#! /usr/bin/env python3

###
# KINOVA (R) KORTEX (TM)
#
# Copyright (c) 2018 Kinova inc. All rights reserved.
#
# This software may be modified and distributed
# under the terms of the BSD 3-Clause license.
#
# Refer to the LICENSE file for details.
#
###

import time
import sys
import os
import threading

from kortex_api.autogen.client_stubs.BaseClientRpc import BaseClient
from kortex_api.autogen.client_stubs.BaseCyclicClientRpc import BaseCyclicClient

from kortex_api.autogen.messages import Session_pb2, Base_pb2, BaseCyclic_pb2

# Maximum allowed waiting time during actions (in seconds)
TIMEOUT_DURATION = 20

# Create closure to set an event after an END or an ABORT
def check_for_sequence_end_or_abort(e):
    """Return a closure checking for END or ABORT notifications on a sequence

    Arguments:
    e -- event to signal when the action is completed
        (will be set when an END or ABORT occurs)
    """

    def check(notification, e = e):
        event_id = notification.event_identifier
        task_id = notification.task_index
        if event_id == Base_pb2.SEQUENCE_TASK_COMPLETED:
            print("Sequence task {} completed".format(task_id))
        elif event_id == Base_pb2.SEQUENCE_ABORTED:
            print("Sequence aborted with error {}:{}"\
                .format(\
                    notification.abort_details,\
                    Base_pb2.SubErrorCodes.Name(notification.abort_details)))
            e.set()
        elif event_id == Base_pb2.SEQUENCE_COMPLETED:
            print("Sequence completed.")
            e.set()
    return check

# Create closure to set an event after an END or an ABORT
def check_for_end_or_abort(e):
    """Return a closure checking for END or ABORT notifications

    Arguments:
    e -- event to signal when the action is completed
        (will be set when an END or ABORT occurs)
    """
    def check(notification, e = e):
        print("EVENT : " + \
              Base_pb2.ActionEvent.Name(notification.action_event))
        if notification.action_event == Base_pb2.ACTION_END \
        or notification.action_event == Base_pb2.ACTION_ABORT:
            e.set()
    return check

#
# Example related functions
#

def create_angular_action(actuator_count):
    
    print("Creating angular action")
    action = Base_pb2.Action()
    action.name = "Example angular action"
    action.application_data = ""
    
    for joint_id in range(actuator_count):
        joint_angle = action.reach_joint_angles.joint_angles.joint_angles.add()
        joint_angle.value = 0.0

    return action

def create_cartesian_action(base_cyclic):
    
    print("Creating Cartesian action")
    action = Base_pb2.Action()
    action.name = "Example Cartesian action"
    action.application_data = ""

    feedback = base_cyclic.RefreshFeedback()

    cartesian_pose = action.reach_pose.target_pose
    cartesian_pose.x = feedback.base.tool_pose_x          # (meters)
    cartesian_pose.y = feedback.base.tool_pose_y - 0.1    # (meters)
    cartesian_pose.z = feedback.base.tool_pose_z - 0.2    # (meters)
    cartesian_pose.theta_x = feedback.base.tool_pose_theta_x # (degrees)
    cartesian_pose.theta_y = feedback.base.tool_pose_theta_y # (degrees)
    cartesian_pose.theta_z = feedback.base.tool_pose_theta_z # (degrees)

    return action

#
#
# Example core functions
#

def example_move_to_home_position(base):
    # Make sure the arm is in Single Level Servoing mode
    base_servo_mode = Base_pb2.ServoingModeInformation()
    base_servo_mode.servoing_mode = Base_pb2.SINGLE_LEVEL_SERVOING
    base.SetServoingMode(base_servo_mode)
    
    # Move arm to ready position
    print("Moving the arm to a safe position")
    action_type = Base_pb2.RequestedActionType()
    action_type.action_type = Base_pb2.REACH_JOINT_ANGLES
    action_list = base.ReadAllActions(action_type)
    action_handle = None
    for action in action_list.action_list:
        if action.name == "Home":
            action_handle = action.handle

    if action_handle == None:
        print("Can't reach safe position. Exiting")
        sys.exit(0)

    e = threading.Event()
    notification_handle = base.OnNotificationActionTopic(
        check_for_end_or_abort(e),
        Base_pb2.NotificationOptions()
    )

    base.ExecuteActionFromReference(action_handle)

    # Leave time to action to complete
    finished = e.wait(TIMEOUT_DURATION)
    base.Unsubscribe(notification_handle)

    if not finished:
        print("Timeout on action notification wait")
    return finished

def example_create_sequence(base, base_cyclic):
    print("Creating Action for Sequence")

    actuator_count = base.GetActuatorCount().count
    angular_action = create_angular_action(actuator_count)
    cartesian_action = create_cartesian_action(base_cyclic)

    print("Creating Sequence")
    sequence = Base_pb2.Sequence()
    sequence.name = "Example sequence"

    print("Appending Actions to Sequence")
    task_1 = sequence.tasks.add()
    task_1.group_identifier = 0
    task_1.action.CopyFrom(cartesian_action)
    
    task_2 = sequence.tasks.add()
    task_2.group_identifier = 1 # sequence elements with same group_id are played at the same time
    task_2.action.CopyFrom(angular_action)

    e = threading.Event()
    notification_handle = base.OnNotificationSequenceInfoTopic(
        check_for_sequence_end_or_abort(e),
        Base_pb2.NotificationOptions()
    )

    print("Creating sequence on device and executing it")
    handle_sequence = base.CreateSequence(sequence)
    base.PlaySequence(handle_sequence)

    print("Waiting for movement to finish ...")
    finished = e.wait(TIMEOUT_DURATION)
    base.Unsubscribe(notification_handle)

    if not finished:
        print("Timeout on action notification wait")
    return finished

def main():
    # Import the utilities helper module
    sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
    import utilities

    # Parse arguments
    args = utilities.parseConnectionArguments()
    
    # Create connection to the device and get the router
    with utilities.DeviceConnection.createTcpConnection(args) as router:

        # Create required services
        base = BaseClient(router)
        base_cyclic = BaseCyclicClient(router)

        # Example core
        success = True
        success &= example_move_to_home_position(base)
        success &= example_create_sequence(base, base_cyclic)
        
        # You can also refer to the 110-Waypoints examples for an alternate way to execute
        # a trajectory defined by a series of waypoints in joint space or in Cartesian space

        return 0 if success else 1

if __name__ == "__main__":
    exit(main())