#!/usr/bin/env python3
"""MuJoCo sim2sim visualization for go2style policy (45-dim obs, no linvel).

Controls:
  W/S: forward/back    Q/E: left/right    A/D: rotate     Space: stop    R: reset
"""
import numpy as np
import mujoco
from mujoco import viewer
import onnxruntime as ort
import os, sys, time, threading, queue

PROJECT = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
ONNX_PATH = os.path.join(PROJECT, "exports_go1_go2style", "policy.onnx")
XML_DIR = os.path.join(PROJECT, "motrix_envs", "src", "motrix_envs", "locomotion", "go1", "xmls")

# go2style params
NUM_OBS = 45
NUM_ACTIONS = 12
OBS_SCALES = {'ang_vel': 0.25, 'dof_pos': 1.0, 'dof_vel': 0.05}
ACTION_SCALE = 0.25
KP = 20.0
KD = 0.0   # MuJoCo joint自带damping=0.5, PD kd=0避免过阻尼
CLIP_ACTIONS = 23.7
CLIP_OBS = 100.0
MAX_VX, MAX_VY, MAX_WZ = 1.0, 1.0, 1.0

DEFAULT_ANGLES = np.array([
    -0.0, 0.9, -1.8, 0.0, 0.9, -1.8, -0.0, 0.9, -1.8, 0.0, 0.9, -1.8,
], dtype=np.float32)

from pynput import keyboard

class KB:
    def __init__(self):
        self._q = queue.Queue(); self.running = True
        self.held = set(); self._t = None; self._l = None
    def _n(self, k):
        try:
            if hasattr(k,'char') and k.char: return k.char.lower()
        except: pass
        return str(k).lower()
    def _w(self):
        while self.running:
            try:
                et, k = self._q.get(timeout=0.05)
                n = self._n(k)
                if et == 'press': self.held.add(n)
                elif et == 'release': self.held.discard(n)
            except queue.Empty: pass
    def init(self):
        def op(k): self._q.put(('press',k))
        def or_(k): self._q.put(('release',k))
        self._l = keyboard.Listener(on_press=op, on_release=or_)
        self._l.start()
        self._t = threading.Thread(target=self._w, daemon=True); self._t.start()
        print("[KB] 键盘就绪")
    def held_keys(self): return self.held.copy()
    def stop(self): self.running = False; self._l.stop()

def get_sensor(m, d, name):
    sid = mujoco.mj_name2id(m, mujoco.mjtObj.mjOBJ_SENSOR, name)
    if sid < 0: return None
    adr = m.sensor_adr[sid]; dim = m.sensor_dim[sid]
    return d.sensordata[adr:adr+dim].copy()

def compute_obs(model, data, commands, last_action):
    obs = np.zeros(NUM_OBS, dtype=np.float32)
    # gyro [0:3]
    g = get_sensor(model, data, "gyro")
    obs[0:3] = (g if g is not None else data.qvel[3:6]) * OBS_SCALES['ang_vel']
    # gravity [3:6]
    R = data.xmat[1].reshape(3,3)
    obs[3:6] = (R.T @ np.array([0.,0.,-1.])).astype(np.float32)
    # joint pos [6:18]
    obs[6:18] = (data.qpos[7:19] - DEFAULT_ANGLES) * OBS_SCALES['dof_pos']
    # joint vel [18:30]
    obs[18:30] = data.qvel[6:18] * OBS_SCALES['dof_vel']
    # last action [30:42]
    obs[30:42] = last_action
    # commands [42:45]
    obs[42:45] = commands * np.array([2.0, 2.0, 0.25], dtype=np.float32)
    return np.clip(obs, -CLIP_OBS, CLIP_OBS)

def main():
    os.chdir(XML_DIR)
    xml = open("scene_motor_actuator.xml").read()
    model = mujoco.MjModel.from_xml_string(xml)
    data = mujoco.MjData(model)
    data.qpos[0:3] = [0,0,0.42]; data.qpos[3:7] = [1,0,0,0]; data.qpos[7:19] = DEFAULT_ANGLES
    mujoco.mj_forward(model, data)

    session = ort.InferenceSession(ONNX_PATH, providers=['CPUExecutionProvider'])
    print(f"[ONNX] {ONNX_PATH}")
    print(f"[CTRL] W/S前后 Q/E左右 A/D旋转 Space停 R重置 Esc退出")

    kb = KB(); kb.init()
    view = viewer.launch_passive(model, data)

    step, vx, vy, wz = 0, 0.0, 0.0, 0.0
    last_action = np.zeros(NUM_ACTIONS, dtype=np.float32)
    action = np.zeros(NUM_ACTIONS, dtype=np.float32)
    decimation = 2  # MuJoCo dt=0.005, policy dt=0.01 → 2 steps per inference

    while view.is_running():
        keys = kb.held_keys()
        if 'escape' in keys: break
        if 'r' in keys:
            data.qpos[0:3]=[0,0,0.42]; data.qpos[3:7]=[1,0,0,0]; data.qpos[7:19]=DEFAULT_ANGLES
            data.qvel[:]=0; last_action[:]=0; mujoco.mj_forward(model,data); print("[R] 重置")
        if ' ' in keys: vx=vy=wz=0.0

        vx =  MAX_VX if 'w' in keys else (-MAX_VX if 's' in keys else 0.0)
        vy =  MAX_VY if 'q' in keys else (-MAX_VY if 'e' in keys else 0.0)
        wz =  MAX_WZ if 'a' in keys else (-MAX_WZ if 'd' in keys else 0.0)

        if step % decimation == 0:
            cmd = np.array([vx, vy, wz], dtype=np.float32)
            obs = compute_obs(model, data, cmd, last_action)
            action = session.run(None, {'observations': obs.reshape(1,-1).astype(np.float32)})[0][0]
            action = np.clip(action, -CLIP_ACTIONS, CLIP_ACTIONS)
            last_action = action.copy()

        target = DEFAULT_ANGLES + action * ACTION_SCALE
        torques = KP*(target - data.qpos[7:19]) - KD*data.qvel[6:18]
        data.ctrl[:] = np.clip(torques, -CLIP_ACTIONS, CLIP_ACTIONS)
        mujoco.mj_step(model, data)
        view.sync()
        step += 1
        time.sleep(0.001)

    kb.stop(); view.close()

if __name__ == "__main__":
    main()