//
// Created by xtkuang on 2025/7/24.
//

#include "humanoid_robot.h"
#include "motor/ti5_motor/canopen/ti5_motor_canopen_protocol.h"
#include "motor/ti5_motor/ti5_motor.h"


using namespace std;
using namespace cmvr::device;

template<int DOF>
HumanoidRobot<DOF>::HumanoidRobot(const XmlNode &cfg) : AbstractRobot(cfg) {
    try {
        id_ = cfg.getAttrString("id");
        dof_ = DOF;
        if (!pathExists(cfg.getAttrString("urdf"))) {
            throw runtime_error("urdf file does not exist");
        }
        auto rcfg = cmvr::dyn::LoadRobotFromURDF(
            cfg.getAttrString("urdf"), cfg.getAttrString("baseLink"));
        m_robot_ = std::make_shared<cmvr::dyn::Robot<DOF> >(rcfg);
        joint_names_ = splitString(cfg.getAttrString("jointNames"), ",");
        link_names_ = splitString(cfg.getAttrString("linkNames"), ",");
        if (joint_names_.size() != dof_) {
            throw runtime_error("joint names size mismatched with dof");
        }

        m_state_ = m_robot_->MakeState(link_names_, joint_names_);
        m_cctrl_ = make_shared<ctrl::CartesianController<DOF> >(m_robot_);
        upd_freq_ = cfg.getAttrDefault("updFreq", 500);
        CSP_buffer_ = make_shared<SPMCRingBuffer<JointPoint> >(cfg.getAttrDefault("bufferSize", 50));
        CSV_buffer_ = make_shared<SPMCRingBuffer<JointVelocityCommand> >(cfg.getAttrDefault("bufferSize", 50));
        CSC_buffer_ = make_shared<SPMCRingBuffer<JointCurrentCommand> >(cfg.getAttrDefault("bufferSize", 50));


        auto can_cfg = cfg.getChild("CanManger");

        auto l_can_cfg = can_cfg.getChild("LeftArmCan");
        l_motors_cfg_ = l_can_cfg.getChildren("Motor");
        l_can_client_ = std::make_shared<SocketCanClientRaw>(l_can_cfg);
        l_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
        l_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
        l_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();


        auto r_can_cfg = can_cfg.getChild("RightArmCan");
        r_motors_cfg_ = r_can_cfg.getChildren("Motor");
        r_can_client_ = std::make_shared<SocketCanClientRaw>(r_can_cfg);
        r_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
        r_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
        r_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();


        auto waist_can_cfg = can_cfg.getChild("WaistCan");
        waist_motors_cfg_ = waist_can_cfg.getChildren("Motor");
        waist_can_client_ = std::make_shared<SocketCanClientRaw>(waist_can_cfg);
        waist_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
        waist_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
        waist_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();

        upd_timer_ = make_shared<FDTimer>();
        upd_timer_->start(chrono::nanoseconds(1000 / upd_freq_ * 1000),
                          [this] { update_state_(); });
        rsm_.store(ROBOT_READY);
    } catch (exception &e) {
        LOG(ERROR) << "HumanoidRobot init failed, id=" << id_;
        throw runtime_error(e.what());
    }
}

template<int DOF>
void HumanoidRobot<DOF>::init() {
    // 1 === 初始化公共组件 ===
    l_can_client_->init();
    r_can_client_->init();
    waist_can_client_->init();
    auto ret = l_can_sender_->Init(l_can_client_.get(), false);
    if (ret != ErrorCode::OK) {
        LOG(ERROR) << "Failed to init can sender.";
    }
    ret = r_can_sender_->Init(r_can_client_.get(), false);
    if (ret != ErrorCode::OK) {
        LOG(ERROR) << "Failed to init can sender.";
    }
    ret = waist_can_sender_->Init(waist_can_client_.get(), false);
    if (ret != ErrorCode::OK) {
        LOG(ERROR) << "Failed to init can sender.";
    }


    ret = l_can_receiver_->Init(l_can_client_.get(), l_message_manager_.get(), false);
    if (ret != ErrorCode::OK) {
        LOG(ERROR) << "Failed to init can receiver.";
    }
    ret = r_can_receiver_->Init(r_can_client_.get(), r_message_manager_.get(), false);
    if (ret != ErrorCode::OK) {
        LOG(ERROR) << "Failed to init can receiver.";
    }
    ret = waist_can_receiver_->Init(waist_can_client_.get(), waist_message_manager_.get(), false);
    if (ret != ErrorCode::OK) {
        LOG(ERROR) << "Failed to init can receiver.";
    }


    // 2 ===  启动通讯 ===
    l_can_client_->start();
    ret = l_can_sender_->Start();
    if (ret != ErrorCode::OK) {
        LOG(ERROR) << "Failed to start can sender.";
    }

    r_can_client_->start();
    ret = r_can_sender_->Start();
    if (ret != ErrorCode::OK) {
        LOG(ERROR) << "Failed to start can sender.";
    }

    waist_can_client_->start();
    ret = waist_can_sender_->Start();
    if (ret != ErrorCode::OK) {
        LOG(ERROR) << "Failed to start can sender.";
    }

    ret = l_can_receiver_->Start();
    if (ret != ErrorCode::OK) {
        LOG(ERROR) << "Failed to start can receiver.";
    }

    ret = r_can_receiver_->Start();
    if (ret != ErrorCode::OK) {
        LOG(ERROR) << "Failed to start can receiver.";
    }

    ret = waist_can_receiver_->Start();
    if (ret != ErrorCode::OK) {
        LOG(ERROR) << "Failed to start can receiver.";
    }

    // 3 == 创建协议 ===
    auto l_canopen_protocol = std::make_shared<Ti5MotorCanopenProtocol>(l_can_sender_, l_message_manager_);
    auto r_canopen_protocol = std::make_shared<Ti5MotorCanopenProtocol>(r_can_sender_, r_message_manager_);
    auto waist_canopen_protocol = std::make_shared<Ti5MotorCanopenProtocol>(waist_can_sender_, waist_message_manager_);

    // 4 === 创建  MotorManager ===
    motor_manager_ = std::make_shared<MotorManager>();

    // for (const auto& cfg : r_motors_cfg_) {
    //     auto motor = std::make_shared<Ti5Motor>(cfg);
    //     motor->setProtocol(r_canopen_protocol);
    //     motor->init();  // 耗时操作
    //     motor_manager_->addMotor(motor);
    // }
    //
    // for (const auto& cfg : l_motors_cfg_) {
    //     auto motor = std::make_shared<Ti5Motor>(cfg);
    //     motor->setProtocol(l_canopen_protocol);
    //     motor->init();  // 耗时操作
    //     motor_manager_->addMotor(motor);
    // }

    // 5 === 并行创建电机 ===
    auto left_task = std::async(std::launch::async, [&] {
        LOG(INFO) << "[Thread " << std::this_thread::get_id() << "] Start initializing LEFT motors...";
        for (const auto &cfg: l_motors_cfg_) {
            auto motor = std::make_shared<Ti5Motor>(cfg);
            motor->setProtocol(l_canopen_protocol);
            motor->init();
            motor_manager_->addMotor(motor);
        }
    });

    auto right_task = std::async(std::launch::async, [&] {
        LOG(INFO) << "[Thread " << std::this_thread::get_id() << "] Start initializing RIGHT motors...";
        for (const auto &cfg: r_motors_cfg_) {
            auto motor = std::make_shared<Ti5Motor>(cfg);
            motor->setProtocol(r_canopen_protocol);
            motor->init();
            motor_manager_->addMotor(motor);
        }
    });

    auto waist_task = std::async(std::launch::async, [&] {
        LOG(INFO) << "[Thread " << std::this_thread::get_id() << "] Start initializing waist motors...";
        for (const auto &cfg: waist_motors_cfg_) {
            auto motor = std::make_shared<Ti5Motor>(cfg);
            motor->setProtocol(waist_canopen_protocol);
            motor->init();
            motor_manager_->addMotor(motor);
        }
    });

    // 等待两个线程完成
    left_task.get();
    right_task.get();
    waist_task.get();

    rsm_.store(ROBOT_ESTOP);
    LOG(INFO) << "All motors initialized successfully.";
}

template<int DOF>
void HumanoidRobot<DOF>::torqueOff() {
    try {
        if (rsm_.load() == ROBOT_RUNNING) {
            throw runtime_error("robot is running");
        }

        if (rsm_.load() != ROBOT_TOROFF) {
            for (const auto &pair: motor_manager_->motorsMap()) {
                if (pair.second->jointName() != "WAIST_Y" && pair.second->jointName() != "WAIST_P"  )
                    pair.second->torqueOff();
            }
            rsm_.store(ROBOT_TOROFF);
        }
    } catch (std::exception &e) {
        throw runtime_error(e.what());
    }
}


template<int DOF>
HumanoidRobot<DOF>::~HumanoidRobot() {
    // TODO: close can interfaces
    upd_timer_->stop();

    std::vector<JointPoint> cmd = {
        {"L_SHOULDER_P", 0.0},
        {"L_SHOULDER_R", -1.31873},
        {"L_SHOULDER_Y", 0.0},
        {"L_ELBOW_R",    -0.537621},
        {"L_WRIST_P",    0.0},
        {"L_WRIST_Y",    0.000183204},
        {"L_WRIST_R",    0.0225797},

        {"R_SHOULDER_P", -0.0201069},
        {"R_SHOULDER_R", 1.46698},
        {"R_SHOULDER_Y", 1.45894},
        {"R_ELBOW_R",    0.159681},
        {"R_WRIST_P",    0.0808349},
        {"R_WRIST_Y",    -0.138279},
        {"R_WRIST_R",    -0.243169},

        {"WAIST_Y",    0},
        {"WAIST_P",    0}
    };

    this->moveJ(cmd,0.8);
    this->torqueOff();
}

template<int DOF>
int HumanoidRobot<DOF>::getDOF() {
    return dof_;
}

template<int DOF>
std::vector<std::string> HumanoidRobot<DOF>::getJointNames() {
    return joint_names_;
}

template<int DOF>
std::unordered_map<std::string, double> HumanoidRobot<DOF>::getJointQ() const{
    std::unordered_map<std::string, double> joint_qs;

    for (const auto &pair : motor_manager_->motorsMap()) {
        auto motor = pair.second;
        joint_qs[motor->jointName()] = motor->getQ();
    }
    return joint_qs;
}

template<int DOF>
void HumanoidRobot<DOF>::getJointQ(std::unordered_map<std::string, double> &joint_qs) const {
    for (auto &pair : joint_qs) {
        auto motor = motor_manager_->getMotor(pair.first);
        if (motor) {
            pair.second = motor->getQ();
        } else {
            pair.second = 0.0;
        }
    }
}



template<int DOF>
std::vector<std::string> HumanoidRobot<DOF>::getLinkNames() {
    return link_names_;
}

template<int DOF>
void HumanoidRobot<DOF>::getState(RobotState &state) {
    try {
        lock_guard lock(exec_mtx_);
        // TODO: copy m_state_ date into state
    } catch (exception &e) {
        throw runtime_error(e.what());
    }
}

template<int DOF>
void HumanoidRobot<DOF>::torqueOn() {
    eStop();
}


template<int DOF>
void HumanoidRobot<DOF>::eStop() {
    if (rsm_.load() != ROBOT_ESTOP) {
        CSP_buffer_->clear();
        CSV_buffer_->clear();
        CSC_buffer_->clear();
        for (const auto &pair: motor_manager_->motorsMap()) {
            pair.second->brake();
        }
        rsm_.store(ROBOT_ESTOP);
    }
}

template<int DOF>
void HumanoidRobot<DOF>::moveJ(std::vector<JointPoint> &cmd, double vel, double acc) {
    try {
        if (rsm_.load() == ROBOT_RUNNING) {
            flash_cmd_.store(true);
            eStop();
        }
        if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
            rsm_.store(ROBOT_RUNNING);

            for (const auto &j: cmd) {
                auto motor = motor_manager_->getMotor(j.joint_name);
                if (motor != nullptr) {
                    // PPM 模式下 这个实际速度会超30% 左右
                    motor->setQd(vel);

                    if (motor->getMode() != msgs::RUN_MODE_PROFILE_POSITION) {
                        motor->setMode(msgs::RUN_MODE_PROFILE_POSITION);
                    }
                    motor->setQ(j.rad);
                }
            }

            //3. wait for completion
            bool completion = true;
            do {
                completion = true;
                for (const auto &j: cmd) {
                    auto motor = motor_manager_->getMotor(j.joint_name);
                    if (motor != nullptr) {
                        if (!motor->reachedTargetQ()) {
                            completion = false;
                            break;
                        }
                    }
                }
                // 4. while waiting, check flash_cmd_, if it is true, set it false then exit
                if (flash_cmd_.load()) {
                    flash_cmd_.store(false);
                    return;
                }
                std::this_thread::sleep_for(std::chrono::milliseconds(2));
            } while (!completion);

            rsm_.store(ROBOT_ESTOP);
        } else {
            throw runtime_error("rsm invalid");
        }
    } catch (exception &e) {
        throw runtime_error(e.what());
    }
}

template<int DOF>
void HumanoidRobot<DOF>::calibrateZeroQ(const std::string &joint_name) {
    auto motor = motor_manager_->getMotor(joint_name);
    motor->calibrateZeroQ();
}

template<int DOF>
void HumanoidRobot<DOF>::moveJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d pose, double vel, double acc) {

     try {
        if (rsm_.load() == ROBOT_RUNNING) {
            flash_cmd_.store(true);
            eStop();
        }
         if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
            rsm_.store(ROBOT_RUNNING);


            // update m_state_
            Eigen::Vector<double, DOF> q_init;
            auto q_map = getJointQ();
            q_init << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"],
                      q_map["L_WRIST_P"],    q_map["L_WRIST_Y"],    q_map["L_WRIST_R"],
                      q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"],
                      q_map["R_WRIST_P"],    q_map["R_WRIST_Y"],    q_map["R_WRIST_R"];

            LOG(INFO) << "q_init: " << q_init;
             m_state_->SetQ(q_init);
             m_robot_->ComputeForwardKinematics(m_state_);


             Eigen::Matrix4d T_target = Eigen::Matrix4d::Identity();
             T_target.block<3,3>(0,0) = eulerZYXToRotationMatrix(pose.euler().rx(), pose.euler().ry(), pose.euler().rz());  // 输入为弧度
             T_target(0,3) =  pose.position().x();
             T_target(1,3) =  pose.position().y();
             T_target(2,3) =  pose.position().z();

             cmvr::ctrl::PoseTarget target;
             target.T_target = T_target;
             target.w_posrot = 0.5;
             target.weight   = 1.0;
             target.link_name = ee_link;

            // slove ik
             Eigen::Vector<double, DOF> q_cmd;
            bool ok = m_cctrl_->compute(m_state_, base_link, {target}, 0.002, ctrl::CartesianController<DOF>::Mode::Position,
                                        q_cmd, 10000, 1e-6);
            if (!ok) {
                throw runtime_error("solve IK failed");
            }
            std::vector<JointPoint> joint_points{
                    {"R_SHOULDER_P", q_cmd[7]},   {"R_SHOULDER_R", q_cmd[8]},
                    {"R_SHOULDER_Y", q_cmd[9]},   {"R_ELBOW_R",    q_cmd[10]},
                    {"R_WRIST_P",    q_cmd[11]},  {"R_WRIST_Y",    q_cmd[12]},
                    {"R_WRIST_R",    q_cmd[13]}
            };
            for (const auto &j: joint_points) {
                auto motor = motor_manager_->getMotor(j.joint_name);
                if (motor != nullptr) {
                    // PPM 模式下 这个实际速度会超30% 左右
                    motor->setQd(vel);
                    if (motor->getMode() != msgs::RUN_MODE_PROFILE_POSITION) {
                        motor->setMode(msgs::RUN_MODE_PROFILE_POSITION);
                    }
                    motor->setQ(j.rad);
                }
            }

            //3. wait for completion
            bool completion = true;
            do {
                completion = true;
                for (const auto &j: joint_points) {
                    auto motor = motor_manager_->getMotor(j.joint_name);
                    if (motor != nullptr) {
                        if (!motor->reachedTargetQ()) {
                            completion = false;
                            break;
                        }
                    }
                }
                // 4. while waiting, check flash_cmd_, if it is true, set it false then exit
                if (flash_cmd_.load()) {
                    flash_cmd_.store(false);
                    return;
                }
                std::this_thread::sleep_for(std::chrono::milliseconds(2));
            } while (!completion);
            rsm_.store(ROBOT_READY);
        } else {
            throw runtime_error("rsm invalid");
        }
    } catch (exception &e) {
        throw runtime_error(e.what());
    }

}


template<int DOF>
void HumanoidRobot<DOF>::moveJ_IK(const std::string &base_link, const std::vector<cmvr::ctrl::PoseTarget> &targets, double vel,
                                  double acc)  {
    try {
        if (rsm_.load() == ROBOT_RUNNING) {
            flash_cmd_.store(true);
            eStop();
        }
         if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
            rsm_.store(ROBOT_RUNNING);


            // update m_state_
            Eigen::Vector<double, DOF> q_init;
            auto q_map = getJointQ();
            q_init << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"],
                      q_map["L_WRIST_P"],    q_map["L_WRIST_Y"],    q_map["L_WRIST_R"],
                      q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"],
                      q_map["R_WRIST_P"],    q_map["R_WRIST_Y"],    q_map["R_WRIST_R"];

            LOG(INFO) << "q_init: " << q_init;
             m_state_->SetQ(q_init);
            m_robot_->ComputeForwardKinematics(m_state_);

            // slove ik
             Eigen::Vector<double, DOF> q_cmd;
            bool ok = m_cctrl_->compute(m_state_, base_link, targets, 0.002, ctrl::CartesianController<DOF>::Mode::Position,
                                        q_cmd, 10000, 1e-6);
            if (!ok) {
                throw runtime_error("solve IK failed");
            }
            std::vector<JointPoint> joint_points{
                    {"R_SHOULDER_P", q_cmd[7]},   {"R_SHOULDER_R", q_cmd[8]},
                    {"R_SHOULDER_Y", q_cmd[9]},   {"R_ELBOW_R",    q_cmd[10]},
                    {"R_WRIST_P",    q_cmd[11]},  {"R_WRIST_Y",    q_cmd[12]},
                    {"R_WRIST_R",    q_cmd[13]}
            };
            // for (const auto &j: joint_points) {
            //     auto motor = motor_manager_->getMotor(j.joint_name);
            //     if (motor != nullptr) {
            //         // PPM 模式下 这个实际速度会超30% 左右
            //         motor->setQd(vel);
            //         if (motor->getMode() != msgs::RUN_MODE_PROFILE_POSITION) {
            //             motor->setMode(msgs::RUN_MODE_PROFILE_POSITION);
            //         }
            //         motor->setQ(j.rad);
            //     }
            // }
            //
            // //3. wait for completion
            // bool completion = true;
            // do {
            //     completion = true;
            //     for (const auto &j: joint_points) {
            //         auto motor = motor_manager_->getMotor(j.joint_name);
            //         if (motor != nullptr) {
            //             if (!motor->reachedTargetQ()) {
            //                 completion = false;
            //                 break;
            //             }
            //         }
            //     }
            //     // 4. while waiting, check flash_cmd_, if it is true, set it false then exit
            //     if (flash_cmd_.load()) {
            //         flash_cmd_.store(false);
            //         return;
            //     }
            //     std::this_thread::sleep_for(std::chrono::milliseconds(2));
            // } while (!completion);
            rsm_.store(ROBOT_READY);
        } else {
            throw runtime_error("rsm invalid");
        }
    } catch (exception &e) {
        throw runtime_error(e.what());
    }
}

template<int DOF>
void HumanoidRobot<DOF>::moveL(std::string &base_link, std::vector<cmvr::ctrl::PoseTarget> &targets, double vel,
                               double acc) {
    try {
        if (rsm_.load() == ROBOT_RUNNING) {
            flash_cmd_.store(true);
            eStop();
        } else if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY) {
            rsm_.store(ROBOT_RUNNING);
            // TODO:
            //  1. interpolate line waypoint by vel and acc
            //  2. for each waypoint, call cartesian controller to solve joint positions
            //  3. for each waypoint, call motor Cyclic Synchronous Position (CSP) command with Timer
            //  4. in the loop, check flash_cmd_, if it is true, set it false then exit
            //            Eigen::Vector<double, DOF> q_cmd;
            //            m_state_->SetQ(state_.joint_positions);
            //            bool ok = m_cctrl_.compute(m_state_, base_link, targets, 1, ctrl::CartesianController<DOF>::Mode::Position, q_cmd, 60, 1e-4);
            //            if (!ok) {
            //                throw runtime_error("solve IK failed");
            //            }
            rsm_.store(ROBOT_READY);
        } else {
            throw runtime_error("rsm invalid");
        }
    } catch (exception &e) {
        throw runtime_error(e.what());
    }
}

template<int DOF>
void HumanoidRobot<DOF>::speedJ(std::string &joint_name, RobotJointIndexDirection dir, double vel, double acc) {
    try {
        if (rsm_.load() == ROBOT_RUNNING) {
            flash_cmd_.store(true);
            eStop();
        } else if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY) {
            rsm_.store(ROBOT_RUNNING);
            // TODO:
            //  1. set joint speed and acc
            //  2. set joint speed by PROFILE VELOCITY MODE (PVM)
            //            rsm_.store(ROBOT_READY); -> should not set rsm_ to ready because motor is running
        } else {
            throw runtime_error("rsm invalid");
        }
    } catch (exception &e) {
        throw runtime_error(e.what());
    }
}

template<int DOF>
void HumanoidRobot<DOF>::speedL(RobotCartesian cart, RobotJointIndexDirection dir, double vel, double acc) {
    try {
        if (rsm_.load() == ROBOT_RUNNING) {
            flash_cmd_.store(true);
            eStop();
        } else if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY) {
            rsm_.store(ROBOT_RUNNING);
            // TODO: ???
            //            rsm_.store(ROBOT_READY); -> should not set rsm_ to ready because motor is running
        } else {
            throw runtime_error("rsm invalid");
        }
    } catch (exception &e) {
        throw runtime_error(e.what());
    }
}

template<int DOF>
void HumanoidRobot<DOF>::followJointTrajectory(std::vector<std::vector<JointPoint> > &traj, double dt) {
    try {
        if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
            auto ok = check_joint_traj_(traj, dt);
            if (!ok) { throw runtime_error("joint traj invalid"); }

            rsm_.store(ROBOT_RUNNING);
            // TODO: need to optimize callback loop
            for (auto i = 0; i < traj.size(); i++) {
                if (flash_cmd_.load()) {
                    flash_cmd_.store(false);
                    LOG(INFO) << "followJointTrajectory is canceled";
                    return;
                }
                servoJ(traj[i], dt);
                this_thread::sleep_for(chrono::milliseconds((int) dt));
            }
            rsm_.store(ROBOT_ESTOP);
        } else {
            throw runtime_error("rsm invalid");
        }
    } catch (exception &e) {
        throw runtime_error(e.what());
    }
}

template<int DOF>
void HumanoidRobot<DOF>::followPoseTrajectory(std::string &base_link,
                                              std::vector<std::vector<cmvr::ctrl::PoseTarget> > &targets, double dt) {
    try {
        if (rsm_.load() == ROBOT_RUNNING) {
            flash_cmd_.store(true);
            eStop();
        } else if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY) {
            rsm_.store(ROBOT_RUNNING);
            // TODO:
            //  1. set Timer(dt)
            //  2. for each timestamp, use Cyclic Synchronous Position (CSP) Mode to set joint position
            //  3. if flash_cmd_ is set, set it to false and exit
            //  3. join timer
            rsm_.store(ROBOT_READY);
        } else {
            throw runtime_error("rsm invalid");
        }
    } catch (exception &e) {
        throw runtime_error(e.what());
    }
}

template<int DOF>
void HumanoidRobot<DOF>::servoJ(std::vector<JointPoint> &joints, double dt) {
    for (const auto &j: joints) {
        auto motor = motor_manager_->getMotor(j.joint_name);
        if (motor != nullptr) {
            if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
                motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
            }
            motor->setQd(j.vel);
            motor->setQ(j.rad);
        }
    }
    rsm_.store(ROBOT_READY);
}

template<int DOF>
void HumanoidRobot<DOF>::servoJ(std::vector<JointPoint> &joints, double vel, double dt) {
    for (const auto &j: joints) {
        auto motor = motor_manager_->getMotor(j.joint_name);
        if (motor != nullptr) {

            if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
                motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
            }
            motor->setQd(vel);
            motor->setQ(j.rad);
        }
    }
}

template<int DOF>
void HumanoidRobot<DOF>::servoJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d pose, double vel,
                                double acc) {
    try {
        // update m_state_
        Eigen::Vector<double, DOF> q_init;
        auto q_map = getJointQ();
        q_init << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"],
                q_map["L_WRIST_P"], q_map["L_WRIST_Y"], q_map["L_WRIST_R"],
                q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"],
                q_map["R_WRIST_P"], q_map["R_WRIST_Y"], q_map["R_WRIST_R"];

        LOG(INFO) << "q_init: " << q_init;
        m_state_->SetQ(q_init);
        m_robot_->ComputeForwardKinematics(m_state_);


        Eigen::Matrix4d T_target = Eigen::Matrix4d::Identity();
        T_target.block<3, 3>(0, 0) = eulerZYXToRotationMatrix(pose.euler().rx(), pose.euler().ry(), pose.euler().rz());
        // 输入为弧度
        T_target(0, 3) = pose.position().x();
        T_target(1, 3) = pose.position().y();
        T_target(2, 3) = pose.position().z();

        cmvr::ctrl::PoseTarget target;
        target.T_target = T_target;
        target.w_posrot = 0.5;
        target.weight = 1.0;
        target.link_name = ee_link;

        // slove ik
        Eigen::Vector<double, DOF> q_cmd;
        bool ok = m_cctrl_->compute(m_state_, base_link, {target}, 0.002,
                                    ctrl::CartesianController<DOF>::Mode::Position,
                                    q_cmd, 10000, 1e-6);
        if (!ok) {
            throw runtime_error("solve IK failed");
        }
        std::vector<JointPoint> joint_points{
            {"R_SHOULDER_P", q_cmd[7]}, {"R_SHOULDER_R", q_cmd[8]},
            {"R_SHOULDER_Y", q_cmd[9]}, {"R_ELBOW_R", q_cmd[10]},
            {"R_WRIST_P", q_cmd[11]}, {"R_WRIST_Y", q_cmd[12]},
            {"R_WRIST_R", q_cmd[13]}
        };
        servoJ(joint_points, vel, 0.1);
    } catch (exception &e) {
        throw runtime_error(e.what());
    }
}



template<int DOF>
void HumanoidRobot<DOF>::servoDeltaJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d delta_pose, double vel, double acc) {
    try {
        // 1 : 计算当前位姿
        auto cur_pose = fk(base_link, ee_link);

        // 2 : 计算目标角度   target pos = cur_pose + delta_pose
        cmvr::msgs::Pose3d target_pose;
        target_pose.mutable_position()->set_x(cur_pose.position().x() + delta_pose.position().x());
        target_pose.mutable_position()->set_y(cur_pose.position().y() + delta_pose.position().y());
        target_pose.mutable_position()->set_z(cur_pose.position().z() + delta_pose.position().z());

        target_pose.mutable_euler()->set_rx(cur_pose.euler().rx() + delta_pose.euler().rx());
        target_pose.mutable_euler()->set_ry(cur_pose.euler().ry() + delta_pose.euler().ry());
        target_pose.mutable_euler()->set_rz(cur_pose.euler().rz() + delta_pose.euler().rz());

        //3 :
        servoJ(base_link, ee_link, target_pose, vel, acc);
    } catch (exception &e) {
        throw runtime_error(e.what());
    }
}



template<int DOF>
void HumanoidRobot<DOF>::servoL(std::string &base_link, std::vector<cmvr::ctrl::PoseTarget> &targets, double dt) {
    try {
        Eigen::Vector<double, DOF> q_cmd;
        bool ok = m_cctrl_->compute(m_state_, base_link, targets, 1, ctrl::CartesianController<DOF>::Mode::Position,
                                    q_cmd, 60, 1e-4);
        if (!ok) {
            LOG(WARNING) << "[HumanoidRobot] (servoL): solve IK failed, id=" << id_;
            throw runtime_error("IK failed");
        }
        std::vector<JointPoint> joints(dof_);
        for (size_t i = 0; i < dof_; i++) {
            joints[i].joint_name = joint_names_[i];
            joints[i].rad = q_cmd[i];
        }
        servoJ(joints, dt);
    } catch (exception &e) {
        throw runtime_error(e.what());
    }
}

template<int DOF>
bool HumanoidRobot<DOF>::check_joint_traj_(std::vector<std::vector<JointPoint> > &traj, double dt) {
    // TODO: to be implemented
    return true;
}

template<int DOF>
void HumanoidRobot<DOF>::moveDeltaJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d delta_pose,
                                    double vel, double acc) {
    try {
        // 1 : 计算当前位姿
        auto cur_pose = fk(base_link, ee_link);

        // 2 : 计算目标角度   target pos = cur_pose + delta_pose
        cmvr::msgs::Pose3d target_pose;
        target_pose.mutable_position()->set_x(cur_pose.position().x() + delta_pose.position().x());
        target_pose.mutable_position()->set_y(cur_pose.position().y() + delta_pose.position().y());
        target_pose.mutable_position()->set_z(cur_pose.position().z() + delta_pose.position().z());

        target_pose.mutable_euler()->set_rx(cur_pose.euler().rx() + delta_pose.euler().rx());
        target_pose.mutable_euler()->set_ry(cur_pose.euler().ry() + delta_pose.euler().ry());
        target_pose.mutable_euler()->set_rz(cur_pose.euler().rz() + delta_pose.euler().rz());

        //3 :
        moveJ(base_link, ee_link, target_pose, vel, acc);
    } catch (exception &e) {
        throw runtime_error(e.what());
    }
}


template<int DOF>
void HumanoidRobot<DOF>::update_state_() {
    std::lock_guard lock(state_mtx_);
    // TODO: set m_state_
    //    m_state_->SetQ();
    //    m_state_->SetQdot();
    //    m_state_->SetQddot();
}

template<int DOF>
Eigen::Matrix3d HumanoidRobot<DOF>::eulerZYXToRotationMatrix(double rx, double ry, double rz) {
    Eigen::Matrix3d R_x;
    R_x << 1, 0, 0,
           0, cos(rx), -sin(rx),
           0, sin(rx), cos(rx);

    Eigen::Matrix3d R_y;
    R_y << cos(ry), 0, sin(ry),
           0, 1, 0,
          -sin(ry), 0, cos(ry);

    Eigen::Matrix3d R_z;
    R_z << cos(rz), -sin(rz), 0,
           sin(rz), cos(rz), 0,
           0, 0, 1;

    return R_x * R_y * R_z;
}

template<int DOF>
Eigen::Vector3d HumanoidRobot<DOF>::rotationMatrixToEulerZYX(const Eigen::Matrix3d &R) {
    double rx, ry, rz;

    // 根据 R = R_x * R_y * R_z
    // R = | cy*cz           -cy*sz           sy       |
    //     | sx*sy*cz + cx*sz  -sx*sy*sz + cx*cz  -sx*cy |
    //     | -cx*sy*cz + sx*sz  cx*sy*sz + sx*cz   cx*cy |

    // 提取 ry（绕 Y 的角度）
    ry = std::asin(R(0,2));  // R(0,2) = sin(ry)

    double cy = std::cos(ry);

    if (std::abs(cy) > 1e-6) {
        // 正常情况
        rx = std::atan2(-R(1,2), R(2,2));
        rz = std::atan2(-R(0,1), R(0,0));
    } else {
        // 万向节锁：cy ≈ 0
        rx = 0; // 任意选择
        if (ry > 0) {
            rz = std::atan2(R(1,0), R(1,1));
        } else {
            rz = std::atan2(-R(1,0), R(1,1));
        }
    }

    return Eigen::Vector3d(rx, ry, rz);
}


template<int DOF>
cmvr::msgs::Pose3d HumanoidRobot<DOF>::fk(const std::string &base_link, const std::string &ee_link) {
    cmvr::msgs::Pose3d pose;

    try {
        // 获取当前关节角度
        Eigen::Vector<double, DOF> q;
        auto q_map = getJointQ(); // 类似 moveJ 中获取关节角度
        q << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"],
             q_map["L_WRIST_P"],    q_map["L_WRIST_Y"],    q_map["L_WRIST_R"],
             q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"],
             q_map["R_WRIST_P"],    q_map["R_WRIST_Y"],    q_map["R_WRIST_R"];

        // 更新状态并计算前向运动学
        m_state_->SetQ(q);
        m_robot_->ComputeForwardKinematics(m_state_);

        // 获取基座和末端索引
        auto base_idx = m_robot_->GetLinkIdx(base_link);
        auto ee_idx   = m_robot_->GetLinkIdx(ee_link);

        // 获取变换矩阵
        Eigen::Matrix4d T = m_robot_->GetTransformation(m_state_, base_idx, ee_idx);

        // 填充 Pose3d
        pose.mutable_position()->set_x(T(0,3));
        pose.mutable_position()->set_y(T(1,3));
        pose.mutable_position()->set_z(T(2,3));

        // 将旋转矩阵转换为欧拉角
        Eigen::Matrix3d R = T.block<3,3>(0,0);
        Eigen::Vector3d euler = rotationMatrixToEulerZYX(R); // 你需要实现或已有此工具函数
        pose.mutable_euler()->set_rx(euler(0));
        pose.mutable_euler()->set_ry(euler(1));
        pose.mutable_euler()->set_rz(euler(2));

    } catch (const std::exception &e) {
        throw std::runtime_error(std::string("FK计算失败: ") + e.what());
    }

    return pose;
}


void printTrajectoryInfo(
    const std::vector<Eigen::Matrix4d>& trajectory,
    const std::vector<double>& times,
    const std::vector<double>& velocities,
    double total_distance) {

    std::cout << "\n===================================== 轨迹详细信息 =====================================" << std::endl;
    std::cout << "总路径长度: " << std::fixed << std::setprecision(6) << total_distance << "m" << std::endl;
    std::cout << "总运动时间: " << std::fixed << std::setprecision(3) << times.back() << "s" << std::endl;
    std::cout << "轨迹点总数: " << trajectory.size() << " 个" << std::endl;
    std::cout << "-----------------------------------------------------------------------------------------" << std::endl;
    std::cout << std::setw(4) << "序号" << " | "
              << std::setw(8) << "时间(s)" << " | "
              << std::setw(10) << "x(m)" << " | "
              << std::setw(10) << "y(m)" << " | "
              << std::setw(10) << "z(m)" << " | "
              << std::setw(12) << "速度(m/s)" << " | "
              << std::setw(16) << "到起点距离(m)" << std::endl;
    std::cout << "-----------------------------------------------------------------------------------------" << std::endl;

    Eigen::Vector3d start_pos(trajectory[0](0,3), trajectory[0](1,3), trajectory[0](2,3));
    for (size_t idx = 0; idx < trajectory.size(); ++idx) {
        const auto& T = trajectory[idx];
        Eigen::Vector3d pos(T(0,3), T(1,3), T(2,3));
        double dist_from_start = (pos - start_pos).norm();

        std::cout << std::setw(4) << idx << " | "
                  << std::fixed << std::setprecision(3) << std::setw(8) << times[idx] << " | "
                  << std::fixed << std::setprecision(6) << std::setw(10) << pos.x() << " | "
                  << std::fixed << std::setprecision(6) << std::setw(10) << pos.y() << " | "
                  << std::fixed << std::setprecision(6) << std::setw(10) << pos.z() << " | "
                  << std::fixed << std::setprecision(6) << std::setw(12) << velocities[idx] << " | "
                  << std::fixed << std::setprecision(6) << std::setw(16) << dist_from_start << std::endl;
    }
    std::cout << "=========================================================================================\n" << std::endl;
}


template<int DOF>
void HumanoidRobot<DOF>::moveDeltaL(const std::string &base_link, const std::string &ee_link,
                                    msgs::Pose3d delta_pose, double vel, double acc) {
    try {

        Eigen::Vector<double, DOF> q_current_for_ik;
        auto q_map_current = getJointQ();
        q_current_for_ik << q_map_current["L_SHOULDER_P"], q_map_current["L_SHOULDER_R"], q_map_current["L_SHOULDER_Y"], q_map_current["L_ELBOW_R"],
                  q_map_current["L_WRIST_P"],    q_map_current["L_WRIST_Y"],    q_map_current["L_WRIST_R"],
                  q_map_current["R_SHOULDER_P"], q_map_current["R_SHOULDER_R"], q_map_current["R_SHOULDER_Y"], q_map_current["R_ELBOW_R"],
                  q_map_current["R_WRIST_P"],    q_map_current["R_WRIST_Y"],    q_map_current["R_WRIST_R"];

        LOG(INFO) << "q_current_for_ik: " << q_current_for_ik;

        // 1. 计算末端当前位姿（通过FK）
        msgs::Pose3d current_pose = fk(base_link, ee_link);

        LOG(INFO)<< current_pose.mutable_position()->x() << " " << current_pose.mutable_position()->y() << " "  << current_pose.mutable_position()->z()
         << " " << current_pose.mutable_euler()->rx() << " "  << current_pose.mutable_euler()->ry() << " "  << current_pose.mutable_euler()->rz();

        // 2. 计算目标位姿 = 当前位姿 + 相对偏移（位置/姿态分别叠加）
        msgs::Pose3d target_pose;
        // 位置偏移（米）
        target_pose.mutable_position()->set_x(current_pose.position().x() + delta_pose.position().x());
        target_pose.mutable_position()->set_y(current_pose.position().y() + delta_pose.position().y());
        target_pose.mutable_position()->set_z(current_pose.position().z() + delta_pose.position().z());
        // 姿态偏移（弧度，ZYX欧拉角）
        target_pose.mutable_euler()->set_rx(current_pose.euler().rx() + delta_pose.euler().rx());
        target_pose.mutable_euler()->set_ry(current_pose.euler().ry() + delta_pose.euler().ry());
        target_pose.mutable_euler()->set_rz(current_pose.euler().rz() + delta_pose.euler().rz());

        // 3. 调用moveL执行直线运动到目标位姿
        moveL(base_link, ee_link, target_pose, vel, acc);

    } catch (const std::exception &e) {
        LOG(ERROR) << "moveDeltaL failed: " << e.what();
        throw std::runtime_error(std::string("moveDeltaL error: ") + e.what());
    }
}

template<int DOF>
void HumanoidRobot<DOF>::moveL(const std::string &base_link, const std::string &ee_link,
                             msgs::Pose3d target_pose, double vel, double acc) {
    if (vel <= 0 || acc <= 0) {
        throw std::runtime_error("moveL: vel and acc must be positive");
    }

    try {
        const double CONTROL_PERIOD = 1.0 / 50.0; // 控制周期保持不变
        msgs::Pose3d current_pose = fk(base_link, ee_link);

        // 1. 初始化当前和目标位姿矩阵
        Eigen::Matrix4d T_current = Eigen::Matrix4d::Identity();
        T_current.block<3, 3>(0, 0) = eulerZYXToRotationMatrix(
            current_pose.euler().rx(), current_pose.euler().ry(), current_pose.euler().rz()
        );
        T_current(0, 3) = current_pose.position().x();
        T_current(1, 3) = current_pose.position().y();
        T_current(2, 3) = current_pose.position().z();

        Eigen::Matrix4d T_target = Eigen::Matrix4d::Identity();
        T_target.block<3, 3>(0, 0) = eulerZYXToRotationMatrix(
            target_pose.euler().rx(), target_pose.euler().ry(), target_pose.euler().rz()
        );
        T_target(0, 3) = target_pose.position().x();
        T_target(1, 3) = target_pose.position().y();
        T_target(2, 3) = target_pose.position().z();

        // 2. 获取当前关节配置并验证目标可达性
        Eigen::Vector<double, DOF> q_current;
        auto q_map_current = getJointQ();
        q_current << q_map_current["L_SHOULDER_P"], q_map_current["L_SHOULDER_R"], q_map_current["L_SHOULDER_Y"], q_map_current["L_ELBOW_R"],
                  q_map_current["L_WRIST_P"],    q_map_current["L_WRIST_Y"],    q_map_current["L_WRIST_R"],
                  q_map_current["R_SHOULDER_P"], q_map_current["R_SHOULDER_R"], q_map_current["R_SHOULDER_Y"], q_map_current["R_ELBOW_R"],
                  q_map_current["R_WRIST_P"],    q_map_current["R_WRIST_Y"],    q_map_current["R_WRIST_R"];

        LOG(INFO) << "Current joint configuration: " << q_current;
        m_state_->SetQ(q_current);
        m_robot_->ComputeForwardKinematics(m_state_);

        // 验证目标点可达性
        cmvr::ctrl::PoseTarget target_ik_check;
        target_ik_check.T_target = T_target;
        target_ik_check.w_posrot = 0.5;
        target_ik_check.weight   = 1.0;
        target_ik_check.link_name = ee_link;

        Eigen::Vector<double, DOF> q_cmd_check;
        bool ik_solvable = m_cctrl_->compute(m_state_, base_link, {target_ik_check}, 0.002,
                                            ctrl::CartesianController<DOF>::Mode::Position,
                                            q_cmd_check, 10000, 1e-6); // 使用main中的高迭代次数
        if (!ik_solvable) {
            throw std::runtime_error("moveL: Target pose is unreachable");
        }

        // 3. 计算位置差值（与main一致，保持姿态不变）
        Eigen::Vector3d delta_pos = T_target.block<3, 1>(0, 3) - T_current.block<3, 1>(0, 3);
        double total_distance = delta_pos.norm();

        if (total_distance < 1e-6) {
            LOG(INFO) << "moveL: Target is already reached";
            return;
        }

        // 4. 基于路径长度的均匀插值（核心修改点）
        // 计算所需的插值点数（根据速度和控制周期计算）
        double move_time = total_distance / vel; // 总移动时间
        size_t num_points = std::max(2ul, static_cast<size_t>(ceil(move_time / CONTROL_PERIOD)));
        double step_distance = total_distance / num_points; // 每个点的距离间隔

        LOG(INFO) << "moveL: Planning trajectory - points=" << num_points
                  << ", total distance=" << total_distance << "m, move time=" << move_time << "s";

        // 5. 生成均匀分布的轨迹点（仅位置变化，姿态保持与起点一致）
        std::vector<Eigen::Matrix4d> cartesian_trajectory;

        for (size_t i = 0; i <= num_points; ++i) {
            double s = static_cast<double>(i) / num_points; // 基于距离的插值系数（0~1）

            Eigen::Matrix4d T_interp = T_current; // 复制起点姿态（保持不变）
            // 仅位置按比例插值
            T_interp(0, 3) = T_current(0, 3) + s * delta_pos.x();
            T_interp(1, 3) = T_current(1, 3) + s * delta_pos.y();
            T_interp(2, 3) = T_current(2, 3) + s * delta_pos.z();

            cartesian_trajectory.push_back(T_interp);
        }

        // 6. 打印所有轨迹点信息
        std::cout << "\n===================================== 所有轨迹点信息 =====================================" << std::endl;
        std::cout << "轨迹点总数: " << cartesian_trajectory.size() << " 个" << std::endl;
        std::cout << "总路径长度: " << std::fixed << std::setprecision(6) << total_distance << "m" << std::endl;
        std::cout << "每段距离:   " << std::fixed << std::setprecision(6) << step_distance << "m" << std::endl;
        std::cout << "起点位置: (x=" << T_current(0,3) << ", y=" << T_current(1,3) << ", z=" << T_current(2,3) << ")" << std::endl;
        std::cout << "终点位置: (x=" << T_target(0,3) << ", y=" << T_target(1,3) << ", z=" << T_target(2,3) << ")" << std::endl;
        std::cout << "-----------------------------------------------------------------------------------------" << std::endl;
        std::cout << std::setw(4) << "序号" << " | "
                  << std::setw(10) << "x(m)" << " | "
                  << std::setw(10) << "y(m)" << " | "
                  << std::setw(10) << "z(m)" << " | "
                  << std::setw(16) << "到起点距离(m)" << " | "
                  << std::setw(16) << "与上一点距离(m)" << std::endl;
        std::cout << "-----------------------------------------------------------------------------------------" << std::endl;

        double prev_distance = 0.0;
        for (size_t idx = 0; idx < cartesian_trajectory.size(); ++idx) {
            const auto& T = cartesian_trajectory[idx];
            Eigen::Vector3d pos(T(0,3), T(1,3), T(2,3));
            Eigen::Vector3d delta_from_start = pos - T_current.block<3,1>(0,3);
            double current_distance = delta_from_start.norm();
            double segment_distance = (idx == 0) ? current_distance : current_distance - prev_distance;

            std::cout << std::setw(4) << idx << " | "
                      << std::fixed << std::setprecision(6) << std::setw(10) << pos.x() << " | "
                      << std::fixed << std::setprecision(6) << std::setw(10) << pos.y() << " | "
                      << std::fixed << std::setprecision(6) << std::setw(10) << pos.z() << " | "
                      << std::fixed << std::setprecision(6) << std::setw(16) << current_distance << " | "
                      << std::fixed << std::setprecision(6) << std::setw(16) << segment_distance << std::endl;

            prev_distance = current_distance;
        }
        std::cout << "=========================================================================================\n" << std::endl;

        // 7. 执行IK求解（与main逻辑一致，逐步更新状态）
        auto loop_start_time = std::chrono::high_resolution_clock::now();

        for (size_t i = 0; i < cartesian_trajectory.size(); ++i) {
            const auto& T_interp = cartesian_trajectory[i];

            // 构造当前目标
            cmvr::ctrl::PoseTarget current_target;
            current_target.T_target = T_interp;
            current_target.link_name = ee_link;
            current_target.w_posrot = 0.5;
            current_target.weight = 1.0;

            // IK求解参数（使用main中的高迭代次数）
            int max_iter = 10000;
            double tolerance = 1e-6;

            // 求解IK，以上一个状态作为初始值（与main一致）
            bool ok = m_cctrl_->compute(m_state_, base_link, {current_target}, CONTROL_PERIOD,
                                        ctrl::CartesianController<DOF>::Mode::Position,
                                        q_current, max_iter, tolerance);

            // 失败重试机制
            if (!ok) {
                LOG(WARNING) << "Retrying IK for point " << i;
                ok = m_cctrl_->compute(m_state_, base_link, {current_target}, CONTROL_PERIOD,
                                      ctrl::CartesianController<DOF>::Mode::Position,
                                      q_current, max_iter * 2, tolerance * 10);
            }

            if (!ok) {
                LOG(ERROR) << "IK failed at point " << i;
                LOG(ERROR) << "Target pos: (" << T_interp(0,3) << ","
                          << T_interp(1,3) << "," << T_interp(2,3) << ")";
                throw std::runtime_error("moveL: IK failed during trajectory execution");
            }
            // 右臂第二个关节不能超过90°
            if (q_current[8] > 1.5708)
                q_current[8] = 1.5708;
            // 新增：打印IK求解得到的关节角度
            std::cout << "\n===================================== 关节角度信息 (点 " << i << ") =====================================" << std::endl;
            std::cout << "左手臂关节角度（弧度）：" << std::endl;
            std::cout << "  L_SHOULDER_P: " << std::fixed << std::setprecision(6) << q_current[0] << std::endl;
            std::cout << "  L_SHOULDER_R: " << std::fixed << std::setprecision(6) << q_current[1] << std::endl;
            std::cout << "  L_SHOULDER_Y: " << std::fixed << std::setprecision(6) << q_current[2] << std::endl;
            std::cout << "  L_ELBOW_R:    " << std::fixed << std::setprecision(6) << q_current[3] << std::endl;
            std::cout << "  L_WRIST_P:    " << std::fixed << std::setprecision(6) << q_current[4] << std::endl;
            std::cout << "  L_WRIST_Y:    " << std::fixed << std::setprecision(6) << q_current[5] << std::endl;
            std::cout << "  L_WRIST_R:    " << std::fixed << std::setprecision(6) << q_current[6] << std::endl;

            std::cout << "\n右手臂关节角度（弧度）：" << std::endl;
            std::cout << "  R_SHOULDER_P: " << std::fixed << std::setprecision(6) << q_current[7] << std::endl;
            std::cout << "  R_SHOULDER_R: " << std::fixed << std::setprecision(6) << q_current[8] << std::endl;
            std::cout << "  R_SHOULDER_Y: " << std::fixed << std::setprecision(6) << q_current[9] << std::endl;
            std::cout << "  R_ELBOW_R:    " << std::fixed << std::setprecision(6) << q_current[10] << std::endl;
            std::cout << "  R_WRIST_P:    " << std::fixed << std::setprecision(6) << q_current[11] << std::endl;
            std::cout << "  R_WRIST_Y:    " << std::fixed << std::setprecision(6) << q_current[12] << std::endl;
            std::cout << "  R_WRIST_R:    " << std::fixed << std::setprecision(6) << q_current[13] << std::endl;
            std::cout << "====================================================================================================\n" << std::endl;


            // 更新状态（与main一致，保证连续性）
            m_state_->SetQ(q_current);
            m_robot_->ComputeForwardKinematics(m_state_);

            // 发送关节命令
            std::vector<JointPoint> joint_command;
            for (size_t j = 0; j < DOF; ++j) {
                JointPoint jp;
                jp.joint_name = joint_names_[j];
                jp.rad = q_current[j];
                jp.vel = vel;
                joint_command.push_back(jp);
            }
            servoJ(joint_command, vel, CONTROL_PERIOD);

            // 检查中断
            if (flash_cmd_.load()) {
                flash_cmd_.store(false);
                LOG(INFO) << "moveL: Interrupted by external command";
                return;
            }

            // 控制时间节奏
            auto expected_time = loop_start_time + std::chrono::nanoseconds(
                static_cast<long long>(i * CONTROL_PERIOD * 1e9)
            );
            auto now = std::chrono::high_resolution_clock::now();
            if (now < expected_time) {
                std::this_thread::sleep_until(expected_time);
            }
        }

        // 最终状态更新
        m_state_->SetQ(q_current);
        m_robot_->ComputeForwardKinematics(m_state_);
        rsm_.store(ROBOT_READY);
        LOG(INFO) << "moveL: Trajectory completed successfully";

    } catch (const std::exception &e) {
        LOG(ERROR) << "moveL failed: " << e.what();
        rsm_.store(ROBOT_ERROR);
        throw std::runtime_error(std::string("moveL error: ") + e.what());
    }
}



template class cmvr::device::HumanoidRobot<7>;
template class cmvr::device::HumanoidRobot<14>;
template class cmvr::device::HumanoidRobot<20>;