import carb
from omni.kit.scripting import BehaviorScript
from omni.isaac.dynamic_control import _dynamic_control
from enum import Enum
from pxr import Gf
from threading import Thread
import marshal,json
import omni.kit.commands
from omni.isaac.core.prims import XFormPrim
import numpy as np
from pxr import Gf, Sdf, Usd, UsdGeom
from omni.isaac.core import SimulationContext, World
import math
from omni.replicator.core import utils

def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
    """Recursively find the full path by Prim name"""
    stage = omni.usd.get_context().get_stage()
    prim = stage.GetPrimAtPath(root_path)
    
    def _find_prim(prim):
        if prim.GetName() == prim_name:
            return prim.GetPath().pathString
        for child in prim.GetChildren():
            result = _find_prim(child)
            if result:
                return result
        return None
    
    found_path = _find_prim(prim)
    if not found_path:
        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
    return found_path

# 1. prim init
joint_prim = XFormPrim(find_prim_path_by_name("switch_E_button_09"))
print("joint_prim",joint_prim.prim_path)

# 2. articulation Root prim
root_articulation_prim = find_prim_path_by_name("switch_E_body_28")
print("root_articulation_prim:",root_articulation_prim)
# 3. joint name 
joint_names = ["RevoluteJoint_switch"]

# 5. light prim
light_scopes=[
    XFormPrim(find_prim_path_by_name("kitchen_all_light"))
]
print("light_scopes", light_scopes)


class RoomLightControl(BehaviorScript):
    def on_init(self):
        self.phsx_freq = 120
        self.joint_handles = []
        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
        light_scopes[0].set_visibility(False)  
        # init_pose
        self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
        
        # Find Root
        # self.art = self.dc.get_articulation(root_articulation_prim)
        # if self.art == _dynamic_control.INVALID_HANDLE:
        #     print('the prim is not an articulation')
   
   
    def on_destroy(self):
        pass

    def on_play(self):
        # 
        self.simulation_context = SimulationContext(
            stage_units_in_meters=1.0,
            physics_dt=1.0/120,
            rendering_dt=1.0/120
        )
        # 配置物理引擎参数
        # print(self.simulation_context.get_physics_context().get_gravity())
        # self.simulation_context.get_physics_context().set_broadphase_type("MBP")
        # self.simulation_context.get_physics_context().set_solver_type("PGS")
        # self.simulation_context.get_physics_context().enable_gpu_dynamics(False)
       
    def on_pause(self):
        pass

    def on_stop(self):
        self.init_start=True
        for light in light_scopes:
            light.set_visibility(False)
        # light_scopes[0].set_visibility(False) 
        # light_scopes[1].set_visibility(False) 
        # back to initial pose
        joint_prim.set_local_pose(translation=self.local_pose_button)
        pass

    def on_update(self, current_time: float, delta_time: float):
        if delta_time <= 0:
            return
        self.active_art()
        self.apply_behavior() 

    def active_art(self):
        # Find Root
        self.art = self.dc.get_articulation(root_articulation_prim)
        if self.art == _dynamic_control.INVALID_HANDLE:
            print('the prim is not an articulation')
        self.dc.wake_up_articulation(self.art)
        
        # Find joint  
        self.joint_handles = []
        for joint_name in joint_names:
            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
    
    def apply_behavior(self):
        self.light_control()
        
        
    def light_control(self):
        try:
            # 获取当前开关状态
            self.Joint1_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
            current_visibility = light_scopes[0].get_visibility()
            
            # 定义开关阈值和状态
            SWITCH_ON_THRESHOLD = math.radians(11)
            SWITCH_ON_POSITION = math.radians(13)
            SWITCH_OFF_POSITION = math.radians(0)
            
            # 判断开关状态并控制灯光
            if self.Joint1_state < SWITCH_ON_THRESHOLD:
                # 开关打开状态
                if not current_visibility:
                    # 如果灯是关闭的，则打开所有灯
                    for light in light_scopes:
                        light.set_visibility(True)
                    # 设置开关到打开位置
                    self.dc.set_dof_position_target(self.joint_handles[0], SWITCH_OFF_POSITION)
            else:
                # 开关关闭状态
                if current_visibility:
                    # 如果灯是打开的，则关闭所有灯
                    for light in light_scopes:
                        light.set_visibility(False)
                    # 设置开关到关闭位置
                    self.dc.set_dof_position_target(self.joint_handles[0], SWITCH_ON_POSITION)
                    
        except Exception as e:
            carb.log_error(f"Error in light control: {str(e)}")
            # 发生错误时确保灯光关闭
            for light in light_scopes:
                light.set_visibility(False)