import rtde_control
import time
import math
import socket
import keyboard # pip install keyboard

# Socket stuff
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
host =""
port =30002
s.bind((host,port))
s.listen(1) # Number of connections
s.setblocking(False)
client = None


# Robot Control Stuff

rtde_c = rtde_control.RTDEControlInterface("192.168.1.101")

import rtde_receive
rtde_r = rtde_receive.RTDEReceiveInterface("192.168.1.101")

def toRad(d):
    return d/360*2*math.pi


'''
actual_q = rtde_r.getActualQ() #current joint rotations in radians.
print("Actual Q:"+str(actual_q))
fw_actual_q = rtde_c.getForwardKinematics(actual_q)
print("forward Actual Q:"+str(fw_actual_q))
joint_q=rtde_c.getInverseKinematics(fw_actual_q)
print("Final Q:"+str(joint_q))
'''


pan=0 #-=left, +=right, degrees
tilt=0 #-=down, +=up, degrees

joint_q=[0,toRad(-90),toRad(90),toRad(-180),toRad(-90),toRad(0)]   #start position

#rtde_c.moveJ([0,toRad(-90),toRad(90-tilt/2),toRad(-180-tilt/2),toRad(-90-pan),toRad(0)],0.1,0.1)

rtde_c.moveJ(joint_q,0.1,0.1) #move to initial position


# Parameters


velocity = 0.2   #0.5
acceleration = 0.1   #0.5
frequency= 100
dt = 1.0/frequency  # 2ms
lookahead_time = 0.1
gain = 300

speed=1/frequency


def constrain(v,_min,_max):
    return min(_max,max(_min,v))

print("Press s to start!")
while not keyboard.is_pressed("s"):
    time.sleep(0.1)

print("Starting Servo")
while not keyboard.is_pressed("q"):
    
    start = time.time()

    # Receive Socket stuff
    try:
        client, address = s.accept()
        print("Connected to", address)

    except socket.error:
        pass

    if client is not None:
        try:
            data = client.recv( 1024 ).decode( 'utf-8' )
            if data:
                lastdata=data.split('\n')
                #print("Received :", repr(data))
                if (len(lastdata)>1):
                    splitdata=lastdata[-2].split(",")
                
                    try:
                        _pan=float(splitdata[0])
                        _tilt=float(splitdata[1])

                        winkellimit=45
                        if _pan>=-winkellimit and _pan <=winkellimit and _tilt>=-winkellimit and _tilt <=winkellimit:
                            pan=_pan
                            tilt=_tilt

                        print("Pan="+str(pan)+" Tilt="+str(tilt))
                    except ValueError:
                        print("Not a float")
        except socket.error:
            pass


    # Robot Control stuff

    
    joint_q_aim = [0,toRad(-90),toRad(90),toRad(-180-tilt),toRad(-90-pan),toRad(0)]


    for i in range(6):
        joint_q[i] += constrain(joint_q_aim[i]-joint_q[i], -speed,speed)
        
    
    #print(joint_q)

    rtde_c.servoJ(joint_q, velocity, acceleration, dt, lookahead_time, gain)
    
    end = time.time()
    stepduration = end - start
    
    if stepduration < dt:
        time.sleep(dt - stepduration)

print("Finished")

rtde_c.servoStop()
rtde_c.stopScript()





s.close()