import time
import math
import sys
import numpy as np
import PX4MavCtrlV4 as PX4MavCtrl
VehilceNum = 3
CarNum = 3

MavList=[]
flagI = np.zeros(VehilceNum, dtype=bool)
# Create MAV instance
for i in range(VehilceNum + CarNum):
    MavList=MavList+[PX4MavCtrl.PX4MavCtrler(1+i)]

time.sleep(2)
# Start MAV loop with UDP mode: Udp_Simple
for i in range(VehilceNum+CarNum):
    MavList[i].InitMavLoop(1)

# Enter Offboard mode to start vehicle control
time.sleep(2)
for i in range(VehilceNum+CarNum):
    MavList[i].initOffboard()
    time.sleep(0.5)

time.sleep(2)
for i in range(VehilceNum+CarNum):
    MavList[i].SendMavArm(True)
# Get the takeoff position of each vehicle to the UE4 Map
# this can be adopted to obtain the global position of a vehicle in swarm simulation
time.sleep(5)
Error2UE4Map=[]
for i in range(VehilceNum):
    mav=MavList[i]
    Error2UE4Map = Error2UE4Map+[-np.array([mav.uavGlobalPos[0]-mav.uavPosNED[0],mav.uavGlobalPos[1]-mav.uavPosNED[1],mav.uavGlobalPos[2]-mav.uavPosNED[2]])]

# fly to 10m high above its takeoff position
for i in range(VehilceNum):
    MavList[i].SendPosNED(0, 0, -10, 0) 
time.sleep(10)


lastTime = time.time()
startTime = time.time()
timeInterval = 1/30.0 #here is 0.0333s (30Hz)

while True:
    lastTime = lastTime + timeInterval
    sleepTime = lastTime - time.time()
    if sleepTime > 0:
        time.sleep(sleepTime) # sleep until the desired clock
    else:
        lastTime = time.time()
    # The following code will be executed 30Hz (0.0333s)
    
    t=time.time()-startTime
    for j in range(VehilceNum):
        
        mav=MavList[j]

        if abs(mav.uavPosNED[2] - (-10)) <2 and (flagI[j] == False):
            flagI[j] = True
            print(str(j)+"号飞机已到达指定高度")
        
        if flagI[j] == True:
            mav.SendPosNED(MavList[j+3].uavPosNED[0],MavList[j+3].uavPosNED[1],mav.uavPosNED[2],0)
    
    for i in range(VehilceNum,VehilceNum+CarNum):
        if flagI[i-3]  == True:
            # print(f"编号 {i-3}：北 {MavList[i-3].uavPosNED[0]:.2f} m，东 {MavList[i-3].uavPosNED[1]:.2f} m，地 {MavList[i-3].uavPosNED[2]:.2f} m")
            MavList[i].SendPosNEDNoYaw(MavList[i].uavPosNED[0]+2.5,MavList[i].uavPosNED[1],0)
        

    if t>200: # end simulation when 200s
        break
    

for i in range(VehilceNum):
    MavList[i].endOffboard() 

time.sleep(1)
for i in range(VehilceNum):
    MavList[i].stopRun()