"""
包括一个点位需要的状态: 
1、点位名称
2、速度
3、工具id
4、工件id
5、关节坐标 J1-J6
6、运动类型
7、平滑时间
"""
class PointState:
    VALID_SPEED_RANGE = (0, 100)
    VALID_TOOL_WORK_ID_RANGE = (0, 14)
    VALID_JOINT_COUNT = 6
    VALID_JOINT_RANGE = (-180, 180)
    VALID_MOTION_TYPES = ["直线", "曲线中间点", "曲线终点", "自由路径"]
    VALID_BLEND_TIME_RANGE = (0, 500)

    def __init__(self, pos_name, speed, tool_id, work_id, joint_values, motion_type, blend_time):
        # 数据合法性判断
        self.pos_name = self._validate_pos_name(pos_name)
        self.speed = self._validate_speed(speed)
        self.tool_id = self._validate_tool_work_id(tool_id, "工具ID")
        self.work_id = self._validate_tool_work_id(work_id, "工件ID")
        self.joint_values = self._validate_joint_values(joint_values)
        self.motion_type = self._validate_motion_type(motion_type)
        self.blend_time = self._validate_blend_time(blend_time)

    def _validate_pos_name(self, pos_name):
        """校验点位名称（非空）"""
        if not isinstance(pos_name, str):
            raise TypeError("点位名称必须是字符串类型")
        stripped_name = pos_name.strip()
        if not stripped_name:
            raise ValueError("点位名称不能为空或仅包含空格")
        return stripped_name

    def _validate_speed(self, speed):
        """校验速度（0-100范围）"""
        if not isinstance(speed, (int, float)):
            raise TypeError(f"速度必须是数字类型，当前类型：{type(speed).__name__}")
        min_val, max_val = self.VALID_SPEED_RANGE
        if not (min_val <= speed <= max_val):
            raise ValueError(f"速度必须在 {min_val}-{max_val} 之间，当前值：{speed}")
        return speed

    def _validate_tool_work_id(self, value, field_name):
        """校验工具ID/工件ID（0-14范围，整数）"""
        if not isinstance(value, int):
            raise TypeError(f"{field_name}必须是整数类型，当前类型：{type(value).__name__}")
        min_val, max_val = self.VALID_TOOL_WORK_ID_RANGE
        if not (min_val <= value <= max_val):
            raise ValueError(f"{field_name}必须在 {min_val}-{max_val} 之间，当前值：{value}")
        return value

    def _validate_joint_values(self, joint_values):
        """校验关节值（6个元素，每个在-180~180范围）"""
        if not isinstance(joint_values, list):
            raise TypeError(f"关节值必须是列表类型，当前类型：{type(joint_values).__name__}")
        if len(joint_values) != self.VALID_JOINT_COUNT:
            raise ValueError(
                f"关节值必须包含 {self.VALID_JOINT_COUNT} 个元素（J1-J6），"
                f"当前数量：{len(joint_values)}"
            )
        
        # 逐个校验关节值
        validated_joints = []
        for i, val in enumerate(joint_values, 1):
            if not isinstance(val, (int, float)):
                raise TypeError(f"J{i}关节值必须是数字类型，当前类型：{type(val).__name__}")
            
            min_val, max_val = self.VALID_JOINT_RANGE
            if not (min_val <= val <= max_val):
                raise ValueError(
                    f"J{i}关节值必须在 {min_val}~{max_val} 之间，当前值：{val}"
                )
            validated_joints.append(val)
        
        return validated_joints

    def _validate_motion_type(self, motion_type):
        """校验运动类型（必须是预定义的选项）"""
        if not isinstance(motion_type, str):
            raise TypeError(f"运动类型必须是字符串类型，当前类型：{type(motion_type).__name__}")
        if motion_type not in self.VALID_MOTION_TYPES:
            raise ValueError(
                f"运动类型必须是以下之一：{self.VALID_MOTION_TYPES}，"
                f"当前值：{motion_type}"
            )
        return motion_type

    def _validate_blend_time(self, blend_time):
        """校验平滑时间（-1表示停止，否则0-500范围）"""
        if not isinstance(blend_time, (int, float)):
            raise TypeError(f"平滑时间必须是数字类型，当前类型：{type(blend_time).__name__}")
        
        # 停止模式（-1）或正常平滑时间（0-500）
        if blend_time == -1:
            return -1
        
        min_val, max_val = self.VALID_BLEND_TIME_RANGE
        if not (min_val <= blend_time <= max_val):
            raise ValueError(
                f"平滑时间必须是-1（停止）或 {min_val}-{max_val} 之间（毫秒），"
                f"当前值：{blend_time}"
            )
        return blend_time

    def to_dict(self):
        """转换为字典，方便序列化或存储"""
        return {
            "pos_name": self.pos_name,
            "speed": self.speed,
            "tool_id": self.tool_id,
            "work_id": self.work_id,
            "joint_values": self.joint_values,
            "motion_type": self.motion_type,
            "blend_time": self.blend_time
        }

    def __str__(self):
        """打印调试"""
        return (
            f"点位名：{self.pos_name}，速度：{self.speed}%\n"
            f"工具ID: {self.tool_id},工件ID: {self.work_id}\n"
            f"关节值：{self.joint_values}\n"
            f"运动类型：{self.motion_type}，平滑时间：{self.blend_time}"
        )