# ==================== 五连杆机械臂轨迹控制（直接角度发送版）====================
# 功能：轨迹生成 + 逆解 + 直接控制 + 动画显示 + 关节角度可视化 + FK 验证
# ==============================================================================

import time
import numpy as np
import matplotlib.pyplot as plt
from matplotlib.animation import FuncAnimation
from time import perf_counter  # 高精度计时

# 设置中文字体和负号显示
plt.rcParams['font.sans-serif'] = ['SimHei', 'WenQuanYi Zen Hei', 'FangSong']
plt.rcParams['axes.unicode_minus'] = False

# ------------------------ 调试开关 ------------------------
DEBUG_MODE = False  # <<< 设为 False 控制真实电机

# 导入运动学和轨迹函数（确保路径正确）
try:
    from calculate.ik import inverseF
    from calculate.fk import forwardF
    from calculate.trajectory import (
        circle_trajectory,
        line_trajectory,
        line_trajectory_fix,
        ellipse_trajectory,
        square_trajectory,
        triangle_trajectory
    )
except ImportError as e:
    print(f"【警告】无法导入运动学模块: {e}, 使用 DEBUG_MODE")
    DEBUG_MODE = True

# -------------------- 非 Debug 模式导入硬件库 --------------------
if not DEBUG_MODE:
    try:
        from DM_CAN.DM_CAN import Motor, MotorControl, DM_Motor_Type, Control_Type
        import serial
    except ImportError as e:
        print(f"硬件库导入失败: {e}")
        exit(1)
else:
    print("【DEBUG MODE】: 已启用调试模式，不连接真实硬件。")

# ------------------------ 机械臂参数 ------------------------
L1 = 250  # 左臂长度 (mm)
L2 = 300
L3 = 300
L4 = 250  # 右臂长度
L0 = 250  # 基座右端偏移

# ------------------------ 电机与通信配置 ------------------------
MOTOR1_ID = 0x01
MOTOR2_ID = 0x02
CAN_SERIAL_PORT = '/dev/ttyACM0'
BAUD_RATE = 921600
KP = 50.0
KD = 1.0
DT = 0.01  # 控制周期 10ms（每点延时）

# ------------------------ 全局变量 ------------------------
motor1 = motor2 = motor_control = None
current_theta1 = current_theta4 = 0.0
x_list = y_list = []  # 轨迹点
line = None

# ------------------------ 精确延时 ------------------------
def busy_wait(dt):
    """高精度延时"""
    start = perf_counter()
    while perf_counter() - start < dt:
        pass

# ------------------------ 角度连续性调整 ------------------------
def adjust_angle_continuity(new_angle, prev_angle):
    """
    防止角度跳变（如 3.14 → -3.14），保持连续
    """
    diff = new_angle - prev_angle
    while diff > np.pi:
        diff -= 2 * np.pi
    while diff < -np.pi:
        diff += 2 * np.pi
    return prev_angle + diff

# ------------------------ 初始化电机 ------------------------
def init_motors():
    global motor1, motor2, motor_control

    if DEBUG_MODE:
        print("【DEBUG】跳过电机初始化")
        motor1 = motor2 = type('Motor', (), {'id': 0})()
        motor_control = type('MotorControl', (), {
            'enable': lambda x: True,
            'disable': lambda x: None,
            'controlMIT': lambda m, kp, kd, pos, vel, torq: None,
            'refresh_motor_status': lambda m: None,
            'switchControlMode': lambda m, mode: None,
            'save_motor_param': lambda m: None
        })()
        return motor1, motor2, motor_control

    try:
        can_serial = serial.Serial(CAN_SERIAL_PORT, BAUD_RATE, timeout=0.5)
        print(f"CAN 串口 {CAN_SERIAL_PORT} 打开成功")
    except Exception as e:
        print(f"无法打开串口: {e}")
        exit(1)

    motor_control = MotorControl(can_serial)
    motor1 = Motor(DM_Motor_Type.DM4310, MOTOR1_ID, 0x11)
    motor2 = Motor(DM_Motor_Type.DM4310, MOTOR2_ID, 0x12)

    motor_control.addMotor(motor1)
    motor_control.addMotor(motor2)
    motor_control.switchControlMode(motor1, Control_Type.MIT)
    motor_control.switchControlMode(motor2, Control_Type.MIT)
    time.sleep(0.1)
    motor_control.save_motor_param(motor1)
    motor_control.save_motor_param(motor2)
    motor_control.enable(motor1)
    motor_control.enable(motor2)
    print("电机已使能。")
    return motor1, motor2, motor_control

# 电机1、4安全角度范围（弧度）
THETA1_MIN = -np.pi/2   # -60°
THETA1_MAX = np.pi/2    # 60°
THETA4_MIN = -np.pi/2   # -60°
THETA4_MAX = np.pi/2    # 60°

# ------------------------ MIT 控制函数（带限位 + 回零逻辑） ------------------------
def control_two_motors_mit(theta1_rad, theta4_rad):
    """
    发送 MIT 控制指令（角度单位：弧度）
    带限位检测：如果超限，自动触发回零。
    """
    global current_theta1, current_theta4

    # --- 限位检测 ---
    if not (THETA1_MIN <= theta1_rad <= THETA1_MAX):
        print(f"θ1 超出限位 [{THETA1_MIN}, {THETA1_MAX}]，执行回零...")
        move_motors_to_zero()
        return

    if not (THETA4_MIN <= theta4_rad <= THETA4_MAX):
        print(f"θ4 超出限位 [{THETA4_MIN}, {THETA4_MAX}]，执行回零...")
        move_motors_to_zero()
        return

    # --- 正常控制 ---
    pos1 = theta1_rad
    pos4 = theta4_rad
    vel = 0.1
    torq = 0.0

    if not DEBUG_MODE:
        motor_control.controlMIT(motor1, KP, KD, pos1, vel, torq)
        motor_control.controlMIT(motor2, KP, KD, pos4, vel, torq)
    else:
        print(f"[DEBUG] 控制 -> θ1={np.degrees(theta1_rad):.2f}°, θ4={np.degrees(theta4_rad):.2f}°")

    current_theta1 = theta1_rad
    current_theta4 = theta4_rad


# ------------------------ 直接轨迹执行函数（无插值）------------------------
from time import perf_counter
import numpy as np


# 假设其他所需函数和全局变量已定义，例如 inverseF, forwardF, adjust_angle_continuity, control_two_motors_mit, 等等.

def execute_direct_trajectory(x_list, y_list, dt=DT):
    """
    直接执行轨迹：对每个 (x,y) 计算逆解并立即发送角度，不做插值或速度规划
    执行前：先把电机从零点平滑移动到轨迹起点
    返回: (time_log, theta1_log, theta4_log, x_fk_log, y_fk_log)
    """
    global motor_control, motor1, motor2

    ANGLE_OFFSET_RAD = np.pi / 2  # 90° 偏移量

    time_log, theta1_log, theta4_log, x_fk_log, y_fk_log = [], [], [], [], []
    l1, l2, l3, l4, l5 = L1, L2, L3, L4, L0
    omega1 = omega4 = 0.0
    alpha1 = alpha4 = 0.0

    # --- 轨迹起点逆解 ---
    x0, y0 = x_list[0], y_list[0]
    try:
        raw_theta1, raw_theta4 = inverseF(x0, y0, L1, L2, L3, L4, L0)
        theta1_start = float(raw_theta1) - ANGLE_OFFSET_RAD
        theta4_start = float(raw_theta4) - ANGLE_OFFSET_RAD
        print(f"起点逆解成功 -> θ1={np.degrees(theta1_start):.2f}°, θ4={np.degrees(theta4_start):.2f}°")
    except Exception as e:
        print(f"❌ 起点逆解失败: {e}")
        return [], [], [], [], []

    # --- 电机移动到起点 ---
    print("电机从零点移动到轨迹起点...")
    move_motors_to_target(theta1_start, theta4_start, duration=1.5, dt=dt)
    current_theta1, current_theta4 = theta1_start, theta4_start

    # --- 轨迹执行 ---
    start_time = perf_counter()
    for i, (x, y) in enumerate(zip(x_list, y_list)):
        try:
            raw_theta1, raw_theta4 = inverseF(x, y, L1, L2, L3, L4, L0)
            target_theta1 = float(raw_theta1) - ANGLE_OFFSET_RAD
            target_theta4 = float(raw_theta4) - ANGLE_OFFSET_RAD
            target_theta1 = adjust_angle_continuity(target_theta1, current_theta1)
            target_theta4 = adjust_angle_continuity(target_theta4, current_theta4)
        except Exception as e:
            print(f"第 {i} 点逆解失败 ({x:.2f}, {y:.2f}): {e}")
            target_theta1, target_theta4 = current_theta1, current_theta4
        else:
            current_theta1, current_theta4 = target_theta1, target_theta4

        # 控制电机
        control_two_motors_mit(target_theta1, target_theta4)

        # FK 验证
        try:
            xc, yc, *_ = forwardF(
                u1=target_theta1 + ANGLE_OFFSET_RAD,
                u4=target_theta4 + ANGLE_OFFSET_RAD,
                omega1=omega1, omega4=omega4,
                l1=l1, l2=l2, l3=l3, l4=l4, l5=l5,
                alpha1=alpha1, alpha4=alpha4
            )
            x_fk_log.append(xc)
            y_fk_log.append(yc)
        except:
            x_fk_log.append(np.nan)
            y_fk_log.append(np.nan)

        # 记录日志
        elapsed = perf_counter() - start_time
        time_log.append(elapsed)
        theta1_log.append(np.degrees(target_theta1))
        theta4_log.append(np.degrees(target_theta4))

        busy_wait(dt)

    return time_log, theta1_log, theta4_log, x_fk_log, y_fk_log


# ------------------------ 动画绘制函数 ------------------------
def draw_frame(i):
    x = x_list[i]
    y = y_list[i]
    try:
        theta1, theta4 = inverseF(x, y, L1, L2, L3, L4, L0)
        x2 = L1 * np.cos(theta1)
        y2 = L1 * np.sin(theta1)
        x4 = L0 + L4 * np.cos(theta4)
        y4 = L4 * np.sin(theta4)
        x_coords = [0, x2, x, x4, L0]
        y_coords = [0, y2, y, y4, 0]
        line.set_data(x_coords, y_coords)
    except:
        line.set_data([], [])
    return line,

# ------------------------ 轨迹动画与执行 + 可视化 + FK 验证 ------------------------
def run_trajectory_with_animation(trajectory_func, **params):
    global x_list, y_list, line

    print(f"生成轨迹: {trajectory_func.__name__}")
    x_list, y_list = trajectory_func(**params)
    print(f"轨迹点数: {len(x_list)}")

    # --- 动画 ---
    fig, ax = plt.subplots(figsize=(10, 8))
    ax.set_xlim(-50, L0 + 100)
    ax.set_ylim(0, 500)
    ax.set_aspect('equal')
    ax.grid(True, alpha=0.6)
    ax.set_title(f"五连杆机械臂 - 轨迹: {trajectory_func.__name__}")

    ax.plot(x_list, y_list, 'b--', alpha=0.5, label='目标轨迹')
    line, = ax.plot([], [], 'r-o', lw=3, ms=6, label='机械臂')
    ax.legend()

    ani = FuncAnimation(fig, draw_frame, frames=len(x_list),
                        interval=50, blit=True, repeat=False)
    plt.show()

    # --- 执行并记录 ---
    print("开始执行轨迹（直接发送角度）...")
    time_log, theta1_log, theta4_log, x_fk_log, y_fk_log = execute_direct_trajectory(
        x_list, y_list, dt=DT  # 每个点发送后延时 1ms，这个地方控制电机延时
    )

    # --- 绘制关节角度 ---
    fig2, (ax1, ax2) = plt.subplots(2, 1, figsize=(10, 6), sharex=True)
    ax1.plot(time_log, theta1_log, 'b-o', markersize=3, linewidth=1.5, label='θ₁ (电机1)')
    ax1.set_ylabel('关节角 θ₁ (°)')
    ax1.set_title('电机关节角度随时间变化')
    ax1.grid(True, alpha=0.5)
    ax1.legend()

    ax2.plot(time_log, theta4_log, 'r-o', markersize=3, linewidth=1.5, label='θ₄ (电机2)')
    ax2.set_xlabel('时间 (秒)')
    ax2.set_ylabel('关节角 θ₄ (°)')
    ax2.grid(True, alpha=0.5)
    ax2.legend()
    plt.tight_layout()
    plt.show()

    # --- FK 验证 ---
    fig3, ax3 = plt.subplots(figsize=(10, 8))
    ax3.plot(x_list, y_list, 'b--', linewidth=2, label='目标轨迹', alpha=0.8)
    ax3.plot(x_fk_log, y_fk_log, 'g-', linewidth=2, marker='o', markersize=3, label='FK 重建轨迹', alpha=0.7)
    ax3.scatter(x_fk_log[0], y_fk_log[0], c='green', s=100, marker='s', label='起点')
    ax3.scatter(x_fk_log[-1], y_fk_log[-1], c='red', s=100, marker='x', label='终点')
    ax3.set_xlabel('X (mm)')
    ax3.set_ylabel('Y (mm)')
    ax3.set_title('FK 验证：目标 vs 实际轨迹')
    ax3.grid(True, alpha=0.5)
    ax3.legend()
    ax3.set_aspect('equal')
    plt.tight_layout()
    plt.show()

    # --- 误差统计 ---
    mask = ~np.isnan(x_fk_log) & ~np.isnan(y_fk_log)
    x_fk_valid = np.array(x_fk_log)[mask]
    y_fk_valid = np.array(y_fk_log)[mask]
    if len(x_fk_valid) == 0:
        print("【警告】FK 数据全为 nan，无法计算误差")
        return

    # 插值对齐长度
    t_target = np.linspace(0, 1, len(x_list))
    t_fk = np.linspace(0, 1, len(x_fk_valid))
    from scipy.interpolate import interp1d
    try:
        f_x = interp1d(t_fk, x_fk_valid, kind='linear', fill_value='extrapolate')
        f_y = interp1d(t_fk, y_fk_valid, kind='linear', fill_value='extrapolate')
        x_interp = f_x(t_target)
        y_interp = f_y(t_target)
        errors = np.sqrt((x_interp - x_list)**2 + (y_interp - y_list)**2)
        print("\n=== FK 验证误差统计 ===")
        print(f"平均误差: {np.mean(errors):.3f} mm")
        print(f"最大误差: {np.max(errors):.3f} mm")
        print(f"标准差: {np.std(errors):.3f} mm")
    except Exception as e:
        print(f"误差计算失败: {e}")

    # --- 关节角度范围 ---
    print("\n=== 关节角度范围统计 ===")
    print(f"θ₁ 范围: {min(theta1_log):.2f}° ~ {max(theta1_log):.2f}°")
    print(f"θ₄ 范围: {min(theta4_log):.2f}° ~ {max(theta4_log):.2f}°")

# ==================== 获取电机当前位置 =====================
def get_current_motor_position():
    """
    获取当前电机角度（电机原始单位，通常是度），并打印。
    返回：theta1_current, theta4_current（度）
    """
    if not DEBUG_MODE:
        try:
            motor_control.refresh_motor_status(motor1)
            motor_control.refresh_motor_status(motor2)
            time.sleep(0.05)
            theta1_current = motor1.getPosition()
            theta4_current = motor2.getPosition()
        except Exception:
            theta1_current = theta4_current = 0.0
    else:
        theta1_current = motor1.getPosition()
        theta4_current = motor2.getPosition()

    print(f"当前电机弧度 -> θ1={theta1_current:.2f}, θ4={theta4_current:.2f}")
    return theta1_current, theta4_current

# ==================== MIT 模式回零函数 =====================
def move_motors_to_zero(duration=1.0, dt=DT):
    """
    使用 MIT 模式将电机从当前位置平滑回到零点
    duration: 总运动时间 (秒)
    dt: 控制周期 (秒)
    """
    global motor1, motor2, motor_control, current_theta1, current_theta4

    # 获取当前位置
    theta1_start, theta4_start = get_current_motor_position()
    # 计算步数
    steps = int(duration / dt)
    for i in range(steps + 1):
        t = i / steps
        # 线性插值
        theta1_target = theta1_start * (1 - t)
        theta4_target = theta4_start * (1 - t)
        # 发送 MIT 控制
        control_two_motors_mit(theta1_target, theta4_target)
        busy_wait(dt)

    # 确保最终位置为零
    control_two_motors_mit(0.0, 0.0)
    current_theta1 = current_theta4 = 0.0
    print("电机已回零完成。")

# ==================== MIT 模式移动到指定角度（任意两点） =====================
def move_motors_to_target(theta1_target_rad, theta4_target_rad, duration=1.0, dt=DT,
                          theta1_start_rad=None, theta4_start_rad=None):
    """
    使用 MIT 模式将电机从起点平滑移动到指定目标角度
    参数:
        theta1_target_rad: 电机1目标角度（弧度）
        theta4_target_rad: 电机4目标角度（弧度）
        duration: 总运动时间 (秒)
        dt: 控制周期 (秒)
        theta1_start_rad: 电机1起始角度（弧度），默认 None 表示从零点
        theta4_start_rad: 电机4起始角度（弧度），默认 None 表示从零点
    """
    global motor1, motor2, motor_control, current_theta1, current_theta4

    # 默认从零点出发
    if theta1_start_rad is None:
        theta1_start_rad = 0.0
    if theta4_start_rad is None:
        theta4_start_rad = 0.0

    steps = int(duration / dt)
    for i in range(steps + 1):
        t = i / steps
        # 线性插值
        theta1_now = theta1_start_rad + (theta1_target_rad - theta1_start_rad) * t
        theta4_now = theta4_start_rad + (theta4_target_rad - theta4_start_rad) * t
        # 发送 MIT 控制
        control_two_motors_mit(theta1_now, theta4_now)
        busy_wait(dt)

    # 确保最终位置精确到目标
    control_two_motors_mit(theta1_target_rad, theta4_target_rad)
    current_theta1 = theta1_target_rad
    current_theta4 = theta4_target_rad
    print(f"电机已移动到目标角度: θ1={np.degrees(theta1_target_rad):.2f}°, θ4={np.degrees(theta4_target_rad):.2f}°")


if __name__ == "__main__":
    try:
        # ---------------- 初始化电机 ----------------
        init_motors()

        # --- 获取当前位置测试 ---
        print("\n=== 测试：获取电机当前位置 ===")
        theta1, theta4 = get_current_motor_position()

        # --- MIT 模式回零 ---
        print("\n=== MIT 模式回零 ===")
        move_motors_to_zero(duration=1.0)  # 主函数里执行回零

        # ---------------- 选择轨迹 ----------------
        trajectory_config = {
            'func': line_trajectory_fix,
            'params': {'start': (25, 300), 'end': (200, 300), 'num_points': 100}
        }

        run_trajectory_with_animation(trajectory_config['func'], **trajectory_config['params'])

    except KeyboardInterrupt:
        print("\n【用户中断】")
    except Exception as e:
        print(f"程序异常: {e}")
    finally:
        if not DEBUG_MODE:
            motor_control.disable(motor1)
            motor_control.disable(motor2)
            print("电机已停机。")
        else:
            print("【DEBUG】程序结束")