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 PhysxSchema, UsdGeom, UsdPhysics
import math
from omni.isaac.core import SimulationContext, World
# from isaacsim.core.prims import XFormPrim
# stiffness :0.8 Damping: 0.05


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
button_prim = XFormPrim(find_prim_path_by_name("oven_E_button_5"))
print("button_prim", button_prim.prim_path)
# door_prim = XFormPrim(find_prim_path_by_name("oven_E_door_4"))
# print("door_prim", door_prim.prim_path)
root_articulation_prim = find_prim_path_by_name("oven_E_body_7")
print("root_articulation_prim", root_articulation_prim)
joint_names = ["PrismaticJoint_oven_down", "RevoluteJoint_oven_up"]
light_scopes=[XFormPrim(find_prim_path_by_name("oven_light"))
            ]
revolutejoint_path = find_prim_path_by_name("RevoluteJoint_oven_up")


class MicrowaveOverControl(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) 
        self.Stiffness_max = 0.8
        self.Stiffness_min = 0.08
        self.door_locked = True
        # init_pose
        self.local_pose_button, self.local_ort_drawer_down = button_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')
        stage = omni.usd.get_context().get_stage()
        self.revoluteJoint_drive_path = stage.GetPrimAtPath(revolutejoint_path)
        self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "angular")
   
   
    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
        )
    def on_pause(self):
        pass

    def on_stop(self):
        self.init_start=True
        light_scopes[0].set_visibility(False) 
        # back to initial pose
        # button_prim.set_local_pose(translation=self.local_pose_button)
        # door_prim.set_local_pose(translation=self.local_pose_door)
        self.door_locked = True
        carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
        pass

    def on_update(self, current_time: float, delta_time: float):
        if delta_time <= 0:
            return
        self.dc = _dynamic_control.acquire_dynamic_control_interface()
        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))
        # print("self.joint_handles",self.joint_handles)
    def apply_behavior(self):
        self.oven_control()
    def oven_control(self):

        self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
        self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
        # print("self.Joint0_state", self.Joint0_state)
        # print("self.Joint1_state", self.Joint1_state)
        if self.Joint0_state < -0.001 and self.door_locked:
            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-50))
            # if self.Joint1_state > math.radians(100):
            #     self.door_locked = False  
            if self.Joint1_state < math.radians(-30) :
                self.door_locked = False  
                light_scopes[0].set_visibility(True)
                self.dc.set_dof_position_target(self.joint_handles[0], 0)
                
        if abs(self.Joint1_state - math.radians(-50)) < math.radians(0.5) :
            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-78))
            self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min)
                
    
        if self.Joint1_state > math.radians(-20) and not self.door_locked:  
            
            self.dc.set_dof_position_target(self.joint_handles[1], 0)  
            self.door_locked = True
            if self.Joint1_state < math.radians(5):  
                self.door_locked = True
                light_scopes[0].set_visibility(False)  
                self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)