import socket
import binascii
import time
import Constant

# 网络继电器的 IP 和端
HOST = '192.168.0.18'
PORT = 50000

# 电磁阀控制报文
valve_commands = {
    1: {
        'open': '00000000000601050003FF00',#钢针
        'close': '000000000006010500030000',
    },
    2: {
        'open': '00000000000601050007FF00',
        'close': '000000000006010500070000',
    },
    3: {
        'open': '00000000000601050008FF00',
        'close': '000000000006010500080000',
    }
}

# 将十六进制字符串转换为字节数据并发送
def send_command(command):
    if Constant.DebugPosition:
        return True
    byte_data = binascii.unhexlify(command)
    # 创建套接字并连接到继电器
    with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
        try:
            sock.connect((HOST, PORT))
            sock.send(byte_data)
            # 接收响应
            response = sock.recv(1024)
            print(f"收到响应: {binascii.hexlify(response)}")
            # 校验响应
            if response == byte_data:
                # print("命令成功下发，继电器已执行操作。")
                return True
            else:
                print("命令下发失败，响应与请求不符。")
                return False
        except Exception as e:
            print(f"通信错误: {e}")
            return False

# 控制电磁阀打开
def open(grasp, shake, throw):
    if grasp:
        print("打开电磁阀 1")  # 钢针关闭
        if send_command(valve_commands[1]['open']):
            time.sleep(1)
    if shake:
        print("打开电磁阀 2")  # 震动
        if send_command(valve_commands[2]['open']):
            time.sleep(0.05)
    if throw:
        print("打开电磁阀 3")  # 扔袋
        if send_command(valve_commands[3]['open']):
            time.sleep(0.5)

# 控制电磁阀关闭
def close(grasp, shake, throw):
    if grasp:
        print("关闭电磁阀 1")#钢针打开
        if send_command(valve_commands[1]['close']):
            time.sleep(1)
    if shake:
        # print("关闭电磁阀 2")
        if send_command(valve_commands[2]['close']):
            time.sleep(0.05)
    if throw:
        print("关闭电磁阀 3")
        if send_command(valve_commands[3]['close']):
            time.sleep(0.5)

# 关闭电磁阀
# open(False, False, True)  # 参数传True和False
# close(True,False,True)
# for i in range(10):
#     open(False,True,True)
#     close(True,True,True)