# Copyright (C) 2020-2025 Motphys Technology Co., Ltd. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================

import time

from motrixsim import SceneData, load_model, run, step
from motrixsim.render import RenderApp


def lerp(a, b, t):
    return a + t * (b - a)


# Mouse controls:
# - Press and hold left button then drag to rotate the camera/view
# - Press and hold right button then drag to pan/translate the view
def main():
    # Create render window for visualization
    with RenderApp() as render:
        # The scene description file
        path = "examples/assets/stanford_tidybot_adhesion/scene.xml"
        # Load the scene model
        model = load_model(path)
        # Create the render instance of the model
        render.launch(model)
        # Create the physics data of the model
        data = SceneData(model)

        # Get actuator to control robot action
        joint_x = model.get_actuator("joint_x")
        joint_y = model.get_actuator("joint_y")
        joint_th = model.get_actuator("joint_th")
        joint_2 = model.get_actuator("joint_2")
        joint_4 = model.get_actuator("joint_4")
        joint_6 = model.get_actuator("joint_6")
        adhere = model.get_actuator("adhere")
        start = time.time()
        action_index = 0
        action_time = 2

        def phys_step():
            nonlocal start, action_index, action_time
            diff = time.time() - start

            # Action by sequence
            if diff < action_time:
                r = diff / action_time
                if action_index == 0:
                    lerp_value = lerp(0, -1.6, r)
                    joint_th.set_ctrl(data, lerp_value)
                    lerp_value = lerp(0, -1.18, r)
                    joint_2.set_ctrl(data, lerp_value)
                    lerp_value = lerp(0, -1.54, r)
                    joint_4.set_ctrl(data, lerp_value)
                    lerp_value = lerp(0, -0.357, r)
                    joint_6.set_ctrl(data, lerp_value)
                elif action_index == 1:
                    action_time = 0.2
                elif action_index == 2:
                    action_time = 1
                    adhere.set_ctrl(data, 50)
                    lerp_value = lerp(-1.1, -0.5, r)
                    joint_2.set_ctrl(data, lerp_value)
                    lerp_value = lerp(-1.5, -1.37, r)
                    joint_4.set_ctrl(data, lerp_value)
                    lerp_value = lerp(-0.35, -1.2, r)
                    joint_6.set_ctrl(data, lerp_value)
                elif action_index == 3:
                    action_time = 3
                    lerp_value = lerp(0, 1, r)
                    joint_x.set_ctrl(data, lerp_value)
                    lerp_value = lerp(0, 0.36, r)
                    joint_y.set_ctrl(data, lerp_value)
                elif action_index == 4:
                    adhere.set_ctrl(data, 0)
            else:
                start = time.time()
                action_index += 1

            # Physics world step
            step(model, data)

        run.render_loop(model.options.timestep, 60, phys_step, lambda: render.sync(data))


if __name__ == "__main__":
    main()