# import required libraries
# pip3 install pymavlink pyserial

import cv2
import numpy as np
import time
import VisionCaptureApi
import PX4MavCtrlV4 as PX4MavCtrl
import math
import ReqCopterSim

req = ReqCopterSim.ReqCopterSim() # 获取局域网内所有CopterSim程序的电脑IP列表
StartCopterID = 1 # 初始飞机的ID号
TargetIP = req.getSimIpID(StartCopterID) # 获取CopterSim的1号程序所在电脑的IP，作为目标IP
# 注意：如果是本电脑运行的话，那TargetIP是127.0.0.1的本机地址；如果是远程访问，则是192打头的局域网地址。
# 因此本程序能同时在本机运行，也能在其他电脑运行。

VehilceNum = 1
MavList=[]
# Create MAV instance
for i in range(VehilceNum):
    CopterID=StartCopterID+i # 当前配置的飞机序号
    TargetIP = req.getSimIpID(CopterID) # 获取对应的电脑IP
    req.sendReSimIP(CopterID) # 请求回传数据到本电脑
    time.sleep(1)
    MavList = MavList+[PX4MavCtrl.PX4MavCtrler(CopterID,TargetIP)] # 初始化并建立i号飞机的MAVLink通信连接

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

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

# 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(2)
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]
        
        # target position in UE4 map global frame
        if t<10:
            targetPosE=np.array([-0,0,-15]) # fly to 15 meters high in 0 to 10s
        else: #fly circle after 10s
            targetPosE=np.array([10*math.sin(t/2+math.pi/2)-10,10*math.sin(t/2.0),-15])
        
        # target position in vehilce takeoff frame
        targetPosE=targetPosE+Error2UE4Map[j]
        mav.SendPosNED(targetPosE[0],targetPosE[1],targetPosE[2],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()