from ...view.mi_an_main_window import Window as MainWindow
from ...view.cood_forms_interface import CoordinateFormsWidget
from ...view.cood_forms_interface import CoordinateTableWidget

from typing import TypedDict

from ...service.robot_service import RobotService

# 法奥机器人
from fairino import Robot


# 子界面管理
class SubViewsDict(TypedDict):
    position: CoordinateFormsWidget


class MainController:
    def __init__(self):
        # 主界面
        self.main_window = MainWindow()

        # 初始化子界面
        self._initSubViews()

        # 初始化子控制器
        self._initSubControllers()

        # 机器人实例
        self.robot_client = Robot.RPC("192.168.58.2")

        self.robot_service = RobotService(self.robot_client) 

        self.__connectSignals()

    def _initSubViews(self):
        self.sub_views: SubViewsDict = {
            "system": self.main_window.system,  # 系统设置
            "product": self.main_window.product,  # 生产界面
            "robot": self.main_window.robot,  # 机器臂基础设置
            "io": self.main_window.io,  # io面板
            "position": self.main_window.position.formsWidget,  # 点位设置
            "basic": self.main_window.basic,  # 基础设置
            "point": self.main_window.point,  # 点位调试
            "other": self.main_window.other,  # 其他设置
            "data": self.main_window.data,  # 数据采集
        }

    def _initSubControllers(self):
        # self.sub_controllers = {
        #     "system": SystemController(self.sub_views["system"]),
        #     "produce": ProduceController(self.sub_views["produce"]),
        # }
        pass

    def showMainWindow(self):
        self.main_window.show()

    def __connectSignals(self):
        self.sub_views["position"].form_move_signal.connect(self.handleMove)
        self.sub_views["position"].form_update_signal.connect(self.handleGetPosition)
        self.sub_views["position"].form_machine_stop_signal.connect(self.handleMachineStop)

    # 机器臂停止移动
    def handleMachineStop(self):
        self.robot_service.stop_moves()

    # 设置点位
    def handleGetPosition(self, form_obj: CoordinateTableWidget):
        result = self.robot_client.GetActualTCPPose() # 获取 工具坐标
        if isinstance(result, tuple) and len(result) == 2:
            # 成功：解包错误码和位姿
            error, tcp_pos = result
            # print(f"成功，位姿：{tcp_pos}")

             # 保留三位小数
            tcp_pos_rounded = [round(pos, 3) for pos in tcp_pos]
            # print(f"保留三位小数后：{tcp_pos_rounded}")
        else:
            # 失败：result 即为错误码
            print(f"设置位置失败，错误码：{result}")
            return

        form_obj.update_table_data(tcp_pos_rounded)

    # 机器臂移动
    # pos_list 中一定是合法坐标
    def handleMove(self, pos_list: list, name_list: list):
        # print("handleMove 移动 pos_list: ", pos_list)
        # print("handleMove 移动 pos_list: ", name_list)
        # 后续需要根据状态来设置
        tool_id = 1 # 当前 1为吸盘
        vel = 20.0

        # self.robot_service.start_moves(pos_list, name_list, tool_id=tool_id, vel=vel)
        
        try:
            self.robot_service.start_moves(
                pos_list=pos_list,
                name_list=name_list,
                tool_id=tool_id,
                vel=vel
            )

        except ValueError as e:
            # 处理“坐标列表与名称列表长度不一致”的错误
            print(f"❌ 移动任务提交失败（参数错误）：{str(e)}")

        # for desc_pos in pos_list:
        #     print("handleMove 移动 desc_pos: ", pos_list)
        #     error_code = self.robot_client.MoveCart(desc_pos=desc_pos, tool=tool_id, user=0,vel=vel)
        #     if error_code == 0:
        #         print("运动成功")
        #     else:
        #         print(f"运动失败，错误码: {error_code}")