternion("m2qRF")
    plug(robot.dynamic.RF, robot.m2qRF.sin)
    plug(robot.m2qRF.sout, robot.base_estimator.rf_ref_xyzquat)

    # --- Conversion
    e2q = EulerToQuat("e2q")
    plug(robot.base_estimator.q, e2q.euler)
    robot.e2q = e2q

    # --- Kinematic computations
    robot.rdynamic = DynamicPinocchio("real_dynamics")
    robot.rdynamic.setModel(robot.dynamic.model)
    robot.rdynamic.setData(robot.rdynamic.model.createData())
    robot.rdynamic.add_signals()
    plug(robot.base_estimator.q, robot.rdynamic.position)
    robot.rdynamic.velocity.value = np.zeros(robotDim)
    robot.rdynamic.acceleration.value = np.zeros(robotDim)

    # --- CoM Estimation
    cdc_estimator = DcmEstimator("cdc_estimator")
    cdc_estimator.init(dt, robot_name)
    plug(robot.e2q.quaternion, cdc_estimator.q)
    plug(robot.base_estimator.v, cdc_estimator.v)
    robot.cdc_estimator = cdc_estimator

    # --- DCM Estimation
    estimator = DummyDcmEstimator("dummy")
    estimator.omega.value = omega
    estimator.mass.value = 1.0
    plug(robot.cdc_estimator.c, estimator.com)
    plug(robot.cdc_estimator.dc, estimator.momenta)
    estimator.init()
    robot.estimator = estimator

    # --- Force calibration
    robot.ftc = create_ft_calibrator(robot, ft_conf)

    # --- ZMP estimation
    zmp_estimator = SimpleZmpEstimator("zmpEst")
    robot.rdynamic.createOpPoint("sole_LF", "left_sole_link")
    robot.rdynamic.createOpPoint("sole_RF", "right_sole_link")
    robot.rdynamic.add_signals()
    plug(robot.rdynamic.sole_LF, zmp_estimator.poseLeft)
    plug(robot.rdynamic.sole_RF, zmp_estimator.poseRight)
    plug(robot.ftc.left_foot_force_out, zmp_estimator.wrenchLeft)
    plug(robot.ftc.right_foot_force_out, zmp_estimator.wrenchRight)
    zmp_estimator.init()
    robot.zmp_estimator = zmp_estimator

    # -------------------------- ADMITTANCE CONTROL --------------------------

    # --- DCM controller
    Kp_dcm = np.array([8.0] * 3)
    Ki_dcm = np.array([0.0, 0.0, 0.0])  # zero (to be set later)
    gamma_dcm = 0.2

    dcm_controller = DcmController("dcmCtrl")

    dcm_controller.Kp.value = Kp_dcm
    dcm_controller.Ki.value = Ki_dcm
    dcm_controller.decayFactor.value = gamma_dcm
    dcm_controller.mass.value = mass
    dcm_controller.omega.value = omega

    plug(robot.cdc_estimator.c, dcm_controller.com)
    plug(robot.estimator.dcm, dcm_controller.dcm)

    plug(robot.wp.zmpDes, dcm_controller.zmpDes)
    plug(robot.wp.dcmDes, dcm_controller.dcmDes)

    dcm_controller.init(dt)

    robot.dcm_control = dcm_controller

    Ki_dcm = np.array([1.0, 1.0, 1.0])  # this value is employed later

    # --- CoM admittance controller
    Kp_adm = np.array([0.0, 0.0, 0.0])  # zero (to be set later)

    com_admittance_control = ComAdmittanceController("comAdmCtrl")
    com_admittance_control.Kp.value = Kp_adm
    plug(robot.zmp_estimator.zmp, com_admittance_control.zmp)
    com_admittance_control.zmpDes.value = robot.wp.zmpDes.value
    # should be plugged to robot.dcm_control.zmpRef
    plug(robot.wp.acomDes, com_admittance_control.ddcomDes)

    com_admittance_control.init(dt)
    com_admittance_control.setState(robot.wp.comDes.value, np.array([0.0, 0.0, 0.0]))

    robot.com_admittance_control = com_admittance_control

    Kp_adm = np.array([15.0, 15.0, 0.0])  # this value is employed later

    # --- Control Manager
    robot.cm = create_ctrl_manager(cm_conf, dt, robot_name="robot")
    robot.cm.addCtrlMode("sot_input")
    robot.cm.setCtrlMode("all", "sot_input")
    robot.cm.addEmergencyStopSIN("zmp")

    # -------------------------- SOT CONTROL --------------------------

    # --- Upper body
    robot.taskUpperBody = Task("task_upper_body")
    robot.taskUpperBody.feature = FeaturePosture("feature_upper_body")

    q = robot.dynamic.position.value
    robot.taskUpperBody.feature.state.value = q
    robot.taskUpperBody.feature.posture.value = q

    robot.taskUpperBody.feature.selectDof(18, True)
    robot.taskUpperBody.feature.selectDof(19, True)
    robot.taskUpperBody.feature.selectDof(20, True)
    robot.taskUpperBody.feature.selectDof(21, True)
    robot.taskUpperBody.feature.selectDof(22, True)
    robot.taskUpperBody.feature.selectDof(23, True)
    robot.taskUpperBody.feature.selectDof(24, True)
    robot.taskUpperBody.feature.selectDof(25, True)
    robot.taskUpperBody.feature.selectDof(26, True)
    robot.taskUpperBody.feature.selectDof(27, True)
    robot.taskUpperBody.feature.selectDof(28, True)
    robot.taskUpperBody.feature.selectDof(29, True)
    robot.taskUpperBody.feature.selectDof(30, True)
    robot.taskUpperBody.feature.selectDof(31, True)
    robot.taskUpperBody.feature.selectDof(32, True)
    robot.taskUpperBody.feature.selectDof(33, True)
    robot.taskUpperBody.feature.selectDof(34, True)
    robot.taskUpperBody.feature.selectDof(35, True)
    robot.taskUpperBody.feature.selectDof(36, True)
    robot.taskUpperBody.feature.selectDof(37, True)

    robot.taskUpperBody.controlGain.value = 100.0
    robot.taskUpperBody.add(robot.taskUpperBody.feature.name)
    plug(robot.dynamic.position, robot.taskUpperBody.feature.state)

    # --- CONTACTS
    robot.contactLF = MetaTaskKine6d(
        "contactLF", robot.dynamic, "LF", robot.OperationalPointsMap["left-ankle"]
    )
    robot.contactLF.feature.frame("desired")
    robot.contactLF.gain.setConstant(300)
    plug(robot.wp.footLeftDes, robot.contactLF.featureDes.position)  # .errorIN?
    locals()["contactLF"] = robot.contactLF

    robot.contactRF = MetaTaskKine6d(
        "contactRF", robot.dynamic, "RF", robot.OperationalPointsMap["right-ankle"]
    )
    robot.contactRF.feature.frame("desired")
    robot.contactRF.gain.setConstant(300)
    plug(robot.wp.footRightDes, robot.contactRF.featureDes.position)  # .errorIN?
    locals()["contactRF"] = robot.contactRF

    # --- COM height
    robot.taskComH = MetaTaskKineCom(robot.dynamic, name="comH")
    plug(robot.wp.comDes, robot.taskComH.featureDes.errorIN)
    robot.taskComH.task.controlGain.value = 100.0
    robot.taskComH.feature.selec.value = Flags("001")

    # --- COM
    robot.taskCom = MetaTaskKineCom(robot.dynamic)
    plug(robot.com_admittance_control.comRef, robot.taskCom.featureDes.errorIN)
    plug(robot.com_admittance_control.dcomRef, robot.taskCom.featureDes.errordotIN)
    robot.taskCom.task.controlGain.value = 0
    robot.taskCom.task.setWithDerivative(True)
    robot.taskCom.feature.selec.value = Flags("110")

    # --- Waist

    robot.keepWaist = MetaTaskKine6d(
        "keepWaist", robot.dynamic, "WT", robot.OperationalPointsMap["waist"]
    )
    robot.keepWaist.feature.frame("desired")
    robot.keepWaist.gain.setConstant(300)
    plug(robot.wp.waistDes, robot.keepWaist.featureDes.position)  # de base
    robot.keepWaist.feature.selec.value = Flags("000111")
    locals()["keepWaist"] = robot.keepWaist

    # --- SOT solver
    robot.sot = SOT("sot")
    robot.sot.setSize(robot.dynamic.getDimension())

    # --- Plug SOT control to device through control manager
    robot.cm.add_signals()
    plug(robot.sot.control, robot.cm.ctrl_sot_input)
    plug(robot.cm.u_safe, robot.device.control)

    robot.sot.push(robot.taskUpperBody.name)
    robot.sot.push(robot.contactRF.task.name)
    robot.sot.push(robot.contactLF.task.name)
    robot.sot.push(robot.taskComH.task.name)
    robot.sot.push(robot.taskCom.task.name)
    robot.sot.push(robot.keepWaist.task.name)

    # --- Fix robot.dynamic inputs
    plug(robot.device.velocity, robot.dynamic.velocity)
    robot.dvdt = Derivator_of_Vector("dv_dt")
    robot.dvdt.dt.value = dt
    plug(robot.device.velocity, robot.dvdt.sin)
    plug(robot.dvdt.sout, robot.dynamic.acceleration)

    # -------------------------- PLOTS --------------------------

    # --- ROS PUBLISHER

    ## THIS PARAGRAPH QUITE DIFFERENT, TO CHECK

    robot.publisher = create_rospublish(robot, "robot_publisher")

    ## ADDED
    create_topic(
        robot.publisher, robot.pg, "comref", robot=robot, data_type="vector"
    )  # desired CoM
    create_topic(robot.publisher, robot.pg, "dcomref", robot=robot, data_type="vector")

    create_topic(
        robot.publisher, robot.wp, "waist", robot=robot, data_type="matrixHomo"
    )
    create_topic(
        robot.publisher,
        robot.keepWaist.featureDes,
        "position",
        robot=robot,
        data_type="matrixHomo",
    )
    create_topic(
        robot.publisher, robot.dynamic, "WT", robot=robot, data_type="matrixHomo"
    )
    create_topic(
        robot.publisher,
        robot.pg,
        "waistattitudematrixabsolute",
        robot=robot,
        data_type="matrixHomo",
    )  ## que font ces lignes exactement ??

    create_topic(
        robot.publisher, robot.pg, "leftfootref", robot=robot, data_type="matrixHomo"
    )
    create_topic(
        robot.publisher, robot.wp, "footLeft", robot=robot, data_type="matrixHomo"
    )
    create_topic(
        robot.publisher, robot.pg, "rightfootref", robot=robot, data_type="matrixHomo"
    )
    create_topic(
        robot.publisher, robot.wp, "footRight", robot=robot, data_type="matrixHomo"
    )

    ## --- TRACER
    robot.tracer = TracerRealTime("com_tracer")
    robot.tracer.setBufferSize(80 * (2**20))
    robot.tracer.open("/tmp", "dg_", ".dat")

    robot.device.after.addSignal("{0}.triger".format(robot.tracer.name))

    addTrace(robot.tracer, robot.pg, "waistattitudeabsolute")
    # fin

    addTrace(robot.tracer, robot.wp, "comDes")  # desired CoM

    addTrace(robot.tracer, robot.cdc_estimator, "c")  # estimated CoM
    addTrace(robot.tracer, robot.cdc_estimator, "dc")  # estimated CoM velocity

    addTrace(robot.tracer, robot.pg, "comref")
    addTrace(robot.tracer, robot.pg, "dcomref")
    addTrace(robot.tracer, robot.pg, "ddcomref")

    addTrace(robot.tracer, robot.pg, "rightfootref")
    addTrace(robot.tracer, robot.pg, "leftfootref")

    addTrace(robot.tracer, robot.pg, "rightfootcontact")
    addTrace(robot.tracer, robot.pg, "leftfootcontact")
    addTrace(robot.tracer, robot.pg, "SupportFoot")

    addTrace(robot.tracer, robot.dynamic, "com")  # resulting SOT CoM
    addTrace(robot.tracer, robot.dynamic, "LF")  # left foot
    addTrace(robot.tracer, robot.dynamic, "RF")  # right foot

    robot.tracer.start()
