#!/usr/bin/python3
"""
# @Time    : 2025/12/12 11:05
# @Author  : reenrr
# @File    : RobotModel.py
# @Desc    :
"""
from enum import Enum
from Position import Real_Position


class MoveType(Enum):
    AXIS = 4       # 关节轴运动模式
    WORLD = 10     # 世界坐标系运动模式
    Cure = 17      # 曲线运动模式

class DATARequest:
    def __init__(self):
        """
        初始化查询请求的核心协议参数，符合机械臂通信协议要求
        """
        self.dsID = 'www.hc-system.com.RemoteMonitor'    # 设备服务ID
        self.reqType = 'query'                           # 请求类型
        self.queryAddr = []                              # 查询地址列表

    def toString(self):
        """
        将DATARequest对象转换为符合JSON格式的字符串（符合机械臂通信协议）
        """
        model_str = '{'+f'"dsID":"{self.dsID}","reqType":"{self.reqType}","queryAddr":[' \
                    f'{self.queryAddr[0].toString()}]'+'}'
        return model_str



class DataAddress:
    def __init__(self):
        # 基础配置属性
        self.version = ''
        self.curMold = ''
        self.counterList = ''
        self.counter_n = ''
        self.curMode = 0
        self.boardIONum = ''

        # IO口状态属性
        self.input_n = ''
        self.output_n = 0

        # 运动轴配置属性
        self.axisNum = '6'

        self.axis_n = ''
        self.world_0 = 0     # 世界坐标系X轴坐标
        self.world_1 = 0
        self.world_2 = 0
        self.world_3 = 0
        self.world_4 = 0
        self.world_5 = 0
        self.axis_0 = 0
        self.axis_1 = 0      # 1轴关节角度
        self.axis_2 = 0
        self.axis_3 = 0
        self.axis_4 = 0
        self.axis_5 = 0

        self.curAlarm = 0
        self.curCycle = ''
        self.lastCycle = ''
        self.machineName = ''
        self.curTorque_n = ''
        self.curSpeed_n = ''
        self.curAccount = ''
        self.origin = ''
        self.moldList = ''
        self.isMoving = False
        self.M_n = ''
        self.toolCoord=0
        self.RemoteCmdLen = 0

    def setPosition(self,w0,w1,w2,w3,w4,w5,a0,a1,a2,a3,a4,a5):
        """
        位置坐标设置方法：批量更新世界坐标系和关节轴坐标系的位置数据，封装位置更新逻辑
        """
        self.world_0 = float(w0)
        self.world_1 = float(w1)
        self.world_2 = float(w2)
        self.world_3 = float(w3)
        self.world_4 = float(w4)
        self.world_5 = float(w5)

        self.axis_0 = float(a0)
        self.axis_1 = float(a1)
        self.axis_2 = float(a2)
        self.axis_3 = float(a3)
        self.axis_4 = float(a4)
        self.axis_5 = float(a5)

    def getRealPosition(self):
        """
        提取世界坐标系位置数据，封装成Real_Position对象
        :return: Real_Position对象
        """
        real_position = Real_Position().init_position(self.world_0,self.world_1,self.world_2,self.world_3,self.world_4,self.world_5)
        return real_position

    def getAnglePosition(self):
        """
        提取关节轴位置数据，封装成Real_Position对象
        :return: Real_Position对象
        """
        real_position = Real_Position().init_position(self.axis_0,self.axis_1,self.axis_2,self.axis_3,self.axis_4,self.axis_5)
        return real_position

    def get_IO_bits(self):
        """
        提取IO口状态数据，封装成IO_bits数组
        """
        io_bits_str = format(self.output_n, '032b')[::-1]   # 将output_n转换为32位二进制字符串（不足32位补0），然后反转字符串（低位对应低编号IO口）
        io_bits_arry = [bit == '1' for bit in io_bits_str]  # 转换为布尔数组，标识每个IO口的通断状态
        return io_bits_arry

    def setAngle(self,a0,a1,a2,a3,a4,a5):
        pass

    def toString(self):
        model_str = f'"curMode",' \
                    f'"world-0","world-1","world-2","world-3","world-4","world-5","axis-0","axis-1","axis-2","axis-3","axis-4","axis-5",' \
                    f'"curAlarm","isMoving","RemoteCmdLen","toolCoord","input-n","output-n","curSpeed-n"'
        return model_str





class DATAReply:
    def __init__(self):
        self.dsID = ''
        self.reqType = ''
        self.queryData = []



    def JsonToObject(self):
        return

class CMDReply:
    def __init__(self):
        self.dsID = 'www.hc-system.com.RemoteMonitor'
        self.reqType = 'command'
        self.cmdData = []
        return


class Instruction:
    def __init__(self):
        self.oneshot = 1
        self.action = 4 #4 自由路径 10 姿势直线 17 姿势曲线
        self.m0 = 0.0
        self.m1 = 0.0
        self.m2 = 0.0
        self.m3 = 0.0
        self.m0_p = 0.0
        self.m1_p = 0.0
        self.m2_p = 0.0
        self.m3_p = 0.0
        self.m4_p = 0.0
        self.m5_p = 0.0
        self.ckStatus = '0x3F'
        self.speed = 10
        self.smooth = 0
        self.tool=2
        self.IO = False
        self.type = 0
        self.io_status=1
        self.point = 0
        self.delay = 0

    def toString(self):
        if not self.IO :
            model_str = f'"oneshot":"{self.oneshot}","action":"{self.action}","m0":"{self.m0}","m1":"{self.m1}","m2":"{self.m2}",' \
                    f'"m3":"{self.m3}","ckStatus":"{self.ckStatus}","speed":"{self.speed}",' \
                    f'"delay":"{self.delay}","smooth":"{self.smooth}","tool":"{self.tool}"'
            if self.action == 17:
                model_str = f'"oneshot":"{self.oneshot}","action":"{self.action}","m0":"{self.m0}","m1":"{self.m1}","m2":"{self.m2}",' \
                    f'"m3":"{self.m3}","m0_p":"{self.m0_p}","m1_p":"{self.m1_p}","m2_p":"{self.m2_p}",' \
                    f'"m3_p":"{self.m3_p}","ckStatus":"{self.ckStatus}","speed":"{self.speed}",' \
                    f'"delay":"{self.delay}","smooth":"{self.smooth}","tool":"{self.tool}"'
        else:
            model_str = f'"oneshot":"{self.oneshot}","action":"{200}","type":"{self.type}","io_status":"{self.io_status}"' \
                        f',"point":"{self.point}","delay":"{self.delay}"'
        return model_str




class CMDInstructRequest:
    def __init__(self):
        self.dsID = 'www.hc-system.com.HCRemoteCommand'
        self.reqType = "AddRCC"
        self.emptyList = '0' #清空机械臂的远程命令数据
        self.instructions = []

    def toString(self):
        model_str = '{'+f'"dsID":"{self.dsID}","reqType":"{self.reqType}","emptyList":"{self.emptyList}"'
        if len(self.instructions) != 0:
            model_str = model_str+',"instructions":'+"[{"+self.instructions[0].toString()+"}]"+"}"
        else:
            model_str = model_str+',"instructions":'+"[]"+"}" #model_str+"}"
        return model_str