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


class RelayController:
    # 继电器映射
    FAST_STOP = 'fast_stop'  # DO1 - 急停
    UPPER_TO_JBL = 'upper_to_jbl'  # DO2 - 上料斗到搅拌楼
    UPPER_TO_ZD = 'upper_to_zd'  # DO3 - 上料斗到振捣室
    # DOOR_UPPER = 'door_upper'  # DO0 - 上料斗滑动
    DOOR_LOWER_OPEN = 'door_lower_open'  # DO1 - 下料斗出砼门开角度
    DOOR_LOWER_CLOSE = 'door_lower_close'  # DO2 - 下料斗出砼门关角度（角度在7.5以下可关闭信号）
    DOOR_UPPER_OPEN = 'door_upper_open'  # DO3 - 上料斗开
    DOOR_UPPER_CLOSE = 'door_upper_close'  # DO4 - 上料斗关
    BREAK_ARCH_UPPER = 'break_arch_upper'  # DO3 - 上料斗震动
    BREAK_ARCH_LOWER = 'break_arch_lower'  # DO4 - 下料斗震动
    DIRECT_LOWER_FRONT = 'direct_lower_front'  # DO5 - 下料斗前
    DIRECT_LOWER_BEHIND = 'direct_lower_behind'  # DO6 - 下料斗后
    DIRECT_LOWER_LEFT = 'direct_lower_left'  # DO7 - 下料斗左
    DIRECT_LOWER_RIGHT = 'direct_lower_right'  # DO8 - 下料斗右

    def __init__(self, host='192.168.250.62', port=50000):
        self.host = host
        self.port = port
        self.modbus_client = ModbusTcpClient(host, port=port)
#遥1 DO 7 左   DO8  右 角度 摇2：DO  12上  13下  14 往后  15往前
        # 继电器命令（原始Socket）
        self.relay_commands = {
            self.FAST_STOP: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
            self.UPPER_TO_JBL: {'open': '00000000000601050001FF00', 'close': '000000000006010500010000'},
            self.UPPER_TO_ZD: {'open': '00000000000601050002FF00', 'close': '000000000006010500020000'},
            self.DOOR_LOWER_OPEN: {'open': '00000000000601050006FF00', 'close': '00000000000601050006FF00'},
            self.DOOR_LOWER_CLOSE: {'open': '00000000000601050007FF00', 'close': '000000000006010500070000'},
            self.DOOR_UPPER_OPEN: {'open': '00000000000601050003FF00', 'close': '000000000006010500030000'},
            self.DOOR_UPPER_CLOSE: {'open': '00000000000601050004FF00', 'close': '000000000006010500040000'},
            self.BREAK_ARCH_UPPER: {'open': '0000000000060105000AFF00', 'close': '0000000000060105000A0000'},
            self.BREAK_ARCH_LOWER: {'open': '00000000000601050005FF00', 'close': '000000000006010500050000'},
            self.DIRECT_LOWER_FRONT: {'open': '00000000000601050005FF00', 'close': '000000000006010500050000'},
            self.DIRECT_LOWER_BEHIND: {'open': '00000000000601050005FF00', 'close': '000000000006010500050000'},
            self.DIRECT_LOWER_LEFT: {'open': '00000000000601050005FF00', 'close': '000000000006010500050000'},
            self.DIRECT_LOWER_RIGHT: {'open': '00000000000601050005FF00', 'close': '000000000006010500050000'}
        }

        self.settings = Settings()
        # 读取状态命令
        self.read_status_command = '000000000006010100000008'

        # 设备位映射
        self.device_bit_map = {
            self.FAST_STOP: 0,
            self.UPPER_TO_JBL: 1,
            self.UPPER_TO_ZD: 2,
            self.BREAK_ARCH_UPPER: 3,
            self.BREAK_ARCH_LOWER: 4
        }

    def send_command(self, command_hex):
        """发送原始Socket命令"""
        if not self.settings.debug_feeding:
            return None

        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}")