import vrep
import numpy as np
import math

data = np.genfromtxt("data.txt")
data = np.around(data, decimals=2)
data = data.tolist()

print ('Program started')
vrep.simxFinish(-1) # just in case, close all opened connections
clientID=vrep.simxStart('127.0.0.1',19997,True,True,-500000,5) # Connect to V-REP, set a very large time-out for blocking commands
if clientID!=-1:
    print ('Connected to remote API server')

    emptyBuff = bytearray()


    # Start the simulation:
    vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait)

    # Load a robot instance:    res,retInts,retFloats,retStrings,retBuffer=vrep.simxCallScriptFunction(clientID,'remoteApiCommandServer',vrep.sim_scripttype_childscript,'loadRobot',[],[0,0,0,0],['d:/v_rep/qrelease/release/test.ttm'],emptyBuff,vrep.simx_opmode_oneshot_wait)
    #    robotHandle=retInts[0]
    
    # Retrieve some handles:
    res,robotHandle=vrep.simxGetObjectHandle(clientID,'UR5#',vrep.simx_opmode_oneshot_wait)  
    res,target1=vrep.simxGetObjectHandle(clientID,'testPose1#',vrep.simx_opmode_oneshot_wait)


    # Retrieve the poses (i.e. transformation matrices, 12 values, last row is implicit) of some dummies in the scene
    res,retInts,target1Pose,retStrings,retBuffer=vrep.simxCallScriptFunction(clientID,'remoteApiCommandServer',vrep.sim_scripttype_childscript,'getObjectPose',[target1],[],[],emptyBuff,vrep.simx_opmode_oneshot_wait)
    


    res,retInts,robotInitialState,retStrings,retBuffer=vrep.simxCallScriptFunction(clientID,'remoteApiCommandServer',vrep.sim_scripttype_childscript,'getRobotState',[robotHandle],[],[],emptyBuff,vrep.simx_opmode_oneshot_wait)

     # Some parameters:
    approachVector=[0,0,0] # often a linear approach is required. This should also be part of the calculations when selecting an appropriate state for a given pose
    maxConfigsForDesiredPose=100 # we will try to find 10 different states corresponding to the goal pose and order them according to distance from initial state
    maxTrialsForConfigSearch=300 # a parameter needed for finding appropriate goal states
    searchCount=4 # how many times OMPL will run for a given task
    minConfigsForPathPlanningPath=400 # interpolation states for the OMPL path
    minConfigsForIkPath=100 # interpolation states for the linear approach path
    collisionChecking=1 # whether collision checking is on or off

   

    inInts=[robotHandle,collisionChecking,minConfigsForPathPlanningPath,searchCount]
    
    
    res,retInts,robotCurrentConfig,retStrings,retBuffer=vrep.simxCallScriptFunction(clientID,'remoteApiCommandServer',vrep.sim_scripttype_childscript,'getRobotState',[robotHandle],[],[],emptyBuff,vrep.simx_opmode_oneshot_wait)
    
    for i in range(4):
        inFloats = robotCurrentConfig+data[i]


        res,retInts,path,retStrings,retBuffer=vrep.simxCallScriptFunction(clientID,'remoteApiCommandServer',vrep.sim_scripttype_childscript,'findPath_goalIsState',inInts,inFloats,[],emptyBuff,vrep.simx_opmode_oneshot_wait)
        if (res==0) and len(path)>0:
            # Visualize the path:
            res,retInts,retFloats,retStrings,retBuffer=vrep.simxCallScriptFunction(clientID,'remoteApiCommandServer',vrep.sim_scripttype_childscript,'visualizePath',[robotHandle,255,0,255],path,[],emptyBuff,vrep.simx_opmode_oneshot_wait)
            lineHandle=retInts[0]
            

            # Make the robot follow the path:
            res,retInts,retFloats,retStrings,retBuffer=vrep.simxCallScriptFunction(clientID,'remoteApiCommandServer',vrep.sim_scripttype_childscript,'runThroughPath',[robotHandle],path,[],emptyBuff,vrep.simx_opmode_oneshot_wait)
            
            # Wait until the end of the movement:
            runningPath=True
            while runningPath:
                res,retInts,retFloats,retStrings,retBuffer=vrep.simxCallScriptFunction(clientID,'remoteApiCommandServer',vrep.sim_scripttype_childscript,'isRunningThroughPath',[robotHandle],[],[],emptyBuff,vrep.simx_opmode_oneshot_wait)
                runningPath=retInts[0]==1
                
            # Clear the path visualization:
            res,retInts,retFloats,retStrings,retBuffer=vrep.simxCallScriptFunction(clientID,'remoteApiCommandServer',vrep.sim_scripttype_childscript,'removeLine',[lineHandle],[],[],emptyBuff,vrep.simx_opmode_oneshot_wait)

            #get reverse path
            res,retInts,path,retStrings,retBuffer=vrep.simxCallScriptFunction(clientID,'remoteApiCommandServer',vrep.sim_scripttype_childscript,'goRetPath',[robotHandle],path,[],emptyBuff,vrep.simx_opmode_oneshot_wait)
            

            # Visualize the path:
            res,retInts,retFloats,retStrings,retBuffer=vrep.simxCallScriptFunction(clientID,'remoteApiCommandServer',vrep.sim_scripttype_childscript,'visualizePath',[robotHandle,255,0,255],path,[],emptyBuff,vrep.simx_opmode_oneshot_wait)
            lineHandle=retInts[0]
            

            # Make the robot follow the path:
            res,retInts,retFloats,retStrings,retBuffer=vrep.simxCallScriptFunction(clientID,'remoteApiCommandServer',vrep.sim_scripttype_childscript,'runThroughPath',[robotHandle],path,[],emptyBuff,vrep.simx_opmode_oneshot_wait)
            
            # Wait until the end of the movement:
            runningPath=True
            while runningPath:
                res,retInts,retFloats,retStrings,retBuffer=vrep.simxCallScriptFunction(clientID,'remoteApiCommandServer',vrep.sim_scripttype_childscript,'isRunningThroughPath',[robotHandle],[],[],emptyBuff,vrep.simx_opmode_oneshot_wait)
                runningPath=retInts[0]==1
                
            # Clear the path visualization:
            res,retInts,retFloats,retStrings,retBuffer=vrep.simxCallScriptFunction(clientID,'remoteApiCommandServer',vrep.sim_scripttype_childscript,'removeLine',[lineHandle],[],[],emptyBuff,vrep.simx_opmode_oneshot_wait)



    # Stop simulation:
    vrep.simxStopSimulation(clientID,vrep.simx_opmode_oneshot_wait)

    # Now close the connection to V-REP:
    vrep.simxFinish(clientID)
else:
    print ('Failed connecting to remote API server')
print ('Program ended')