# hardware/relay.py
import socket
import binascii
from pymodbus.client import ModbusTcpClient
from pymodbus.exceptions import ModbusException


class RelayController:
    # 继电器映射
    DOOR_UPPER = 'door_upper'  # DO0 - 上料斗滑动
    DOOR_LOWER_1 = 'door_lower_1'  # DO1 - 上料斗出砼门
    DOOR_LOWER_2 = 'door_lower_2'  # DO2 - 下料斗出砼门
    BREAK_ARCH_UPPER = 'break_arch_upper'  # DO3 - 上料斗破拱
    BREAK_ARCH_LOWER = 'break_arch_lower'  # DO4 - 下料斗破拱

    def __init__(self, host='192.168.0.18', port=50000):
        self.host = host
        self.port = port
        self.modbus_client = ModbusTcpClient(host, port=port)

        # 继电器命令（原始Socket）
        self.relay_commands = {
            self.DOOR_UPPER: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
            self.DOOR_LOWER_1: {'open': '00000000000601050001FF00', 'close': '000000000006010500010000'},
            self.DOOR_LOWER_2: {'open': '00000000000601050002FF00', 'close': '000000000006010500020000'},
            self.BREAK_ARCH_UPPER: {'open': '00000000000601050003FF00', 'close': '000000000006010500030000'},
            self.BREAK_ARCH_LOWER: {'open': '00000000000601050004FF00', 'close': '000000000006010500040000'}
        }

        # 读取状态命令
        self.read_status_command = '000000000006010100000008'

        # 设备位映射
        self.device_bit_map = {
            self.DOOR_UPPER: 0,
            self.DOOR_LOWER_1: 1,
            self.DOOR_LOWER_2: 2,
            self.BREAK_ARCH_UPPER: 3,
            self.BREAK_ARCH_LOWER: 4
        }

    def send_command(self, command_hex):
        """发送原始Socket命令"""
        try:
            byte_data = binascii.unhexlify(command_hex)
            with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
                sock.connect((self.host, self.port))
                sock.send(byte_data)
                response = sock.recv(1024)
                print(f"收到继电器响应: {binascii.hexlify(response)}")
                return response
        except Exception as e:
            print(f"继电器通信错误: {e}")
            return None

    def get_status(self):
        """获取继电器状态"""
        response = self.send_command(self.read_status_command)
        status_dict = {}

        if response and len(response) >= 10:
            status_byte = response[9]
            status_bin = f"{status_byte:08b}"[::-1]
            for key, bit_index in self.device_bit_map.items():
                status_dict[key] = status_bin[bit_index] == '1'
        else:
            print("读取继电器状态失败")

        return status_dict

    def control(self, device, action):
        """控制继电器"""
        if device in self.relay_commands and action in self.relay_commands[device]:
            print(f"控制继电器 {device} {action}")
            self.send_command(self.relay_commands[device][action])
        else:
            print(f"无效设备或动作: {device}, {action}")