class FeedingProcess:
    def __init__(self, relay_controller, inverter_controller,
                 transmitter_controller, vision_detector,
                 camera_controller, state, settings):
        self.relay_controller = relay_controller
        self.inverter_controller = inverter_controller
        self.transmitter_controller = transmitter_controller
        self.vision_detector = vision_detector
        self.camera_controller = camera_controller
        self.state = state
        self.settings = settings

    def start_feeding(self):
        """开始分步下料"""
        if self.state.lower_feeding_stage != 0:
            print("下料已在进行中")
            return

        # 检查关键设备是否可连接
        if not self._check_device_connectivity():
            print("关键设备连接失败，无法开始下料")
            return

        print("开始分步下料过程")
        # 重置计数器
        self.state.lower_feeding_cycle = 0
        self.state.upper_feeding_count = 0

        # 第一次上料
        self.transfer_material_from_upper_to_lower()

        # 等待模具车对齐并开始第一轮下料
        self.state.lower_feeding_stage = 4
        self.wait_for_vehicle_alignment()

    def _check_device_connectivity(self):
        """检查关键设备连接状态"""
        try:
            # 检查网络继电器连接
            test_response = self.relay_controller.send_command(self.relay_controller.read_status_command)
            if not test_response:
                print("网络继电器连接失败")
                return False

            # 检查变频器连接
            if not self.relay_controller.modbus_client.connect():
                print("无法连接到网络继电器Modbus服务")
                return False

            # 尝试读取变频器一个寄存器（测试连接）
            test_result = self.relay_controller.modbus_client.read_holding_registers(
                address=0x00,
                count=1,
                slave=self.inverter_controller.config['slave_id']
            )

            if isinstance(test_result, Exception):
                print("变频器连接测试失败")
                return False

            # 检查下料斗变送器连接
            test_weight = self.transmitter_controller.read_data(2)
            if test_weight is None:
                print("下料斗变送器连接失败")
                return False

            self.relay_controller.modbus_client.close()
            return True
        except Exception as e:
            print(f"设备连接检查失败: {e}")
            return False

    def transfer_material_from_upper_to_lower(self):
        """上料斗向下料斗下料"""
        print(f"上料斗向下料斗下料 (第 {self.state.upper_feeding_count + 1} 次)")

        # 记录下料前的重量
        initial_upper_weight = self.transmitter_controller.read_data(1)

        # 如果无法读取重量，直接报错
        if initial_upper_weight is None:
            raise Exception("无法读取上料斗重量传感器数据，下料操作终止")

        target_upper_weight = initial_upper_weight - self.settings.single_batch_weight
        target_upper_weight = max(target_upper_weight, 0)  # 确保不低于0

        print(f"上料斗初始重量: {initial_upper_weight:.2f}kg, 目标重量: {target_upper_weight:.2f}kg")

        # 确保下料斗出砼门关闭
        self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'close')
        # 打开上料斗出砼门
        self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'open')

        # 等待物料流入下料斗，基于上料斗重量变化控制
        import time
        start_time = time.time()
        timeout = 30  # 30秒超时

        while time.time() - start_time < timeout:
            current_upper_weight = self.transmitter_controller.read_data(1)

            # 如果无法读取重量，继续尝试
            if current_upper_weight is None:
                print("无法读取上料斗重量，继续尝试...")
                time.sleep(1)
                continue

            print(f"上料斗当前重量: {current_upper_weight:.2f}kg")

            # 如果达到目标重量，则关闭上料斗出砼门
            if current_upper_weight <= target_upper_weight + 50:  # 允许50kg的误差范围
                print(f"达到目标重量，当前重量: {current_upper_weight:.2f}kg")
                break
            elif time.time() - start_time > 25:  # 如果25秒后重量变化过小
                weight_change = initial_upper_weight - current_upper_weight
                if weight_change < 100:  # 如果重量变化小于100kg
                    print("重量变化过小，可能存在堵塞，交由监控系统处理...")
                    break

            time.sleep(1)

        # 关闭上料斗出砼门
        self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'close')

        # 验证下料结果
        final_upper_weight = self.transmitter_controller.read_data(1)
        if final_upper_weight is not None:
            actual_transferred = initial_upper_weight - final_upper_weight
            print(f"实际下料重量: {actual_transferred:.2f}kg")

        # 增加上料计数
        self.state.upper_feeding_count += 1
        print("上料斗下料完成")

    def wait_for_vehicle_alignment(self):
        """等待模具车对齐"""
        print("等待模具车对齐...")
        self.state.lower_feeding_stage = 4

        import time
        while self.state.lower_feeding_stage == 4 and self.state.running:
            if self.state.vehicle_aligned:
                print("模具车已对齐，开始下料")
                self.state.lower_feeding_stage = 1
                self.feeding_stage_one()
                break
            time.sleep(self.settings.alignment_check_interval)

    def feeding_stage_one(self):
        """第一阶段下料：下料斗向模具车下料（低速）"""
        print("开始第一阶段下料：下料斗低速下料")
        self.inverter_controller.set_frequency(self.settings.frequencies[0])
        self.inverter_controller.control('start')

        # 确保上料斗出砼门关闭
        self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'close')
        # 打开下料斗出砼门
        self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')

        import time
        start_time = time.time()
        initial_weight = self.transmitter_controller.read_data(2)
        if initial_weight is None:
            print("无法获取初始重量，取消下料")
            self.finish_feeding_process()
            return

        target_weight = initial_weight + self.settings.single_batch_weight

        while self.state.lower_feeding_stage == 1:
            current_weight = self.transmitter_controller.read_data(2)
            if current_weight is None:
                self.state.lower_weight_error_count += 1
                if self.state.lower_weight_error_count >= self.settings.max_error_count:
                    print("下料斗传感器连续读取失败，停止下料")
                    self.finish_feeding_process()
                    return
            else:
                self.state.lower_weight_error_count = 0

            if (current_weight is not None and current_weight >= target_weight) or (time.time() - start_time) > 30:
                self.state.lower_feeding_stage = 2
                self.feeding_stage_two()
                break
            time.sleep(2)

    def feeding_stage_two(self):
        """第二阶段下料：下料斗向模具车下料（中速）"""
        print("开始第二阶段下料：下料斗中速下料")
        self.inverter_controller.set_frequency(self.settings.frequencies[1])

        # 保持下料斗出砼门打开
        self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
        # 确保上料斗出砼门关闭
        self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'close')

        import time
        start_time = time.time()
        initial_weight = self.transmitter_controller.read_data(2)
        if initial_weight is None:
            print("无法获取初始重量，取消下料")
            self.finish_feeding_process()
            return

        target_weight = initial_weight + self.settings.single_batch_weight

        while self.state.lower_feeding_stage == 2:
            current_weight = self.transmitter_controller.read_data(2)
            if current_weight is None:
                self.state.lower_weight_error_count += 1
                if self.state.lower_weight_error_count >= self.settings.max_error_count:
                    print("下料斗传感器连续读取失败，停止下料")
                    self.finish_feeding_process()
                    return
            else:
                self.state.lower_weight_error_count = 0

            if (current_weight is not None and current_weight >= target_weight) or (time.time() - start_time) > 30:
                self.state.lower_feeding_stage = 3
                self.feeding_stage_three()
                break
            time.sleep(2)

    def feeding_stage_three(self):
        """第三阶段下料：下料斗向模具车下料（高速）"""
        print("开始第三阶段下料：下料斗高速下料")
        self.inverter_controller.set_frequency(self.settings.frequencies[2])

        # 保持下料斗出砼门打开
        self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
        # 确保上料斗出砼门关闭
        self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'close')

        import time
        start_time = time.time()
        initial_weight = self.transmitter_controller.read_data(2)
        if initial_weight is None:
            print("无法获取初始重量，取消下料")
            self.finish_feeding_process()
            return

        target_weight = initial_weight + self.settings.single_batch_weight

        while self.state.lower_feeding_stage == 3:
            current_weight = self.transmitter_controller.read_data(2)
            if current_weight is None:
                self.state.lower_weight_error_count += 1
                if self.state.lower_weight_error_count >= self.settings.max_error_count:
                    print("下料斗传感器连续读取失败，停止下料")
                    self.finish_feeding_process()
                    return
            else:
                self.state.lower_weight_error_count = 0

            if (current_weight is not None and current_weight >= target_weight) or (time.time() - start_time) > 30:
                self.state.lower_feeding_stage = 4
                self.finish_current_batch()
                break
            time.sleep(2)

    def finish_current_batch(self):
        """完成当前批次下料"""
        print("当前批次下料完成，关闭出砼门")
        self.inverter_controller.control('stop')
        self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'close')
        self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'close')

        # 增加三阶段下料轮次计数
        self.state.lower_feeding_cycle += 1

        # 检查是否完成两轮三阶段下料（总共5吨）
        if self.state.lower_feeding_cycle >= 2:
            # 完成整个5吨下料任务
            print("完成两轮三阶段下料，5吨下料任务完成")
            self.finish_feeding_process()
            return

        # 如果只完成一轮三阶段下料，进行第二次上料
        print("第一轮三阶段下料完成，准备第二次上料")
        # 上料斗第二次向下料斗下料
        try:
            self.transfer_material_from_upper_to_lower()
        except Exception as e:
            print(f"第二次上料失败: {e}")
            print("停止下料流程")
            self.finish_feeding_process()  # 出现严重错误时结束整个流程
            return

        # 继续等待当前模具车对齐（不需要重新等待对齐，因为是同一辆模具车）
        print("第二次上料完成，继续三阶段下料")
        self.state.lower_feeding_stage = 1  # 直接进入第一阶段下料
        self.feeding_stage_one()  # 开始第二轮第一阶段下料

    def finish_feeding_process(self):
        """完成整个下料流程"""
        print("整个下料流程完成")
        self.state.lower_feeding_stage = 0
        self.state.lower_feeding_cycle = 0
        self.state.upper_feeding_count = 0
        self.return_upper_door_to_default()

    def return_upper_door_to_default(self):
        """上料斗回到默认位置（搅拌楼下接料位置）"""
        print("上料斗回到默认位置")
        self.relay_controller.control(self.relay_controller.DOOR_UPPER, 'close')
        self.state.upper_door_position = 'default'