import socket
import json
import time

target_weight = 660  # 目标重量

# 称重指令
cmd_set_target = {
    # 称量
    "command": "set_target",
    "payload": {
        "target_weight": target_weight,
        "algorithm": "pid",
        "direction_control": False,
    },
}

# 清零
cmd_set_zero = {
    # 去皮
    "command": "set_zero"
}

cmd_get_weight = {
    # 获取重量
    "command": "get_weight"
}


def start_weight(host="192.168.58.25", port=5000):
    """
    连接称重设备，发送目标重量并等待达到指定值

    Args:
        target_weight: 目标重量值
        cmd_set_zero: 去皮
        cmd_set_target: 称重
        cmd_get_weight: 获取重量
        host: 服务器IP地址
        port: 服务器端口

    Returns:
        成功时返回达到的目标重量, 失败时返回None
    """
    try:
        with socket.socket() as s:
            s.connect((host, port))

            # 去皮
            s.sendall(json.dumps(cmd_set_zero).encode())
            time.sleep(1)  # 等待去皮完成

            # 检查去皮是否完成
            s.sendall(json.dumps(cmd_get_weight).encode())
            weight_data = s.recv(1024)
            response = json.loads(weight_data.decode())
            zero_weight = response.get("current_weight")
            print("清零后的重量:", zero_weight)
    except (socket.error, json.JSONDecodeError, UnicodeDecodeError) as e:
        print(f"start_weight错误: {e}")
        return None

    try:
        with socket.socket() as s:
            if isinstance(zero_weight, (int, float)) and abs(zero_weight) < 0.01:
                s.connect((host, port))
                # 称重
                s.sendall(json.dumps(cmd_set_target).encode())

                while True:
                    data = s.recv(1024)
                    if not data:
                        print("start_weight错误: 服务器连接已关闭")
                        return None

                    try:
                        decoded = data.decode()
                        response = json.loads(decoded)
                        current_weight = response.get("current_weight")
                        if current_weight is not None:
                            print(f"当前重量：{current_weight}")
                            if current_weight >= target_weight:
                                return current_weight  # 达到目标重量后返回
                        else:
                            print(f"获取的重量为None: {current_weight}")
                            return None

                    except json.JSONDecodeError:
                        print(f"start_weight错误: 无效的JSON格式: {decoded}")
                        return None
                    except UnicodeDecodeError:
                        print(
                            f"start_weight错误: 字节解码错误, 无法解析字节流data为字符串"
                        )
                        return None
            else:
                print("start_weight错误: 去皮失败, 中止称量流程, 请检查设备")
                return None
    except socket.error as e:
        print(f"start_weight错误: 通信错误: {e}")
        return None


if __name__ == "__main__":
    if start_weight():
        print("称重完毕")
    else:
        print("称重发生错误")
        exit(-1)