#!/usr/bin/env python

import roslib
roslib.load_manifest('simulation_control')
import rospy
import actionlib
import mavros_state
import time

from autonomous_offboard.msg import center_on_objectAction,  center_on_objectGoal, descend_on_objectAction, descend_on_objectGoal, detect_objectAction, detect_objectGoal, goto_positionAction, goto_positionGoal, short_grippersAction, short_grippersGoal, long_grippersAction, long_grippersGoal, coverageAction, coverageGoal

from std_msgs.msg import Float32
from geometry_msgs.msg import PoseStamped

if __name__ == '__main__':
    rospy.init_node('action_controller')
    mv_state = mavros_state.mavros_state()
    print 'Setting offboard'
    mv_state.set_mode('OFFBOARD')
    print 'Arming vehicle'
    mv_state.arm(True)
    rospy.loginfo("Taking off")
    goto_position_client = actionlib.SimpleActionClient('goto_position', goto_positionAction)
    goto_position_client.wait_for_server()
    goto_position_goal = goto_positionGoal()
    goto_position_goal.destination.pose.position.z = 5
    goto_position_client.send_goal(goto_position_goal)
    goto_position_client.wait_for_result()
    rospy.loginfo("Takeoff succeded")

    # Close legs
    long_grippers_client = actionlib.SimpleActionClient('long_grippers', long_grippersAction)
    long_grippers_client.wait_for_server()
    rospy.loginfo("Moving legs to pickup position")
    long_grippers_goal = long_grippersGoal(grip_rad_goal=Float32(0.5000000000))
    long_grippers_client.send_goal(long_grippers_goal)
    long_grippers_client.wait_for_result()
    if long_grippers_client.get_result().goal_reached.data:
        rospy.loginfo("Legs moved to pickup position")
    else:
        rospy.loginfo("Error with moving legs to pickup position")
    # /Close legs

    coverage_client = actionlib.SimpleActionClient('coverage', coverageAction)
    coverage_client.wait_for_server()
    coverage_goal = coverageGoal()
    coverage_goal.destination.pose.position.x = -105
    coverage_goal.destination.pose.position.y = 0
    coverage_goal.destination.pose.position.z = 10
    coverage_client.send_goal(coverage_goal)
    coverage_client.wait_for_result()
    res = PoseStamped()
    res = coverage_client.get_result().detected_object_pos
    rospy.loginfo("Detected object is at position (x,y,z)=({}, {}, {})".format(
        res.pose.position.x,
        res.pose.position.y,
        res.pose.position.z))

    rospy.loginfo("Going to detected position")
    goto_position_goal.destination.pose.position.x = coverage_client.get_result().detected_object_pos.pose.position.x
    goto_position_goal.destination.pose.position.y = coverage_client.get_result().detected_object_pos.pose.position.y
    goto_position_goal.destination.pose.position.z = coverage_client.get_result().detected_object_pos.pose.position.z
    goto_position_client.send_goal(goto_position_goal)
    goto_position_client.wait_for_result()
    rospy.loginfo("Is at position (x,y,z)=({}, {}, {})".format(coverage_client.get_result().detected_object_pos.pose.position.x,
                                                               coverage_client.get_result().detected_object_pos.pose.position.y,
                                                               coverage_client.get_result().detected_object_pos.pose.position.z))
    
    rospy.loginfo("Descending on object")
    descend_on_object_client = actionlib.SimpleActionClient('descend_on_object', descend_on_objectAction)
    descend_on_object_client.wait_for_server()
    rospy.loginfo("Descending server started")
    descend_on_object_goal = descend_on_objectGoal()
    descend_on_objectGoal = 2.0
    descend_on_object_client.send_goal(descend_on_object_goal)
    descend_on_object_client.wait_for_result()
    if descend_on_object_client.get_result().position_reached.data:
        print("landing")
        mv_state.arm(False)
    else:
        rospy.loginfo("Couldnt land exiting")

    time.sleep(3)

    # Grip object
    short_grippers_client = actionlib.SimpleActionClient('short_grippers', short_grippersAction)
    short_grippers_client.wait_for_server()
    rospy.loginfo("Closing short grippers")
    short_grippers_goal = short_grippersGoal(grip_rad_goal=Float32(1.22000000000))
    short_grippers_client.send_goal(short_grippers_goal)
    short_grippers_client.wait_for_result()
    if short_grippers_client.get_result().goal_reached.data:
        rospy.loginfo("Short grippers closed")
    else:
        rospy.loginfo("Error when closing short grippers")
    # /Grip object

    time.sleep(3)

    print 'Setting offboard'
    mv_state.set_mode('OFFBOARD')
    print 'Arming vehicle'
    mv_state.arm(True)

    time.sleep(1)

    rospy.loginfo("Lifting")
    goto_position_goal.destination.pose.position.x = -105
    goto_position_goal.destination.pose.position.y = 0
    goto_position_goal.destination.pose.position.z = 1.5
    goto_position_client.send_goal(goto_position_goal)
    goto_position_client.wait_for_result()

    time.sleep(1)

    # Close legs
    rospy.loginfo("Closing legs around object")
    long_grippers_goal = long_grippersGoal(grip_rad_goal=Float32(1.57000000000))
    long_grippers_client.send_goal(long_grippers_goal)
    long_grippers_client.wait_for_result()
    if long_grippers_client.get_result().goal_reached.data:
        print("Legs closed")
    else:
        rospy.loginfo("Error with closing legs")
    # /Close legs

    time.sleep(1)

    rospy.loginfo("Going to drop off position")
    goto_position_goal.destination.pose.position.x = 0
    goto_position_goal.destination.pose.position.y = 105
    goto_position_goal.destination.pose.position.z = 5
    goto_position_client.send_goal(goto_position_goal)
    goto_position_client.wait_for_result()

    time.sleep(3)

    rospy.loginfo("Deceding prior to drop off")
    goto_position_goal.destination.pose.position.x = 0
    goto_position_goal.destination.pose.position.y = 105
    goto_position_goal.destination.pose.position.z = 0.5
    goto_position_client.send_goal(goto_position_goal)
    goto_position_client.wait_for_result()

    time.sleep(3)

    # Open legs
    rospy.loginfo("Opening legs around object")
    long_grippers_goal = long_grippersGoal(grip_rad_goal=Float32(0.00000000000))
    long_grippers_client.send_goal(long_grippers_goal)
    long_grippers_client.wait_for_result()
    if long_grippers_client.get_result().goal_reached.data:
        print("Legs opened")
    else:
        rospy.loginfo("Error with leg opening")
    # /Open legs

    time.sleep(1)

    # Release object
    rospy.loginfo("short_grippers")
    short_grippers_goal = short_grippersGoal(grip_rad_goal=Float32(0.00000000000))
    short_grippers_client.send_goal(short_grippers_goal)
    short_grippers_client.wait_for_result()
    if short_grippers_client.get_result().goal_reached.data:
        print("Grip position reached")
    else:
        rospy.loginfo("Grip position not reached")
    # /Release object

    time.sleep(3)

    rospy.loginfo("Going Home")
    goto_position_goal.destination.pose.position.x = 0
    goto_position_goal.destination.pose.position.y = -105
    goto_position_goal.destination.pose.position.z = 5
    goto_position_client.send_goal(goto_position_goal)
    goto_position_client.wait_for_result()
    mv_state.land(0.0)