#!/usr/bin/env python
# -*- coding: utf-8 -*-
"""
# @Time    : 2025/12/12 11:05
# @Author  : reenrr
# @File    : main_control.py
# @Desc    : 主控程序
"""
import time
from EMV.EMV_test import  press_sensors_triggered, control_solenoid, global_relay
from visual_algorithm.visual_algorithm import flaw_detection
import logging
import os
from conveyor_controller.conveyor_master_controller2_test  import conveyor_control
from client import IndustrialPCClient
from DM.DM_Motor_controller import DMMotorController, Control_Type, dm_motor_control

# ------------ 日志+参数配置 ------------
script_dir = os.path.dirname(os.path.abspath(__file__))
log_file_path = os.path.join(script_dir, "main_control.log")

logging.basicConfig(
    level=logging.INFO,
    format='[%(asctime)s.%(msecs)03d] [%(levelname)s] %(message)s',
    datefmt='%Y-%m-%d %H:%M:%S',
    handlers=[
        logging.StreamHandler(),
        logging.FileHandler(log_file_path, encoding='utf-8')
    ]
)

# -------------------------- 电机参数配置 --------------------------
SLAVE_ID = 0x01
MASTER_ID = 0x11
PORT = 'COM10'
BAUDRATE = 921600

class LineMainControlSystem:
    """
    线条主控系统类
    """
    def __init__(self):
        """
        构造方法：初始化类属性
        """
        # 客户端
        self.client = IndustrialPCClient(ip='127.0.0.1', port=8888, timeout=10)
        # 连接服务端
        if not self.client.connect():
            return

        # 合格线条处理记数
        self.qualified_line_count = 0
        self.qualified_trigger_threshold = 5

        # 创建达妙电机实例、参数
        self.motor_controller = DMMotorController(
            slave_id=SLAVE_ID,
            master_id=MASTER_ID,
            port=PORT,
            baudrate=BAUDRATE
        )
        self.dm_motor_init()


    def dm_motor_init(self):
        # 切换到位置-速度模式
        self.motor_controller.switch_control_mode(Control_Type.POS_VEL)

        # 使能电机
        self.motor_controller.enable_motor()

        # 将电机位置恢复到初始位置(防止断电，电机停在某个位置上）
        dm_motor_position = self.motor_controller.get_position()
        logging.info(f"初始位置{dm_motor_position}")
        # 将位置移动到0位
        self.motor_controller.control_pos_vel(p_desired=0, v_desired=30)
        time.sleep(10)

    def start_thread(self):
        """开启各种线程"""
        logging.info("开启各类监听线程")
        global_relay.start_press_sensors_monitor()       # 双压传感器监听线程

    def stop_thread(self):
        """关闭各种线程"""
        logging.info("关闭各类监听线程")
        global_relay.stop_press_sensors_monitor()        # 双压传感器监听线程

    def handle_line(self):
        try:
            logging.info("线条开始质量检测：")

            # 执行质量检测
            result = flaw_detection({"line_id": "L001", "straightness": 0.95, "noise_ratio": 0.08})
            if result == "qualified":
                self._handle_qualified_line()
            elif result == "unqualified":
                self._handle_unqualified_line()

        except Exception as e:
            logging.error(f"质量检测失败：{e}", exc_info=True)

        finally:
            # 关闭连接服务端
            if self.client:
                self.client.close()
                logging.info("关闭连接服务端")

    def _handle_qualified_line(self):
        """
        处理合格线条的流程
        """
        result = "合格"
        logging.info(f"该线条是否合格：{result}")
        logging.info("等待线条落到传送带（双压传感器触发）...")

        # 等待时间触发，超时时间设为10秒（避免无限等待）
        if press_sensors_triggered.wait(timeout=10):
            press_sensors_triggered.clear()

            logging.info("线条已落到传送带，控制两个传送带向前移动")
            # 传送带运行
            conveyor_control()

            # 验证传送带运行结果
            press_sensor1_status = global_relay.get_device_status('press_sensor1', 'sensors')
            press_sensor2_status = global_relay.get_device_status('press_sensor2', 'sensors')
            if not press_sensor1_status and not press_sensor2_status:
                logging.info("传送带运行正常,线条已移动")

                self.qualified_line_count += 1
                logging.info(f"已处理合格线条{self.qualified_line_count}/{self.qualified_trigger_threshold}个")

                # 控制步进电机移动
                logging.info("控制步进电机移动")
                success, msg = self.client.send_command("test")
                if not success:
                    logging.error(f"调用失败：{msg}")
                else:
                    logging.info("步进电机移动成功")

                # 判断线条个数
                if self.qualified_line_count >= self.qualified_trigger_threshold:
                    # 舵机、电机相关控制
                    self.qualified_line_count = 0
            else:
                logging.warning("传送带运行异常，线条未正常移动，不更新合格计数")
        else:
            logging.info("线条未落到传送带，请检查传感器或设备状态")

    def _handle_unqualified_line(self):
        """
        处理不合格线条的流程
        """
        result = "不合格"
        logging.info("该线条是否合格：", result)
        logging.info("等待线条落到传送带上")

        # 等待时间触发，超时时间设为10秒（避免无限等待）
        if press_sensors_triggered.wait(timeout=10):
            press_sensors_triggered.clear()
            logging.info("线条已落到传送带")

        # 执行NG动作，控制电磁阀
        logging.info("进入NG动作")
        control_solenoid()  # 执行NG动作,控制电磁阀
        logging.info("NG动作结束")

    def gripper_control(self):
        """
        气动夹爪相关控制：达妙电机的移动、舵机的翻转
        """
        # 打开电磁阀3
        global_relay.open('solenoid_valve3', "devices")

        # 控制达妙电机收缩
        self.motor_controller.control_pos_vel(p_desired=282.6, v_desired=30)  # 450mm  665-215
        time.sleep(10)




# -----------对外接口-------------
def main_control():
    main_control_system = LineMainControlSystem()

    try:
        logging.info("开启各种线程")
        main_control_system.start_thread()

        while True:   # 防止跳出循环
            logging.info("开始摆放线条")

            # 质量检测
            main_control_system.handle_line()
    except KeyboardInterrupt:
        logging.info("用户手动退出")
    finally:
        # 程序退出时，关闭各类线程
        main_control_system.stop_thread()
        logging.info("主控程序已正常退出")


# ------------测试接口-------------
if __name__ == '__main__':
    main_control()