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/**
 * @file main.cpp
 * @author Emílio Estrelinha nº 38637 (emilio.estrelinha@ua.pt)
 * @brief Reteives data and commands Humanoid robot
 */
#include <ros/ros.h>
#include <std_msgs/String.h>

#include <sstream>
#include <unistd.h>
#include <iostream>
#include <cmath>  

#include <sys/types.h>
#include <unistd.h>
#include <stdlib.h>

#include <humanoid_control/servohumanoid.h>
#include <hitec5980sg/hitec5980sg.h>

#include <phantom_control/State.h>
#include <humanoid_control/Humanoid.h>


using namespace ros;
using namespace std;


ServoHumanoid *g_human;

phantom_control::State g_PState;
humanoid_control::Humanoid g_RState;


const double g_ZZ=THIGH_LENGTH+LEG_LENGTH;
short int firsttme=1;

//const short int id_list[12]={11,12,13,15,16,21,22,23,25,26,31,32};
const short int id_list[12]={11,21,12,22,13,23,15,25,16,26,31,32};      // bottom to top servo's command

void PhantomCallBk ( const phantom_control::State &phantom_state )
{
    double joint_angle, current_POS;
    double  z_scale = 0.5, x_scale = 5, y_scale=0.8;

    //cout<<"Pos XX: "<<phantom_state.position[0]<<"\tPos YY: "<<phantom_state.position[1]<<"\tPos ZZ: "<<phantom_state.position[2]<<endl;
    
    g_PState=phantom_state;
    
    if(g_human->RoboState.op_mode==1)
        {
        current_POS=g_PState.position[1];
        
        joint_angle = acos ((g_ZZ + current_POS * z_scale)/ g_ZZ) * 180.0 / PI;
        
        if(isnan(joint_angle)) joint_angle=0;
        if(joint_angle>20.) joint_angle=20.0;
        
        g_human->RoboState.joint_wanted[2]=joint_angle;
        g_human->RoboState.joint_wanted[3]=joint_angle;
        g_human->RoboState.joint_wanted[4]=joint_angle*2.;
        g_human->RoboState.joint_wanted[5]=joint_angle*2.;
        g_human->RoboState.joint_wanted[8]=joint_angle;
        g_human->RoboState.joint_wanted[9]=joint_angle;

        cout<<"Ankle angle = "<<joint_angle<<endl;
        }
    else if(g_human->RoboState.op_mode==2)
    {
        current_POS=g_PState.position[0];
        
        joint_angle = atan2(current_POS * x_scale, g_ZZ) * 180.0 / PI;
        
        if(isnan(joint_angle)) joint_angle=0;
        if(joint_angle>30.) joint_angle=30.0;
        if(joint_angle<-30.) joint_angle=-30.0;
        
        g_human->RoboState.joint_wanted[0]=-joint_angle;
        g_human->RoboState.joint_wanted[1]=joint_angle;
        g_human->RoboState.joint_wanted[6]=joint_angle;
        g_human->RoboState.joint_wanted[7]=-joint_angle;
        
        cout<<"Ankle angle = "<<joint_angle<<endl;
    }
    else if(g_human->RoboState.op_mode==3)
    {
        if (firsttme==1)
        {
            cout<<"First Time"<<endl;
            
            g_human->RoboState.joint_wanted[2]=20.;
            g_human->RoboState.joint_wanted[3]=20.;
            g_human->RoboState.joint_wanted[4]=40.;
            g_human->RoboState.joint_wanted[5]=40.;
            g_human->RoboState.joint_wanted[8]=20.;
            g_human->RoboState.joint_wanted[9]=20.;

            firsttme=0;
        }
        else
        {
            current_POS=-g_PState.position[2];
            
            joint_angle = asin((current_POS * y_scale)/THIGH_LENGTH) * 180.0 / PI + 20.;
            
            //if(isnan(joint_angle)) joint_angle=0;
            if(joint_angle>0.) g_human->RoboState.joint_wanted[4]=joint_angle*2.;
            if(joint_angle<0.) g_human->RoboState.joint_wanted[4]=joint_angle/2.;
            
            g_human->RoboState.joint_wanted[2]=20.;
            g_human->RoboState.joint_wanted[3]=20.;
            //g_human->RoboState.joint_wanted[4]=joint_angle*2.;
            g_human->RoboState.joint_wanted[5]=g_human->RoboState.joint_wanted[4];
            g_human->RoboState.joint_wanted[8]=joint_angle;
            g_human->RoboState.joint_wanted[9]=joint_angle;
            
            cout<<"Hip angle = "<<joint_angle<<endl;
    
        }
    }
    else if(g_human->RoboState.op_mode==0)
    {
        
        

        for (int i = 0; i < 13; i++)
        {
            g_human->RoboState.joint_wanted[i]=0;
        }
    }
}

/**
* @fn int main ( int argc, char **argv )
* Main 
*/
int main(int argc, char** argv)
{
    short unsigned int resp=65535;
    
    // ROS
    ros::init( argc, argv, "humanoid_node" );//nome
    
    ros::NodeHandle n("~");
    
    ros::Publisher pub_state= n.advertise< humanoid_control::Humanoid >( "/humanoid_state", 1000 );
    
    ros::Subscriber sub_force = n.subscribe ( "/phantom_state", 1, PhantomCallBk );

    int op_mode = 0;
    int op_mode_default = 0;
    n.param("op_mode", op_mode, op_mode_default );
    
    g_human = (ServoHumanoid*) new ServoHumanoid("/dev/ttyUSB0");

    if(op_mode==0)
    {
        ROS_INFO("Operation mode of humanoid robot is 0");
        ROS_INFO("STOP MODE");
        
        g_human->RoboState.op_mode=op_mode;
        g_human->RoboState.joint_wanted[0]=0.;
        g_human->RoboState.joint_wanted[1]=0.;
        g_human->RoboState.joint_wanted[2]=10.;
        g_human->RoboState.joint_wanted[3]=10.;
        g_human->RoboState.joint_wanted[4]=20.;
        g_human->RoboState.joint_wanted[5]=20.;
        g_human->RoboState.joint_wanted[6]=0.;
        g_human->RoboState.joint_wanted[7]=0.;
        g_human->RoboState.joint_wanted[8]=15.;
        g_human->RoboState.joint_wanted[9]=15.;
        g_human->RoboState.joint_wanted[10]=0.;
        g_human->RoboState.joint_wanted[11]=0.;
    
    }else if(op_mode==1)
    {
        ROS_INFO("Operation mode of humanoid robot is 1");
        ROS_INFO("BOUNCY MODE");
        g_human->RoboState.op_mode=op_mode;
    }else if(op_mode==2)
    {
        ROS_INFO("Operation mode of humanoid robot is 2");
        ROS_INFO("SHAKY MODE");
        g_human->RoboState.op_mode=op_mode;
    }else if(op_mode==3)
    {
        ROS_INFO("Operation mode of humanoid robot is 3");
        ROS_INFO("HUMPING MODE");
        g_human->RoboState.op_mode=op_mode;
    }
    
    for (int i = 0; i < 12; i++)
    {
        g_human->RoboState.speed_wanted[i]=50;
    }
    //g_human->RoboState.speed_wanted[2]=3*50;
    //g_human->RoboState.speed_wanted[3]=3*50;
    
    g_human->HomePosition();

    
//     // test loop
//     short int id;
//     double pos;
//     while(1)
//     {
//         cout<<"Set servo id:"<<endl;
//         cin>>id;
//         if(id==555) exit(0);
//         cout<<"Set angle to move servo "<<id<<" :"<<endl;
//         cin>>pos;
//         resp = g_human->MoveJoint(id, pos);
//         cout<<"The servo responded "<<resp<<" to the command."<<endl;
//     }
//     return 0;
//     // end test loop

    
    g_RState.speed_g_static=g_human->RoboState.speed_g_static;

    int pid = getpid(), rpid;

    boost::format fmt("sudo renice -10 %d");
    fmt % pid;
    
    rpid = std::system(fmt.str().c_str());
    
    while(ros::ok())
    {       
        for (uint i = 0; i <12 ; i++)
        {
            if(  (g_human->RoboState.joint_now[i] > (g_human->RoboState.joint_wanted[i] + 1 )) || (g_human->RoboState.joint_now[i] < (g_human->RoboState.joint_wanted[i] - 1 )))
            {
                resp = g_human->MoveJoint(id_list[i], g_human->RoboState.joint_wanted[i]);
                
                //cout<<"Robot needs to change position in joint "<<id_list[i]<<" : position now "<<g_human->RoboState.joint_now[i]<<"   position wanted "<<g_human->RoboState.joint_wanted[i]<<endl;
            }
            
            resp = g_human->SetJointSpeed(id_list[i], g_human->RoboState.speed_wanted[i]);
            g_human->RoboState.joint_now[i]=g_human->ConvertServoValueByID(id_list[i], resp);
        }
        
        for (int i = 0; i < 13 ; i++)
        {
            g_RState.joint_now[i]=g_human->RoboState.joint_now[i];
            g_RState.speed_wanted[i]=g_human->RoboState.speed_wanted[i];
            g_RState.speed_wanted[i]=g_human->RoboState.speed_wanted[i];
        }
        
        g_RState.header.stamp=ros::Time::now();
        // publish HumanState
        pub_state.publish( g_RState );

        
        ros::spinOnce (  );
    }

    delete g_human;

    
    return 0;
}