import logging

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

class RobotClient(TCPClient):

    def __init__(self, ip, port, photo_locs,command_quene, status_model:DataAddress):
        super().__init__(ip, port)
        self.command_quene = command_quene
        self.status_model = status_model
        self.errorCommands = {}
        self.photo_locs = photo_locs
    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)
        return

    def send_Command(self):
        try:
            if self.command_quene.qsize()!=0:
                command = self.command_quene.get()
                self.client_socket.send(command.encode())

                if False:
                    response = self.client_socket.recv(1024).decode('utf-8')
                    response_message = json.loads(response)
                    if True:
                        print('正确相应')
                    else:
                        self.errorCommands[json.dumps(command).encode('utf-8')] = response_message
                        print('出错')
                return True
            else:
                return True
        except Exception as e:
            log.log_message(logging.ERROR,str_tcp_robot_connect_fail)
            return False



    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:
                    data_status = DATAReply()
                    data_status.__dict__ = response_message
                    data_address_array = data_status.queryData
                    try:
                        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])
                    except:
                        log.log_message(logging.ERROR,Constant.str_tcp_robot_data_error)
            return True
        except Exception as e:
            #log.log_message(logging.ERROR,f'{e}')
            return False