# -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
# flake8: noqa

# Binds with ROS. assert that roscore is running.
from dynamic_graph.ros import *
# Create a simple kinematic solver.
from dynamic_graph.sot.application.velocity.precomputed_tasks import initialize
from dynamic_graph.sot.core.matrix_util import matrixToRPY, matrixToTuple, rotate, vectorToTuple
from dynamic_graph.sot.core.meta_tasks_kine import *
# -------------------------------------------------------------------------------
# ----- MAIN LOOP ---------------------------------------------------------------
# -------------------------------------------------------------------------------
# define the macro allowing to run the simulation.
from dynamic_graph.sot.core.utils.thread_interruptible_loop import loopInThread, loopShortcuts
# Create the robot romeo.
from dynamic_graph.sot.romeo.robot import *
from numpy import *

robot = Robot('romeo', device=RobotSimu('romeo'))

ros = Ros(robot)

solver = initialize(robot)

dt = 5e-3


@loopInThread
def inc():
    robot.device.increment(dt)


runner = inc()
[go, stop, next, n] = loopShortcuts(runner)

# ---- TASKS -------------------------------------------------------------------
# ---- TASKS -------------------------------------------------------------------
# ---- TASKS -------------------------------------------------------------------

# ---- TASK GRIP ---
# Defines a task for the right hand.
taskRH = MetaTaskKine6d('rh', robot.dynamic, 'right-wrist', 'right-wrist')
#  Move the operational point.
handMgrip = eye(4)
handMgrip[0:3, 3] = (0.1, 0, 0)
taskRH.opmodif = matrixToTuple(handMgrip)
taskRH.feature.frame('desired')
# robot.tasks['right-wrist'].add(taskRH.feature.name)

# --- STATIC COM (if not walking)
# create the com task and feature tasks.
solver = initialize(robot)
# remove the tasks from the sot (they've been automatically added by previous method).
solver.sot.clear()

# --- CONTACTS
# define contactLF and contactRF
for name, joint in [['LF', 'left-ankle'], ['RF', 'right-ankle']]:
    contact = MetaTaskKine6d('contact' + name, robot.dynamic, name, joint)
    contact.feature.frame('desired')
    contact.gain.setConstant(10)
    contact.keep()
    locals()['contact' + name] = contact

# --- RUN ----------------------------------------------------------------------

# Move the desired position of the right hand
# 1st param: task concerned
# 2st param: objective
# 3rd param: selected parameters
# 4th param: gain
target = (0.5, -0.2, 0.8)
gotoNd(taskRH, target, '111', (4.9, 0.9, 0.01, 0.9))

# Fill the stack with some tasks.
solver.push(contactRF.task)
solver.push(contactLF.task)
solver.push(robot.tasks['com'])

solver.push(taskRH.task)

# type inc to run one iteration, or go to run indefinitely.
# go()
