import logging
from enum import Enum
from turtle import Turtle

from numpy.array_api import trunc

import Constant
from COM.COM_TCP import TCPClient
import queue
import json
from Model.RobotModel import DataAddress, DATARequest, DATAReply, CMDInstructRequest, Instruction
from Util.util_log import log
from Util.util_math import is_bit_set


class DetectType(Enum):
    EyeOnHand = 0
    EyeOutHand = 1

class RobotClient(TCPClient):

    def __init__(self, ip, port, photo_locs,command_quene, status_model:DataAddress,con_ios, time_delay_take,time_delay_put,time_delay_shake,origin_position):
        super().__init__(ip, port)
        self.command_quene = command_quene
        self.status_model = status_model
        self.errorCommands = {}
        self.photo_locs = photo_locs
        self.con_ios = con_ios
        self.time_delay_take= time_delay_take
        self.time_delay_put = time_delay_put
        self.time_delay_shake = time_delay_shake
        self.type_detection = DetectType.EyeOutHand
        self.origin_position = origin_position
        self.debug_speed = 10
        self.feed_speed = 10
        self.reset_speed = 10
        self.max_angle_interval = 0
        self.smooth = 0
        self.dynamic_height = 0
    def add_sendQuene(self,command): #后面 命令分等级，紧急命令直接执行
        self.command_quene.put(command)
        log.log_message(logging.INFO, f'{Constant.str_sys_command}{command}')
        return

    def send_Command(self):
        try:
            if self.command_quene.qsize()!=0:
                command = self.command_quene.get()
                self.client_socket.send(command.encode())
                if True:
                    response = self.client_socket.recv(1024).decode('utf-8')
                    # response_message = json.loads(response)
                return True
            else:
                return True
        except Exception as e:
            log.log_message(logging.ERROR, Constant.str_tcp_robot_connect_fail)
            raise



    def send_Status(self):
        request = DATARequest()
        dataAddr = DataAddress()
        request.queryAddr.append(dataAddr)

        # 移除特殊属性和方法
        request_status_json = request.toString()
        # 转字符串

        try:
            self.client_socket.send(request_status_json.encode())
            if True:
                response = self.client_socket.recv(1024).decode('utf-8')
                response_message = json.loads(response)
                if True:
                    try:
                        data_status = DATAReply()
                        # if response_message.keys().contains('cmdReply'):
                        #     return
                        data_status.__dict__ = response_message  # {'cmdReply': ['AddRCC', 'ok'], 'dsID': 'www.hc-system.com.HCRemoteCommand', 'reqType': 'AddRCC'}
                        data_address_array = data_status.queryData
                        self.status_model.curMode = int(data_address_array[0])
                        self.status_model.setPosition(*data_address_array[1:13])
                        self.status_model.curAlarm = int(data_address_array[13])
                        self.status_model.isMoving = int(data_address_array[14])
                        self.status_model.RemoteCmdLen = int(data_address_array[15])
                        self.status_model.toolCoord=int(data_address_array[16])
                        self.status_model.input_n = int(data_address_array[19])
                        self.status_model.output_n = int(data_address_array[20])
                        self.status_model.curSpeed_n = int(data_address_array[21])
                    except:
                        if response_message.keys().__contains__('cmdReply'):
                            return
                        log.log_message(logging.ERROR,Constant.str_tcp_robot_data_error)
            return True
        except json.JSONDecodeError as e:
            log.log_message(logging.WARNING,Constant.str_sys_json_error+response)
            return True
        except Exception as e:
            log.log_message(logging.ERROR,f'{e}{response}')
            raise

    def send_emergency_sound(self):
        self.sendIOControl(Constant.IO_EmergencyPoint, 1)

    def send_emergency_stop(self):
        self.sendIOControl(Constant.IO_EmergencyPoint, 0)

    def sendIOControl(self, IO_bit, IO_Status: int, delay=0,emptyList='0'):#

        IO_command = CMDInstructRequest()
        IO_command.emptyList = emptyList
        io_instruction = Instruction()
        io_instruction.IO = True
        io_instruction.io_status = IO_Status
        io_instruction.delay = delay
        io_instruction.point = IO_bit  # {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]}
        IO_command.dsID = 'HCRemoteCommand'
        IO_command.instructions.append(io_instruction)
        self.add_sendQuene(IO_command.toString())
        log.log_message(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}')
        pass
    
    def check_outputQ(self,IO_bit):
        if is_bit_set(self.status_model.output_n, IO_bit):
            return True
        else:
            return False

    def get_origin_position(self):
        return self.origin_position
        pass