//
// 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"
#include  "utils/base/abstract_interpolation.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();
//             return;
//         }
//         if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
//             rsm_.store(ROBOT_RUNNING);
//
//             // 获取当前关节状态
//             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_);
//
//             // 获取基座链接索引
//             auto base_idx = m_robot_->GetLinkIdx(base_link);
//
//
//             // 获取当前末端位姿 - 使用前向运动学计算
//             std::vector<Eigen::Matrix4d> current_poses;
//             for (const auto& target : targets) {
//                 auto ee_idx = m_robot_->GetLinkIdx(target.link_name);
//
//
//                 // 使用正向运动学计算当前位姿
//                 Eigen::Matrix4d T = m_robot_->GetTransformation(m_state_, base_idx, ee_idx);
//                 current_poses.push_back(T);
//
//                 // 打印当前末端执行器的 XYZ 和欧拉角
//                 if (&target == &targets.front()) {
//                     Eigen::Vector3d position = T.block<3, 1>(0, 3);
//                     Eigen::Matrix3d rotation = T.block<3, 3>(0, 0);
//                     Eigen::Vector3d euler = rotationMatrixToEulerZYX(rotation);
//
//                     LOG(INFO) << "Starting point (Initial position): "
//                               << "X: " << position[0] << ", Y: " << position[1] << ", Z: " << position[2];
//                     LOG(INFO) << "Starting orientation (Euler angles): "
//                               << "RX: " << euler[0] << ", RY: " << euler[1] << ", RZ: " << euler[2];
//                 }
//             }
//
//             // 计算最大距离和插值点数
//             double max_distance = 0.0;
//             for (size_t i = 0; i < targets.size(); i++) {
//                 Eigen::Vector3d current_pos = current_poses[i].block<3, 1>(0, 3);
//                 Eigen::Vector3d target_pos = targets[i].T_target.block<3, 1>(0, 3);
//                 double distance = (target_pos - current_pos).norm();
//                 max_distance = std::max(max_distance, distance);
//             }
//
//             // 基于速度和距离计算插值点数
//             double move_time = max_distance / vel;
//             int num_points = static_cast<int>(move_time * 100); // 100Hz控制频率
//
//             // 存储所有插值点的关节角度
//             std::vector<Eigen::Vector<double, DOF>> joint_trajectory;
//             joint_trajectory.reserve(num_points + 1);
//
//             // 记录上一次成功的关节角度
//             Eigen::Vector<double, DOF> last_success_q = q_init;
//
//             // 预先计算所有插值点的逆运动学
//             for (int i = 0; i <= num_points; i++) {
//                 if (flash_cmd_.load()) {
//                     flash_cmd_.store(false);
//                     rsm_.store(ROBOT_READY);
//                     return;
//                 }
//
//                 double t = static_cast<double>(i) / num_points;
//
//                 // 创建插值后的目标
//                 std::vector<cmvr::ctrl::PoseTarget> interpolated_targets = targets;
//                 for (size_t j = 0; j < targets.size(); j++) {
//                     // 位置线性插值
//                     Eigen::Vector3d current_pos = current_poses[j].block<3, 1>(0, 3);
//                     Eigen::Vector3d target_pos = targets[j].T_target.block<3, 1>(0, 3);
//                     Eigen::Vector3d interp_pos = current_pos + t * (target_pos - current_pos);
//
//                     // 旋转球面线性插值
//                     Eigen::Matrix3d current_rot_matrix = current_poses[j].block<3, 3>(0, 0);
//                     Eigen::Matrix3d target_rot_matrix = targets[j].T_target.block<3, 3>(0, 0);
//                     Eigen::Quaterniond current_rot(current_rot_matrix);
//                     Eigen::Quaterniond target_rot(target_rot_matrix);
//                     Eigen::Quaterniond interp_rot = current_rot.slerp(t, target_rot);
//
//                     // 更新目标位姿
//                     interpolated_targets[j].T_target.setIdentity();
//                     interpolated_targets[j].T_target.block<3, 3>(0, 0) = interp_rot.toRotationMatrix();
//                     interpolated_targets[j].T_target.block<3, 1>(0, 3) = interp_pos;
//                 }
//
//                 // 求解逆运动学
//                 Eigen::Vector<double, DOF> q_cmd;
//                 bool ok = m_cctrl_->compute(m_state_, base_link, interpolated_targets, 0.002,
//                                            ctrl::CartesianController<DOF>::Mode::Position,
//                                            q_cmd, 10000, 1e-6);
//
//                 if (!ok) {
//                     LOG(WARNING) << "IK failed at point " << i << ", using last successful configuration";
//                     q_cmd = last_success_q;
//                 } else {
//                     last_success_q = q_cmd;
//                 }
//
//                 joint_trajectory.push_back(q_cmd);
//
//                 // 获取当前末端执行器的位置 (通过正向运动学)
//                 m_state_->SetQ(q_cmd);
//                 m_robot_->ComputeForwardKinematics(m_state_);
//
//                 // 获取当前末端执行器的位姿 (变换矩阵 T)
//                 auto ee_idx = m_robot_->GetLinkIdx(targets[0].link_name);
//                 Eigen::Matrix4d T = m_robot_->GetTransformation(m_state_, base_idx, ee_idx);
//
//                 // 从变换矩阵中提取 XYZ 坐标
//                 Eigen::Vector3d end_effector_pos = T.block<3, 1>(0, 3);
//
//                 // 打印 IK 解算出的 XYZ 位置
//                 if (i % 10 == 0) { // 每10个点打印一次，避免日志过多
//                     LOG(INFO) << "IK solution at point " << i << " : "
//                               << "X: " << end_effector_pos[0] << ", Y: " << end_effector_pos[1] << ", Z: " << end_effector_pos[2];
//                 }
//             }
//
//             // 计算每个关节的最大角度变化
//             Eigen::Vector<double, DOF> max_angle_change = Eigen::Vector<double, DOF>::Zero();
//             for (int i = 1; i < joint_trajectory.size(); i++) {
//                 Eigen::Vector<double, DOF> delta = joint_trajectory[i] - joint_trajectory[i-1];
//                 for (int j = 0; j < DOF; j++) {
//                     if (std::abs(delta[j]) > std::abs(max_angle_change[j])) {
//                         max_angle_change[j] = delta[j];
//                     }
//                 }
//             }
//
//             // 计算每个关节所需的时间比例因子
//             Eigen::Vector<double, DOF> time_scale_factors = Eigen::Vector<double, DOF>::Ones();
//             for (int j = 0; j < DOF; j++) {
//                 if (std::abs(max_angle_change[j]) > 1e-6) {
//                     // 根据关节的最大速度和加速度限制计算时间比例因子
//                     double max_vel = 1.0; // 假设最大角速度 1 rad/s
//                     double max_acc = 2.0; // 假设最大角加速度 2 rad/s²
//
//                     double required_time_vel = std::abs(max_angle_change[j]) / max_vel;
//                     double required_time_acc = std::sqrt(std::abs(max_angle_change[j]) / max_acc);
//
//                     double required_time = std::max(required_time_vel, required_time_acc);
//                     time_scale_factors[j] = required_time / move_time;
//                 }
//             }
//
//             // 取最大的时间比例因子作为整体时间缩放因子
//             double max_time_scale = time_scale_factors.maxCoeff();
//             if (max_time_scale > 1.0) {
//                 // 需要延长运动时间
//                 move_time *= max_time_scale;
//                 num_points = static_cast<int>(move_time * 100);
//                 LOG(INFO) << "Adjusted move time: " << move_time << " seconds";
//             }
//
//             // 执行轨迹
//             for (int i = 0; i <= num_points; i++) {
//                 if (flash_cmd_.load()) {
//                     flash_cmd_.store(false);
//                     break;
//                 }
//
//                 // 计算当前时间点的索引（考虑时间缩放）
//                 int idx = static_cast<int>(i / max_time_scale);
//                 if (idx >= joint_trajectory.size()) {
//                     idx = joint_trajectory.size() - 1;
//                 }
//
//                 Eigen::Vector<double, DOF> q_cmd = joint_trajectory[idx];
//
//                 // 发送关节命令 - 控制所有7个关节
//                 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]}
//                 };
//
//                 // 计算每个关节的角度变化
//                 std::vector<double> angle_changes(joint_points.size(), 0.0);
//                 if (i > 0) {
//                     int prev_idx = static_cast<int>((i-1) / max_time_scale);
//                     if (prev_idx >= joint_trajectory.size()) {
//                         prev_idx = joint_trajectory.size() - 1;
//                     }
//
//                     Eigen::Vector<double, DOF> prev_q = joint_trajectory[prev_idx];
//                     for (size_t j = 0; j < joint_points.size(); j++) {
//                         angle_changes[j] = std::abs(q_cmd[7 + j] - prev_q[7 + j]);
//                     }
//                 }
//
//                 // 设置每个关节的速度和位置
//                 for (size_t j = 0; j < joint_points.size(); j++) {
//                     auto& joint_point = joint_points[j];
//                     auto motor = motor_manager_->getMotor(joint_point.joint_name);
//                     if (motor != nullptr) {
//                         // 根据关节的角度变化计算实际速度
//                         double actual_vel = vel;
//                         if (i > 0) {
//                             actual_vel = angle_changes[j] / (move_time / num_points);
//                         }
//
//                         motor->setQd(actual_vel);
//                         if (motor->getMode() != msgs::RUN_MODE_PROFILE_POSITION) {
//                             motor->setMode(msgs::RUN_MODE_PROFILE_POSITION);
//                         }
//                         motor->setQ(joint_point.rad);
//                     }
//                 }
//
//                 // 等待一段时间，控制频率
//                 std::this_thread::sleep_for(std::chrono::milliseconds(10));
//             }
//
//             // 等待最终位置到达 - 检查所有关节
//             bool completion = true;
//             do {
//                 completion = true;
//                 for (const auto& name : joint_names_) {
//                     auto motor = motor_manager_->getMotor(name);
//                     if (motor != nullptr && !motor->reachedTargetQ()) {
//                         completion = false;
//                         break;
//                     }
//                 }
//                 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 std::runtime_error("rsm invalid");
//         }
//     } catch (std::exception &e) {
//         rsm_.store(ROBOT_ESTOP);
//         throw std::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();
            return;
        }
        if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
            rsm_.store(ROBOT_RUNNING);

            // 获取当前关节状态
            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_);

            // 获取基座链接索引
            auto base_idx = m_robot_->GetLinkIdx(base_link);

            // 获取当前末端位姿 - 使用前向运动学计算
            std::vector<Eigen::Matrix4d> current_poses;
            for (const auto& target : targets) {
                auto ee_idx = m_robot_->GetLinkIdx(target.link_name);

                // 使用正向运动学计算当前位姿
                Eigen::Matrix4d T = m_robot_->GetTransformation(m_state_, base_idx, ee_idx);
                current_poses.push_back(T);

                // 打印当前末端执行器的 XYZ 和欧拉角
                if (&target == &targets.front()) {
                    Eigen::Vector3d position = T.block<3, 1>(0, 3);
                    Eigen::Matrix3d rotation = T.block<3, 3>(0, 0);
                    Eigen::Vector3d euler = rotationMatrixToEulerZYX(rotation);

                    LOG(INFO) << "Starting point (Initial position): "
                              << "X: " << position[0] << ", Y: " << position[1] << ", Z: " << position[2];
                    LOG(INFO) << "Starting orientation (Euler angles): "
                              << "RX: " << euler[0] << ", RY: " << euler[1] << ", RZ: " << euler[2];
                }
            }

            // 计算最大距离和插值点数
            double max_distance = 0.0;
            for (size_t i = 0; i < targets.size(); i++) {
                Eigen::Vector3d current_pos = current_poses[i].block<3, 1>(0, 3);
                Eigen::Vector3d target_pos = targets[i].T_target.block<3, 1>(0, 3);
                double distance = (target_pos - current_pos).norm();
                max_distance = std::max(max_distance, distance);
            }

            // 基于速度和距离计算插值点数
            double move_time = max_distance / vel;
            int num_points = static_cast<int>(move_time * 100); // 100Hz控制频率

            // 存储所有插值点的关节角度
            std::vector<Eigen::Vector<double, DOF>> joint_trajectory;
            joint_trajectory.reserve(num_points + 1);

            // 记录上一次成功的关节角度
            Eigen::Vector<double, DOF> last_success_q = q_init;

            // 预先计算所有插值点的逆运动学
            for (int i = 0; i <= num_points; i++) {
                if (flash_cmd_.load()) {
                    flash_cmd_.store(false);
                    rsm_.store(ROBOT_READY);
                    return;
                }

                double t = static_cast<double>(i) / num_points;

                // 创建插值后的目标（只做位置插值，旋转保持不变）
                std::vector<cmvr::ctrl::PoseTarget> interpolated_targets = targets;
                for (size_t j = 0; j < targets.size(); j++) {
                    // 位置线性插值
                    Eigen::Vector3d current_pos = current_poses[j].block<3, 1>(0, 3);
                    Eigen::Vector3d target_pos = targets[j].T_target.block<3, 1>(0, 3);
                    Eigen::Vector3d interp_pos = current_pos + t * (target_pos - current_pos);

                    // 保持旋转不变
                    Eigen::Matrix3d current_rot_matrix = current_poses[j].block<3, 3>(0, 0);
                    interpolated_targets[j].T_target.setIdentity();
                    interpolated_targets[j].T_target.block<3, 3>(0, 0) = current_rot_matrix;
                    interpolated_targets[j].T_target.block<3, 1>(0, 3) = interp_pos;
                }

                // 求解逆运动学
                Eigen::Vector<double, DOF> q_cmd;
                bool ok = m_cctrl_->compute(m_state_, base_link, interpolated_targets, 0.002,
                                           ctrl::CartesianController<DOF>::Mode::Position,
                                           q_cmd, 10000, 1e-6);

                if (!ok) {
                    LOG(WARNING) << "IK failed at point " << i << ", using last successful configuration";
                    q_cmd = last_success_q;
                } else {
                    last_success_q = q_cmd;
                }

                joint_trajectory.push_back(q_cmd);

                // 获取当前末端执行器的位置 (通过正向运动学)
                m_state_->SetQ(q_cmd);
                m_robot_->ComputeForwardKinematics(m_state_);

                // 获取当前末端执行器的位姿 (变换矩阵 T)
                auto ee_idx = m_robot_->GetLinkIdx(targets[0].link_name);
                Eigen::Matrix4d T = m_robot_->GetTransformation(m_state_, base_idx, ee_idx);

                // 从变换矩阵中提取 XYZ 坐标
                Eigen::Vector3d end_effector_pos = T.block<3, 1>(0, 3);

                // 打印 IK 解算出的 XYZ 位置
                if (i % 10 == 0) { // 每10个点打印一次，避免日志过多
                    LOG(INFO) << "IK solution at point " << i << " : "
                              << "X: " << end_effector_pos[0] << ", Y: " << end_effector_pos[1] << ", Z: " << end_effector_pos[2];
                }
            }

            // 执行轨迹
            for (int i = 0; i <= num_points; i++) {
                if (flash_cmd_.load()) {
                    flash_cmd_.store(false);
                    break;
                }

                // 获取当前时间点的关节角度
                Eigen::Vector<double, DOF> q_cmd = joint_trajectory[i];

                // 发送关节命令
                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]}
                };

                // 设置每个关节的速度和位置
                for (size_t j = 0; j < joint_points.size(); j++) {
                    auto& joint_point = joint_points[j];
                    auto motor = motor_manager_->getMotor(joint_point.joint_name);
                    if (motor != nullptr) {
                        motor->setQ(joint_point.rad);
                    }
                }

                // 等待一段时间，控制频率
                std::this_thread::sleep_for(std::chrono::milliseconds(10));
            }

            // 等待最终位置到达 - 检查所有关节
            bool completion = true;
            do {
                completion = true;
                for (const auto& name : joint_names_) {
                    auto motor = motor_manager_->getMotor(name);
                    if (motor != nullptr && !motor->reachedTargetQ()) {
                        completion = false;
                        break;
                    }
                }
                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 std::runtime_error("rsm invalid");
        }
    } catch (std::exception &e) {
        rsm_.store(ROBOT_ESTOP);
        throw std::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;
        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());
        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();

        // 保存起始姿态，确保整个运动过程中姿态保持不变
        Eigen::Matrix3d start_orientation = T_current.block<3, 3>(0, 0);

        // 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 - 使用起始姿态，确保姿态不变
        cmvr::ctrl::PoseTarget target_ik_check;
        target_ik_check.T_target = T_target;
        target_ik_check.T_target.block<3, 3>(0, 0) = start_orientation; // 使用起始姿态
        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);
        if (!ik_solvable) {
            throw std::runtime_error("moveL: Target pose is unreachable with constant orientation");
        }

        // 3. 计算位置差值（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S曲线速度规划的时间规划
        // 计算总时间和插值点数
        double move_time = calculateMoveTime(total_distance, vel, acc);
        size_t num_points = std::max(2ul, static_cast<size_t>(ceil(move_time / CONTROL_PERIOD)));

        // 生成时间轴和距离比例
        std::vector<double> time_points;
        std::vector<double> distance_ratios;
        generateSTrapezoidalProfile(total_distance, vel, acc, move_time, num_points,
                                   time_points, distance_ratios);

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

        // 5. 生成轨迹点（位置线性插值，姿态保持不变）
        std::vector<Eigen::Matrix4d> cartesian_trajectory;
        for (size_t i = 0; i <= num_points; ++i) {
            double s = distance_ratios[i]; // 使用S曲线规划的距离比例

            Eigen::Matrix4d T_interp = Eigen::Matrix4d::Identity();
            T_interp.block<3, 3>(0, 0) = start_orientation; // 保持起始姿态不变
            // 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. 预先计算所有轨迹点的关节位置
        std::vector<Eigen::Vector<double, DOF>> joint_positions;
        joint_positions.push_back(q_current); // 起始位置

        // 预先计算所有关节位置
        for (size_t i = 1; 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;

            // 使用前一点的位置作为初始值求解IK
            Eigen::Vector<double, DOF> q_next;
            bool ok = m_cctrl_->compute(m_state_, base_link, {current_target}, CONTROL_PERIOD,
                                      ctrl::CartesianController<DOF>::Mode::Position,
                                      q_next, 10000, 1e-6);

            if (!ok) {
                LOG(WARNING) << "Pre-computation IK failed at point " << i << ", using previous point";
                q_next = joint_positions.back();
            }

            joint_positions.push_back(q_next);
        }

        // 7. 计算每个点的关节速度
        std::vector<Eigen::Vector<double, DOF>> joint_velocities;
        joint_velocities.push_back(Eigen::Vector<double, DOF>::Zero()); // 起始速度为零

        for (size_t i = 1; i < joint_positions.size(); ++i) {
            double dt = time_points[i] - time_points[i-1];
            Eigen::Vector<double, DOF> vel = (joint_positions[i] - joint_positions[i-1]) / dt;
            joint_velocities.push_back(vel);
        }

        // 8. 打印轨迹信息
        std::cout << "\n===================================== 轨迹规划信息 =====================================" << 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 << "最大速度: " << std::fixed << std::setprecision(6) << vel << "m/s" << std::endl;
        std::cout << "加速度: " << std::fixed << std::setprecision(6) << acc << "m/s²" << std::endl;
        std::cout << "总时间: " << std::fixed << std::setprecision(6) << move_time << "s" << 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 << "保持姿态不变" << std::endl;
        std::cout << "-----------------------------------------------------------------------------------------" << std::endl;

        // 9. 执行轨迹
        auto loop_start_time = std::chrono::high_resolution_clock::now();

        for (size_t i = 0; i < cartesian_trajectory.size(); ++i) {
            // 获取当前点的关节位置和速度
            Eigen::Vector<double, DOF> q_cmd = joint_positions[i];
            Eigen::Vector<double, DOF> q_vel = joint_velocities[i];

            // 更新状态
            m_state_->SetQ(q_cmd);
            m_robot_->ComputeForwardKinematics(m_state_);

            // 发送关节命令 - 为每个电机单独设置位置和速度
            std::vector<JointPoint> joint_command;
            for (size_t j = 0; j < DOF; ++j) {
                JointPoint jp;
                jp.joint_name = joint_names_[j];
                jp.rad = q_cmd[j];
                jp.vel = std::abs(q_vel[j]); // 使用计算出的关节速度
                joint_command.push_back(jp);
            }

            // 计算当前点应该执行的时间
            double expected_time = time_points[i];
            // servoJ(joint_command, vel, expected_time);
            for (const auto &j: joint_command) {
                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);
                }
            }

            // 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 - 使用精确的时间规划
            auto expected_time_point = loop_start_time + std::chrono::nanoseconds(
                static_cast<long long>(expected_time * 1e9)
            );
            auto now = std::chrono::high_resolution_clock::now();
            if (now < expected_time_point) {
                std::this_thread::sleep_until(expected_time_point);
            } else {
                LOG(WARNING) << "moveL: Behind schedule at point " << i
                           << " by " << std::chrono::duration_cast<std::chrono::milliseconds>(now - expected_time_point).count() << "ms";
            }
        }

        // 最终状态更新
        m_state_->SetQ(joint_positions.back());
        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());
    }
}


// 辅助函数：计算运动时间
template<int DOF>
double HumanoidRobot<DOF>::calculateMoveTime(double distance, double vel, double acc) {
    // 计算加速和减速所需的时间和距离
    double acc_time = vel / acc;
    double acc_distance = 0.5 * acc * acc_time * acc_time;

    // 如果加速距离超过总距离的一半，需要调整最大速度
    if (2 * acc_distance > distance) {
        // 三角形速度曲线：加速然后直接减速
        double max_reachable_vel = std::sqrt(acc * distance);
        return 2 * max_reachable_vel / acc;
    } else {
        // 梯形速度曲线：加速-匀速-减速
        double constant_distance = distance - 2 * acc_distance;
        double constant_time = constant_distance / vel;
        return 2 * acc_time + constant_time;
    }
}

// 辅助函数：生成S曲线轨迹规划
template<int DOF>
void HumanoidRobot<DOF>::generateSTrapezoidalProfile(double total_distance, double max_vel, double max_acc,
                                                   double total_time, size_t num_points,
                                                   std::vector<double>& time_points,
                                                   std::vector<double>& distance_ratios) {
    time_points.clear();
    distance_ratios.clear();

    // 计算加速和减速阶段的时间
    double acc_time = max_vel / max_acc;
    double acc_distance = 0.5 * max_acc * acc_time * acc_time;

    // 确定实际的速度曲线形状
    if (2 * acc_distance > total_distance) {
        // 三角形速度曲线
        double actual_max_vel = std::sqrt(max_acc * total_distance);
        acc_time = actual_max_vel / max_acc;
        acc_distance = 0.5 * max_acc * acc_time * acc_time;

        double dec_time = acc_time;

        // 生成时间点和距离比例
        for (size_t i = 0; i <= num_points; ++i) {
            double t = static_cast<double>(i) / num_points * total_time;
            time_points.push_back(t);

            if (t <= acc_time) {
                // 加速阶段
                double s = 0.5 * max_acc * t * t;
                distance_ratios.push_back(s / total_distance);
            } else {
                // 减速阶段
                double dec_start_time = total_time - dec_time;
                double dec_elapsed = t - dec_start_time;
                double s = acc_distance + actual_max_vel * dec_elapsed - 0.5 * max_acc * dec_elapsed * dec_elapsed;
                distance_ratios.push_back(s / total_distance);
            }
        }
    } else {
        // 梯形速度曲线
        double constant_time = (total_distance - 2 * acc_distance) / max_vel;
        double dec_time = acc_time;

        // 生成时间点和距离比例
        for (size_t i = 0; i <= num_points; ++i) {
            double t = static_cast<double>(i) / num_points * total_time;
            time_points.push_back(t);

            if (t <= acc_time) {
                // 加速阶段
                double s = 0.5 * max_acc * t * t;
                distance_ratios.push_back(s / total_distance);
            } else if (t <= acc_time + constant_time) {
                // 匀速阶段
                double s = acc_distance + max_vel * (t - acc_time);
                distance_ratios.push_back(s / total_distance);
            } else {
                // 减速阶段
                double dec_start_time = acc_time + constant_time;
                double dec_elapsed = t - dec_start_time;
                double s = acc_distance + max_vel * constant_time +
                          max_vel * dec_elapsed - 0.5 * max_acc * dec_elapsed * dec_elapsed;
                distance_ratios.push_back(s / total_distance);
            }
        }
    }
}



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