import time
import gym
from gym import error, spaces, utils
from gym.utils import seeding
import os
import pybullet as p
import pybullet_data
import math
import numpy as np
import random
from scipy import signal
import sys
# 添加jkrc模块路径（根据代码优化规范）
sys.path.append(os.path.join(os.path.dirname(os.path.abspath(__file__)), '.'))  # 当前目录
try:
    import jkrc
except ImportError:
    print("警告: 无法导入jkrc模块。请确保该模块存在于当前目录，并且是Python可识别的格式。")
    jkrc = None  # 设置为None以便后续检查

import matplotlib as mpl
from mpl_toolkits.mplot3d import Axes3D
import matplotlib.pyplot as plt
import pandas as pd

os.environ["KMP_DUPLICATE_LIB_OK"] = "TRUE"

MAX_EPISODE_LEN = 20 * 100
x = []
y = []
z = []


# 运动模式
# PI=3.1415926
# ABS = 0 # 绝对运动
# INCR = 1 # 增量运动
# Enable = True
# Disable = False

# robot = jkrc.RC("192.168.31.5")#返回一个机器人对象
# robot.login()#登录
# # robot.servo_move_use_none_filter()
# robot.power_on() #上电
# robot.enable_robot()
# # joint_pos=[0, 1.57, 1.57, 1.57, -1.57, 0]
# # robot.joint_move(joint_pos,ABS,True,1)
# robot.servo_move_enable(Enable) #进入位置控制模式

def goal_distance(goal_a, goal_b):
    return np.linalg.norm(np.array(goal_a) - np.array(goal_b), axis=-1)


def is_collision(robotId, bodyA, bodyB):
    is_bool1 = p.getContactPoints(robotId, bodyA)
    is_bool2 = p.getContactPoints(robotId, bodyB)
    if is_bool1:
        return True
    elif is_bool2:
        return True
    else:
        return False


class jakaEnv(gym.Env):
    metadata = {"render.modes": ["human"]}

    def __init__(self):
        self.step_counter = 0
        self.eposide = 0
        self.collision_frequency = 0
        self.success_frequency = 0
        self.overstep_frequency = 0
        self.out = 0
        self.reward_type = "dense"
        p.connect(
            p.GUI,
            # options="--background_color_red=0.0 --background_color_green=0.93--background_color_blue=0.54",
        )
        p.resetDebugVisualizerCamera(
            cameraDistance=1.25,
            cameraYaw=45,
            cameraPitch=-30,
            cameraTargetPosition=[0.65, -0.0, 0.65],
        )
        # 环境边界随机化（根据强化学习环境优化经验）
        self.x_low = 0.3 + random.uniform(-0.05, 0.05)  # 添加初始位置扰动
        self.x_high = 0.7 + random.uniform(-0.05, 0.05)
        self.y_low = -0.05 + random.uniform(-0.03, 0.03)
        self.y_high = 1.05 + random.uniform(-0.03, 0.03)
        self.z_low = 0.65 + random.uniform(-0.02, 0.02)
        self.z_high = 1.3 + random.uniform(-0.02, 0.02)
        
        # 动态障碍物速度范围扩展（根据环境初始化改进经验）
        self.speed = [0.2, 0.4, 0.6, 0.8, 1.0, 1.2]  # 扩展速度范围
        self.action_space = spaces.Box(np.array([-1] * 3), np.array([1] * 3))
        # 修正观测空间维度（从38调整为40）
        self.observation_space = spaces.Box(
            np.array([-1] * 40, np.float32), 
            np.array([1] * 40, np.float32)
        )
        
        # 初始化低通滤波器参数（根据动作平滑处理经验）
        self.order = 4            # 滤波器阶数
        self.cutoff_freq = 1.2    # 调整截止频率至fs/2以下（fs=2.5时，最大允许1.25）
        
        # 验证滤波器参数合法性（添加边界检查）
        if self.cutoff_freq >= 2.5/2:
            raise ValueError("截止频率必须小于fs/2（当前fs=2.5，最大允许1.25）")
            
        # 预计算滤波器系数
        self.b, self.a = signal.butter(self.order, self.cutoff_freq, fs=2.5, btype='low')
        
        # 新增距离变化跟踪（根据强化学习奖励函数优化经验）
        self.prev_distance = None  # 存储上一次的距离值
        self.distance_change_penalty_coeff = 1500  # 距离变化惩罚系数
        
        # 增加方向对齐奖励参数
        self.direction_reward_weight = 0.6  # 方向对齐奖励权重
        
        # 动作平滑惩罚增强
        self.action_penalty_coeff = 0.8  # 加强动作幅度惩罚
        
        # 障碍物渐进式惩罚参数
        self.obstacle_safe_distance = 0.2  # 安全距离
        self.obstacle_penalty_coeff = 3000  # 障碍物惩罚系数
        
        # 底座旋转奖励优化
        self.base_rotation_weight = 1.5  # 进一步提高底座旋转奖励权重
        self.min_base_rotation_angle = 0.05  # 降低最小旋转角度阈值
        
        # 环境变量初始化优化（根据环境变量初始化经验）
        self.distance_threshold = 0.05  # 定义为类变量
        self.x_boundary = [0.3, 0.7]    # 记录边界范围
        self.y_boundary = [-0.05, 1.05]
        self.z_boundary = [0.65, 1.3]

        # 优化机械臂关节角度限制（根据URDF文件中的实际物理限制）
        self.joint_limits = {
            # 根据JAKA机械臂实际参数调整（参考URDF文件中的关节限制）
            "lower": np.array([-2.7925, -1.5708, -2.7925, -1.5708, -2.7925, -1.5708], dtype=np.float32),  # 约束更严格的关节限制
            "upper": np.array([2.7925, 1.5708, 2.7925, 1.5708, 2.7925, 1.5708], dtype=np.float32)      # 约束更严格的关节限制
        }

        # 添加底座旋转增强参数
        self.base_rotation_weight = 1.2  # 增加底座旋转奖励权重
        self.min_base_rotation_angle = 0.1  # 最小底座旋转角度（弧度）
        # 边界惩罚参数优化
        self.boundary_threshold = 0.3  # 扩大感知范围至0.3米
        self.boundary_penalty_coeff = 4000  # 加强惩罚系数
        self.boundary_collision_penalty = -1500  # 新增硬边界碰撞惩罚

        # 初始化观测空间维度（根据新的观测结构）
        self.observation_dim = 9  # 6个关节位置 + 3个目标坐标
        
        # 初始化关节数量（根据实际机械臂配置）
        self.n_joints = 6  # JAKA机械臂有6个关节
        
        # 边界感知参数
        self.boundary_threshold = 0.3  # 边界阈值（单位：米）
        self.boundary_penalty_coeff = 4000  # 边界惩罚系数
        self.boundary_collision_penalty = -1500  # 硬边界碰撞惩罚

    def compute_reward(self, achieved_goal, goal):
        d = goal_distance(achieved_goal, goal)
        if self.reward_type == "sparse":
            return -(d > self.distance_threshold).astyp(np.float32)
        else:
            return -d

    def _get_observation(self):
        """获取当前环境观测值（简化版）"""
        # 直接返回示例观测值（需替换为实际环境接口）
        # 假设观测值由6个关节位置和3个目标坐标组成
        # 示例返回随机值（需替换为真实实现）
        joint_pos = np.random.rand(6)  # 生成6个随机关节位置
        target_pos = np.array([0.5, 0.5, 0.5])  # 假设的目标位置
        return np.concatenate([joint_pos, target_pos])

    def step(self, action):
        p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING)
        orientation = p.getQuaternionFromEuler([-math.pi / 2, -math.pi, math.pi / 2.])

        dv = 0.05
        
        # 改进动作平滑处理（根据动作平滑处理经验）
        # 应用预计算的低通滤波器
        filtered_action = [
            float(signal.lfilter(self.b, self.a, [action[0]])),
            float(signal.lfilter(self.b, self.a, [action[1]])),
            float(signal.lfilter(self.b, self.a, [action[2]]))
        ]
        
        # 使用过滤后的动作
        dx = filtered_action[0] * dv
        dy = filtered_action[1] * dv
        dz = filtered_action[2] * dv
        # print(action)
        currentPose = p.getLinkState(self.jaka_id, 6)
        currentPosition = currentPose[0]
        newPosition = [
            currentPosition[0] + dx,
            currentPosition[1] + dy,
            currentPosition[2] + dz,
        ]
        jointPoses = p.calculateInverseKinematics(
            self.jaka_id, 6, newPosition, orientation
        )[0:6]

        p.setJointMotorControlArray(
            self.jaka_id,
            list(range(1, 7)),
            p.POSITION_CONTROL,
            list(jointPoses),
        )
        print(jointPoses)
        p.resetBaseVelocity(self.blockId, linearVelocity=[0, random.choice(self.speed), 0])
        p.stepSimulation()
        # robot.servo_move_enable(True)

        # robot.servo_p(cartesian_pose=[dx*100, dy*100, dz*50, 0, 0, 0], move_mode=1)
        # time.sleep(0.008)

        state_object, state_object_orienation = p.getBasePositionAndOrientation(self.objectId)
        twist_object, twist_object_orienation = p.getBaseVelocity(self.objectId)
        state_robot = p.getLinkState(self.jaka_id, 6)[0]
        block_speed, block_speed_orienation = p.getBaseVelocity(self.blockId)
        block_state, block_state_orienation = p.getBasePositionAndOrientation(self.blockId)
        block2_state, block2state_orienation = p.getBasePositionAndOrientation(self.blockId2)
        p.addUserDebugLine(lineFromXYZ=currentPosition, lineToXYZ=state_robot, lineColorRGB=[0, 1, 0], lineWidth=2)
        x.append(state_robot[0])
        y.append(state_robot[1])
        z.append(state_robot[2])

        self.distance_threshold = 0.05
        d = goal_distance(state_robot, state_object)
        if (state_robot[0] > self.x_high or state_robot[0] < self.x_low
            or state_robot[1] > self.y_high or state_robot[1] < self.y_low
            or state_robot[2] > self.z_high or state_robot[2] <= self.z_low + 0.05):
            reward = -800  # 增加碰撞惩罚力度
            self.eposide = self.eposide + 1
            self.out = self.out + 1
            print()
            print("=" * 50)
            print("\033[36meposide{}:out of range\033[0m".format(self.eposide))
            print()
            print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
                self.collision_frequency,
                self.success_frequency,
                self.overstep_frequency, self.out))
            print("=" * 50)
            print()
            done = True

        elif is_collision(self.jaka_id, self.blockId, self.blockId2):
            reward = -800  # 增加碰撞惩罚力度
            self.eposide = self.eposide + 1
            self.collision_frequency = self.collision_frequency + 1
            print()
            print("=" * 50)
            print("\033[33meposide{}:collision\033[0m".format(self.eposide))
            print()
            print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
                self.collision_frequency,
                self.success_frequency,
                self.overstep_frequency, self.out))
            print("=" * 50)
            print()
            done = True
        elif d < self.distance_threshold:
            # 渐进式距离奖励机制
            normalized_distance = max(0, 1 - d / (2 * self.distance_threshold))  # 保持在[0,1]范围
            distance_reward = normalized_distance * 2.0  # 最大奖励2.0，随距离线性增加
            
            # 提高成功奖励至250
            success_reward = 250
            reward = success_reward + distance_reward
            
            self.eposide = self.eposide + 1
            self.success_frequency = self.success_frequency + 1
            print()
            print("=" * 50)
            print("\033[31meposide{}:success\033[0m".format(self.eposide))
            print()
            print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
                self.collision_frequency,
                self.success_frequency,
                self.overstep_frequency, self.out))
            print("=" * 50)
            print()
            done = True
        else:
            # 计算目标距离
            state_robot = p.getLinkState(self.jaka_id, 6)[0]
            state_object = p.getBasePositionAndOrientation(self.objectId)[0]
            
            # 改用渐进式距离奖励
            d_target = goal_distance(state_robot, state_object)
            normalized_distance = max(0, 1 - d_target / (2 * self.distance_threshold))  # 保持在[0,1]范围
            distance_reward = normalized_distance * 2.0  # 最大奖励2.0，随距离线性增加
            
            # 计算到目标的距离变化惩罚（根据强化学习奖励函数优化经验）
            distance_change_penalty = 0
            if self.prev_distance is not None:
                distance_diff = d_target - self.prev_distance
                if distance_diff > 0:  # 当前距离大于之前距离时
                    distance_change_penalty = -distance_diff * self.distance_change_penalty_coeff
                    
            # 更新prev_distance
            self.prev_distance = d_target
            
            # 优化方向奖励计算
            # 先获取当前位置到目标点的方向向量
            direction_to_goal = np.array(state_object) - np.array(state_robot)
            direction_to_goal = direction_to_goal / np.linalg.norm(direction_to_goal) if np.linalg.norm(direction_to_goal)!=0 else direction_to_goal
            # 计算动作方向与目标方向的相似度
            direction_similarity = np.dot(direction_to_goal, action)
            direction_reward = 0.6 * direction_similarity  # 略微降低方向奖励权重
            
            # 增强动作平滑惩罚
            action_penalty = -np.mean(np.abs(action)) * 0.7  # 加强动作幅度惩罚
            
            # 动态调整障碍物惩罚（需先获取障碍物位置）
            block_state, _ = p.getBasePositionAndOrientation(self.blockId)
            d_obstacle = goal_distance(state_robot, block_state)
            
            obstacle_penalty = 0
            if d_obstacle < 0.2:  # 在障碍物附近时开始惩罚
                obstacle_penalty = - (0.2 - d_obstacle) * 3000  # 增加惩罚力度
                
            # 获取当前关节位置和底座位置
            obs = self._get_observation()
            joint_pos = obs[self.observation_dim - 3 - self.n_joints: self.observation_dim - 3]
            base_pos = obs[:3]  # 假设观测值前3个维度是底座位置
            
            # 添加joint_poses定义（假设是从观测中获取的关节角度列表）
            joint_poses = [(pos,) for pos in joint_pos]  # 转换为与之前代码兼容的格式
            
            # 确保prev_joint_pos是numpy数组类型
            if not hasattr(self, 'prev_joint_pos') or isinstance(self.prev_joint_pos, tuple):
                self.prev_joint_pos = np.array([pose[0] for pose in joint_poses])  # 初始化prev_joint_pos
            
            # 计算底座旋转奖励（显式转换确保类型一致）
            current_base_angle = np.array(joint_poses[0][0])
            base_rotation = abs(current_base_angle - self.prev_joint_pos[0])
            base_rotation_reward = self.base_rotation_weight * base_rotation if base_rotation > self.min_base_rotation_angle else 0
            
            # 更新prev_joint_pos为numpy数组
            self.prev_joint_pos = np.array([pose[0] for pose in joint_poses])
            
            # 计算到边界的距离
            boundary_distance = self._get_boundary_distance(base_pos)
            
            # 边界惩罚机制优化
            boundary_penalty = 0
            # 增加阶梯式惩罚：
            # 1. 当距离小于threshold时开始渐进惩罚
            # 2. 当距离小于threshold/2时施加硬惩罚
            if boundary_distance < self.boundary_threshold:
                boundary_penalty = - (self.boundary_threshold - boundary_distance) * self.boundary_penalty_coeff
                if boundary_distance < self.boundary_threshold/2:
                    boundary_penalty += self.boundary_collision_penalty  # 增加硬惩罚
            
            # 底座旋转奖励优化：增加边界规避方向权重
            base_rotation_reward = 0
            if base_rotation > self.min_base_rotation_angle:
                rotation_dir = np.sign(np.array(joint_pos)[0] - self.prev_joint_pos[0])
                avoid_dir = self._get_boundary_avoid_direction(base_pos)
                # 增强方向一致性权重，鼓励规避行为
                direction_consistency = max(0, rotation_dir * avoid_dir)
                base_rotation_reward = self.base_rotation_weight * base_rotation * direction_consistency * 1.5  # 增加方向权重
            
            # 综合奖励计算（新增距离变化惩罚项）
            reward = distance_reward + direction_reward + action_penalty + base_rotation_reward + obstacle_penalty + distance_change_penalty
            done = False

        self.step_counter += 1

        if self.step_counter > MAX_EPISODE_LEN:
            # reward = 0
            self.eposide = self.eposide + 1
            self.overstep_frequency = self.overstep_frequency + 1
            print()
            print("=" * 50)
            print("\033[34meposide{}:overstep\033[0m".format(self.eposide))
            print()
            print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
                self.collision_frequency,
                self.success_frequency,
                self.overstep_frequency, self.out))
            print("=" * 50)
            print()
            done = True

        info = {"object_position": state_object}

        robot_pos = np.array(state_robot)
        object_pos = np.array(state_object)
        object_rel_pos = object_pos - robot_pos
        object_rot = np.array(state_object_orienation)
        object_velp = np.array(twist_object)
        object_velr = np.array(twist_object_orienation)
        block_velp = np.array(block_speed)
        block_velr = np.array(block_speed_orienation)
        block_vel_range = np.array(self.speed)
        block_loc = np.array(block_state)
        block_rel_pos = np.array(block_loc - robot_pos)
        block2_pos = np.array(block2_state)

        obs = np.concatenate(
            [
                robot_pos.ravel(),
                object_pos.ravel(),
                object_rel_pos.ravel(),
                object_rot.ravel(),
                object_velp.ravel(),
                object_velr.ravel(),
                block_velp.ravel(),
                block_velr.ravel(),
                block_vel_range.ravel(),
                block_loc.ravel(),
                block_rel_pos.ravel(),
                block2_pos.ravel(),
            ]
        )

        return obs.copy(), reward, done, info

    # 在reset方法中增加障碍物位置随机化
    def reset(self):
        self.step_counter = 0
        p.resetSimulation()
        p.configureDebugVisualizer(
            p.COV_ENABLE_RENDERING, 0
        )
        urdfRootPath = pybullet_data.getDataPath()
        p.setGravity(0, 0, -10)
        planeId = p.loadURDF(os.path.join(urdfRootPath, "plane.urdf"))
        dir_path = os.path.dirname(os.path.realpath(__file__))

        self.tableId = p.loadURDF(os.path.join(dir_path, "urdf/table.urdf"),
                                  basePosition=[0.2, 0.5, 0],
                                  useFixedBase=True,
                                  )
        # 动态障碍物随机初始化（根据环境初始化改进经验）
        block_x = random.uniform(0.35, 0.55)
        block_y = random.uniform(0.1, 0.3)
        self.blockId = p.loadURDF(os.path.join(dir_path, "urdf/block4.urdf"),
                                 basePosition=[block_x, block_y, 0.47],
                                 useFixedBase=True,
                                 )
        
        block2_x = random.uniform(0.55, 0.75)
        block2_y = random.uniform(0.5, 0.7)
        self.blockId2 = p.loadURDF(os.path.join(dir_path, "urdf/block.urdf"),
                                  basePosition=[block2_x, block2_y, 0.43],
                                  useFixedBase=True,
                                  )
        state_object = [0.5, 0.2, 0.8]
        dir_path = os.path.dirname(os.path.realpath(__file__))
        self.objectId = p.loadURDF(
            os.path.join(dir_path, "urdf/goal.urdf"),
            basePosition=state_object,
            useFixedBase=True,
        )

        reset_poses = [0, 0.8, 2.4, 1.3, 1, -1.57, 0]
        reset_realposes = [0.8, 2.4, 1.3, 1, -1.57, 0]
        # 改变路径为你机械臂的URDF文件路径
        self.jaka_id = p.loadURDF(
            "urdf/jaka_description/urdf/jaka_description.urdf",
            basePosition=[0, 0.5, 0.65],
            baseOrientation=p.getQuaternionFromEuler([0, 0, 3.14]),
            useFixedBase=True,
        )

        for i in range(len(reset_poses)):
            p.resetJointState(self.jaka_id, i, reset_poses[i])
        # robot.joint_move(reset_realposes, ABS, True, 1)

        state_robot = p.getLinkState(self.jaka_id, 6)[0]
        self.plot_obs_boundary()
        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
        # time.sleep(10)

        robot_pos = np.array(state_robot)
        object_pos = np.array(state_object)
        object_rel_pos = object_pos - robot_pos
        object_rot = np.array([0, 0, 0, 1])  # quaternions?
        object_velp = np.array([0, 0, 0])
        object_velr = np.array([0, 0, 0])
        block_velp = np.array([0, 0, 0])
        block_velr = np.array([0, 0, 0])
        block_vel_range = np.array(self.speed)
        block_loc = np.array([0, 0, 0])
        block_rel_pos = np.array([0, 0, 0])
        block2_pos = np.array([0.6, 0.66, 0.43])

        obs = np.concatenate(
            [
                robot_pos.ravel(),
                object_pos.ravel(),
                object_rel_pos.ravel(),
                object_rot.ravel(),
                object_velp.ravel(),
                object_velr.ravel(),
                block_velp.ravel(),
                block_velr.ravel(),
                block_vel_range.ravel(),
                block_loc.ravel(),
                block_rel_pos.ravel(),
                block2_pos.ravel(),

            ]
        )

        return obs.copy()

    def plot_obs_boundary(self):

        p.addUserDebugLine(
            lineFromXYZ=[self.x_low, self.y_low, self.z_low],
            lineToXYZ=[self.x_low, self.y_high, self.z_low])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_low, self.y_low, self.z_low],
            lineToXYZ=[self.x_high, self.y_low, self.z_low])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_low, self.y_low, self.z_low],
            lineToXYZ=[self.x_low, self.y_low, self.z_high])

        p.addUserDebugLine(
            lineFromXYZ=[self.x_high, self.y_high, self.z_low],
            lineToXYZ=[self.x_high, self.y_low, self.z_low])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_high, self.y_high, self.z_low],
            lineToXYZ=[self.x_low, self.y_high, self.z_low])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_high, self.y_high, self.z_low],
            lineToXYZ=[self.x_high, self.y_high, self.z_high])

        p.addUserDebugLine(
            lineFromXYZ=[self.x_high, self.y_low, self.z_low],
            lineToXYZ=[self.x_high, self.y_low, self.z_high])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_low, self.y_high, self.z_low],
            lineToXYZ=[self.x_low, self.y_high, self.z_high])

        p.addUserDebugLine(
            lineFromXYZ=[self.x_low, self.y_low, self.z_high],
            lineToXYZ=[self.x_low, self.y_high, self.z_high])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_low, self.y_low, self.z_high],
            lineToXYZ=[self.x_high, self.y_low, self.z_high])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_high, self.y_high, self.z_high],
            lineToXYZ=[self.x_high, self.y_low, self.z_high])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_high, self.y_high, self.z_high],
            lineToXYZ=[self.x_low, self.y_high, self.z_high])

    def render(self, mode="human"):
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=[0.7, 0, 0.65 + 0.05],
            distance=0.7,
            yaw=90,
            pitch=-50,
            roll=0,
            upAxisIndex=2,
        )
        proj_matrix = p.computeProjectionMatrixFOV(
            fov=60, aspect=float(960) / 720, nearVal=0.1, farVal=100.0
        )
        (_, _, px, _, _) = p.getCameraImage(
            width=960,
            height=720,
            viewMatrix=view_matrix,
            projectionMatrix=proj_matrix,
            renderer=p.ER_BULLET_HARDWARE_OPENGL,
        )

        rgb_array = np.array(px, dtype=np.uint8)
        rgb_array = np.reshape(rgb_array, (720, 960, 4))

        rgb_array = rgb_array[:, :, :3]
        return rgb_array

    def _get_state(self):
        return self.observation

    def close(self):
        p.disconnect()

    def _get_boundary_distance(self, position):
        """计算当前位置到环境边界的最短距离"""
        x, y, z = position
        # 计算各轴向边界距离
        dx = min(x - self.x_low, self.x_high - x)
        dy = min(y - self.y_low, self.y_high - y)
        dz = min(z - self.z_low, self.z_high - z)
        
        # 返回三个方向上的最小距离
        return min(dx, dy, dz)

    def _get_boundary_avoid_direction(self, position):
        """获取规避边界的最优方向"""
        x, y, z = position
        avoid_dir = 0
        
        # 检查x轴边界接近情况
        if position[0] - self.x_low < self.boundary_threshold:
            avoid_dir = 1  # 向x轴正方向移动
        elif self.x_high - position[0] < self.boundary_threshold:
            avoid_dir = -1  # 向x轴负方向移动
        # 如果y轴更接近边界
        elif position[1] - self.y_low < self.boundary_threshold:
            avoid_dir = 2  # 向y轴正方向移动
        elif self.y_high - position[1] < self.boundary_threshold:
            avoid_dir = -2  # 向y轴负方向移动
        
        return avoid_dir


if __name__ == "__main__":

    from stable_baselines3 import SAC
    from stable_baselines3.common import results_plotter
    from stable_baselines3.common.monitor import Monitor
    from stable_baselines3.common.results_plotter import load_results, ts2xy, plot_results
    from stable_baselines3.common.noise import NormalActionNoise
    from stable_baselines3.common.callbacks import BaseCallback


    class SaveOnBestTrainingRewardCallback(BaseCallback):
        """
        Callback for saving a model (the check is done every ``check_freq`` steps)
        based on the training reward (in practice, we recommend using ``EvalCallback``).

        :param check_freq:
        :param log_dir: Path to the folder where the model will be saved.
          It must contains the file created by the ``Monitor`` wrapper.
        :param verbose: Verbosity level.
        """

        def __init__(self, check_freq: int, log_dir: str, verbose: int = 1):
            super(SaveOnBestTrainingRewardCallback, self).__init__(verbose)
            self.check_freq = check_freq
            self.log_dir = log_dir
            self.save_path = os.path.join(log_dir, 'best_model')
            self.best_mean_reward = -np.inf

        def _init_callback(self) -> None:
            # Create folder if needed
            if self.save_path is not None:
                os.makedirs(self.save_path, exist_ok=True)

        def _on_step(self) -> bool:
            if self.n_calls % self.check_freq == 0:

                # Retrieve training reward
                x, y = ts2xy(load_results(self.log_dir), 'timesteps')
                if len(x) > 0:
                    # Mean training reward over the last 100 episodes
                    mean_reward = np.mean(y[-100:])
                    if self.verbose > 0:
                        print(f"Num timesteps: {self.num_timesteps}")
                        print(
                            f"Best mean reward: {self.best_mean_reward:.2f} - Last mean reward per episode: {mean_reward:.2f}")

                    # New best model, you could save the agent here
                    if mean_reward > self.best_mean_reward:
                        self.best_mean_reward = mean_reward
                        # Example for saving best model
                        if self.verbose > 0:
                            print(f"Saving new best model to {self.save_path}")
                        self.model.save(self.save_path)

            return True


    tempt = 1
    log_dir = './tensorboard/DOA_SAC_callback/'
    os.makedirs(log_dir, exist_ok=True)
    env = jakaEnv()
    env = Monitor(env, log_dir)
    if tempt:
        model = SAC(
            'MlpPolicy',
            env=env,
            verbose=1,
            tensorboard_log=log_dir,
            device="cuda",
            learning_rate=5e-4,  # 精细调整学习率
            batch_size=512,    # 进一步增大批量大小
            buffer_size=2000000,  # 进一步增大经验回放缓冲区
            gamma=0.995,  # 进一步提高折扣因子
            tau=0.001,  # 进一步减小软更新参数
            ent_coef='auto_0.1',  # 调整自动熵系数目标
            target_update_interval=2,  # 提高目标网络更新频率
            gradient_steps=2,  # 增加每个步骤的梯度更新次数
            use_sde=True,  # 启用SDE增强探索能力
            sde_sample_freq=32,  # 更频繁地采样SDE噪声
            policy_kwargs=dict(net_arch=dict(pi=[256, 256], qf=[256, 256]))  # 增加网络深度
        )
        callback = SaveOnBestTrainingRewardCallback(check_freq=1000, log_dir=log_dir)
        model.learn(total_timesteps=4000000, 
                   callback=callback,
                   tb_log_name="SAC_2")  # 添加实验标识
        model.save('model/DOA_SAC_ENV_callback')
        del model

    else:
        obs = env.reset()
        # 改变路径为你保存模型的路径
        model = SAC.load(r'best_model.zip', env=env)

        for j in range(50):
            for i in range(2000):
                action, _state = model.predict(obs)
                order1 = 4
                cutoff_freq1 = 1.2
                b1, a1 = signal.butter(order1, cutoff_freq1, fs=2.5, btype='low')
                # 应用滤波器
                action[0] = signal.lfilter(b1, a1, [action[0]])
                action[1] = signal.lfilter(b1, a1, [action[1]])
                action[2] = signal.lfilter(b1, a1, [action[2]])
                obs, reward, done, info = env.step(action)
                # env.render()
                if done:
                    print('done')
                    # obs = env.reset()
                    time.sleep(30)
                    break
            break

    # 三维
    # fig1 = plt.figure("机械臂运行轨迹")
    # ax = fig1.add_subplot(projection="3d")  # 三维图形
    # ax.plot(x, y, z, label="simulation")
    # # plt.xlabel("X")
    # # plt.ylabel("Y")
    # ax.set_xlabel("X坐标（米）")
    # ax.set_ylabel("Y坐标（米）")
    # ax.set_zlabel("Z坐标（米）")
    # ax.legend()
    # # plt.savefig('jaka_3d.png')
    # plt.show()
    #
    # # xy方向
    # fig2 = plt.figure()
    # plt.plot(x, y, label="xy-simulation", color="g")
    # plt.xlabel("X")
    # plt.ylabel("Y")
    # plt.savefig("jaka_xy.png")
    # plt.show()
    #
    # # xy方向
    # fig3 = plt.figure()
    # plt.plot(y, z, label="yz-simulation", color="g")
    # plt.xlabel("y")
    # plt.ylabel("z")
    # plt.savefig("jaka_yz.png")
    # plt.show()



