#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
# @Time    : 2025/7/1 11:07
# @Author  : reenrr
# @File    : network_controller.py
'''
import socket
import binascii
import time

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

# 控件命名映射
CONVEYOR1 = 'conveyor1'
PUSHER = 'pusher'
CONVEYOR2 = 'conveyor2'
CLAMP = 'clamp'    # 机械臂抓夹，初始状态是开

# 传感器命名映射
SENSOR1 = 'sensor1'
SENSOR2 = 'sensor2'

# 按钮控制报文
valve_commands = {
    CONVEYOR1: {
        'open': '00000000000601050000FF00',
        'close': '000000000006010500000000',
    },
    PUSHER: {
        'open': '00000000000601050001FF00',
        'close': '000000000006010500010000',
    },
    CONVEYOR2: {
        'open': '00000000000601050002FF00',
        'close': '000000000006010500020000',
    },
    CLAMP: {
        'open': '00000000000601050003FF00',
        'close': '000000000006010500030000',
    }
}

sensors_commands = {
    SENSOR1: {
        'signal': '00000000000401020101',
        'nosignal': '00000000000401020100',
    },
    SENSOR2: {
        'signal': '00000000000401020102',
        'nosignal': '00000000000401020100',
    },
}

# 读取状态命令
read_status_command = {
    'devices':'000000000006010100000008',
    'sensors':'000000000006010200000008'
}

# 控件对应 DO 位（从低到高）
device_bit_map = {
    CONVEYOR1: 0,
    PUSHER: 1,
    CONVEYOR2: 2,
    CLAMP: 3,
}

device_name_map = {
    CONVEYOR1: "传送带1",
    PUSHER: "推板",
    CONVEYOR2: "传送带2",
    CLAMP: "机械臂抓夹"
}

# 传感器对应位（从低到高）
sensor_bit_map = {
    SENSOR1: 0,
    SENSOR2: 1,
    # 根据你继电器的配置，继续添加更多传感器
}

sensor_name_map = {
    SENSOR1: '位置传感器1',
    SENSOR2: '位置传感器2',
}


# 将十六进制字符串转换为字节数据并发送
def send_command(command):
    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
            return response
        except Exception as e:
            print(f"通信错误: {e}")
            return False

def get_all_device_status(command_type='devices'):
    command = read_status_command.get(command_type)
    if not command:
        print(f"未知的读取类型: {command_type}")
        return {}

    response = send_command(command)
    status_dict = {}

    if response and len(response) >= 10:
        status_byte = response[9]  # 状态在第10字节
        status_bin = f"{status_byte:08b}"[::-1]

        if command_type == 'devices':
            bit_map = device_bit_map
            name_map = device_name_map
        elif command_type == 'sensors':
            bit_map = sensor_bit_map
            name_map = sensor_name_map
        else:
            print("不支持的映射类型")
            return{}

        for key, bit_index in bit_map.items():
            state = status_bin[bit_index] == '1'
            status_dict[key] = state
            # readable = "开启" if state else "关闭"
            # print(f"{device.capitalize()} 状态: {readable}")
    else:
        print("读取状态失败或响应无效")

    return status_dict

# 获取单个控件状态（True: 开启, False: 关闭, None: 无法读取）
def get_device_status(device_name, command_type='devices'):
    status = get_all_device_status(command_type)
    return status.get(device_name, None)

# 根据状态决定是否执行开操作
def open(conveyor1=False, pusher=False, conveyor2=False, clamp=False):
    status = get_all_device_status()

    if conveyor1 and not status.get(CONVEYOR1, False):
        print("打开传送带1")
        send_command(valve_commands[CONVEYOR1]['open'])
        time.sleep(1)

    if pusher and not status.get(PUSHER, False):
        print("打开推板")
        send_command(valve_commands[PUSHER]['open'])
        time.sleep(0.05)

    if conveyor2 and not status.get(CONVEYOR2, False):
        print("打开传送带2")
        send_command(valve_commands[CONVEYOR2]['open'])
        time.sleep(1)

    if clamp and not status.get(CLAMP, False):
        print("启动机械臂")
        send_command(valve_commands[CLAMP]['open'])
        time.sleep(0.5)

# 根据状态决定是否执行关操作
def close(conveyor1=False, pusher=False, conveyor2=False, clamp=False):
    status = get_all_device_status()

    if conveyor1 and status.get(CONVEYOR1, True):
        print("关闭传送带1")
        send_command(valve_commands[CONVEYOR1]['close'])
        time.sleep(1)

    if pusher and status.get(PUSHER, True):
        print("关闭推板")
        send_command(valve_commands[PUSHER]['close'])
        time.sleep(0.05)

    if conveyor2 and status.get(CONVEYOR2, True):
        print("关闭传送带2")
        send_command(valve_commands[CONVEYOR2]['close'])
        time.sleep(1)

    if clamp and status.get(CLAMP, True):
        print("停止机械臂")
        send_command(valve_commands[CLAMP]['close'])
        time.sleep(0.5)