import json
import os.path
import time
import pandas
from PySide6.QtCore import Signal, QThread
import openpyxl
import re
from codes.common import clibs


class BrakeDataProcess(QThread):
    output = Signal(str, str)

    def __init__(self, dir_path, /):
        super().__init__()
        self.dir_path = dir_path
        self.idx = 0

    def logger(self, level, module, content, color="black", error="", flag="both"):
        flag = "cursor" if level.upper() == "DEBUG" else "both"
        clibs.logger(level, module, content, color, flag, signal=self.output)
        if level.upper() == "ERROR":
            raise Exception(f"{error} | {content}")

    @clibs.handle_exception
    def check_files(self, rawdata_dirs, result_files):
        msg_wrong = "需要有四个文件和若干个数据文件夹，可参考如下确认：<br>"
        msg_wrong += "- reach33/66/100_XXXXXXX.xlsx<br>- *.cfg<br>"
        msg_wrong += "- reach33_load33_speed33<br>- reach33_load33_speed66<br>...<br>- reach100_load100_speed66<br>- reach100_load100_speed100<br>"

        if len(result_files) != 4 or len(rawdata_dirs) == 0:
            self.logger("ERROR", "brake", msg_wrong, "red", "InitFileError")

        config_file, reach33_file, reach66_file, reach100_file = None, None, None, None
        for result_file in result_files:
            filename = result_file.split("/")[-1]
            if re.match(".*\\.cfg", filename):
                config_file = result_file
            elif filename.startswith("reach33_") and filename.endswith(".xlsx"):
                reach33_file = result_file
            elif filename.startswith("reach66_") and filename.endswith(".xlsx"):
                reach66_file = result_file
            elif filename.startswith("reach100_") and filename.endswith(".xlsx"):
                reach100_file = result_file
        else:
            if not (config_file and reach33_file and reach66_file and reach100_file):
                self.logger("ERROR", "brake", msg_wrong, "red", "InitFileError")

        reach_s = ['reach33', 'reach66', 'reach100']
        load_s = ['load33', 'load66', 'load100']
        speed_s = ['speed33', 'speed66', 'speed100']
        prefix = []
        for rawdata_dir in rawdata_dirs:
            components = rawdata_dir.split("/")[-1].split('_')  # reach_load_speed
            prefix.append(components[0])
            if components[0] not in reach_s or components[1] not in load_s or components[2] not in speed_s:
                msg = f"报错信息：数据目录 {rawdata_dir} 命名不合规，请参考如下形式<br>"
                msg += "命名规则：reachAA_loadBB_speedCC，AA/BB/CC 指的是臂展/负载/速度的比例<br>"
                msg += "规则解释：reach66_load100_speed33，表示 66% 臂展，100% 负载以及 33% 速度情况下的测试结果文件夹<br>"
                self.logger("ERROR", "brake", msg, "red", "WrongDataFolder")

            _, rawdata_files = clibs.traversal_files(rawdata_dir, self.output)
            if len(rawdata_files) != 3:
                msg = f"数据目录 {rawdata_dir} 下数据文件个数错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件"
                self.logger("ERROR", "brake", msg, "red", "WrongDataFile")

            for rawdata_file in rawdata_files:
                if not rawdata_file.endswith(".data"):
                    msg = f"数据文件 {rawdata_file} 后缀错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件"
                    self.logger("ERROR", "brake", msg, "red", "WrongDataFile")

        result_files = []
        for _ in [reach33_file, reach66_file, reach100_file]:
            if _.split("/")[-1].split("_")[0] in set(prefix):
                result_files.append(_)

        self.logger("INFO", "brake", "数据目录合规性检查结束，未发现问题......", "green")
        return config_file, result_files

    @clibs.handle_exception
    def get_configs(self, config_file):
        try:
            with open(config_file, mode="r", encoding="utf-8") as f_config:
                configs = json.load(f_config)

            p_dir = config_file.split('/')[-2]
            if not re.match("^[jJ][123]$", p_dir):
                self.logger("ERROR", "brake", "被处理的根文件夹命名必须是 [Jj][123] 的格式", "red", "DirNameError")

            axis = int(p_dir[-1])  # 要处理的轴
            rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]]  # 减速比，rr for reduction ratio
            avs = configs["MOTION"]["JOINT_MAX_SPEED"]
            rr = rrs[axis-1]
            av = avs[axis-1]
            return av, rr
        except Exception as Err:
            self.logger("ERROR", "brake", f"无法打开 {config_file}，或者使用了错误的机型配置文件，需检查<br>{Err}", "red", "OpenFileError")

    def now_doing_msg(self, docs, flag):
        now = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(time.time()))
        file_type = 'file' if os.path.isfile(docs) else 'dir'
        if flag == 'start' and file_type == 'dir':
            self.logger("INFO", "brake", f"[{now}] 正在处理目录 {docs} 中的数据......")
        elif flag == 'start' and file_type == 'file':
            self.logger("INFO", "brake", f"[{now}] 正在处理文件 {docs} 中的数据......")
        elif flag == 'done' and file_type == 'dir':
            self.logger("INFO", "brake", f"[{now}] 目录 {docs} 数据文件已处理完毕")
        elif flag == 'done' and file_type == 'file':
            self.logger("INFO", "brake", f"[{now}] 文件 {docs} 数据已处理完毕")

    @staticmethod
    @clibs.handle_exception
    def data2result(df, ws_result, row_start, row_end):
        data = []
        for row in range(row_start, row_end):
            data.append(df.iloc[row, 0])
            data.append(df.iloc[row, 1])
            data.append(df.iloc[row, 2])

        i = 0
        row_max = 1000 if row_end - row_start < 1000 else row_end - row_start + 100
        for row in range(2, row_max):
            try:
                ws_result.cell(row=row, column=1).value = data[i]
                ws_result.cell(row=row, column=2).value = data[i + 1]
                ws_result.cell(row=row, column=3).value = data[i + 2]
                i += 3
            except Exception:
                ws_result.cell(row=row, column=1).value = None
                ws_result.cell(row=row, column=2).value = None
                ws_result.cell(row=row, column=3).value = None

    @clibs.handle_exception
    def get_row_range(self, data_file, df, conditions, av, rr):
        row_start, row_end = 0, 0
        ratio = float(conditions[2].removeprefix('speed')) / 100
        av_max = av * ratio
        threshold = 0.95

        for row in range(df.index[-1] - 1, -1, -10):
            if df.iloc[row, 2] != 0:
                row_start = row - 20 if row - 20 > 0 else 0  # 急停前找 20 个点
                break
        else:
            self.logger("ERROR", "brake", f"数据文件 {data_file} 采集的数据中没有 ESTOP 为非 0 的情况，需要确认", "red", "StartNotFoundError")

        for row in range(row_start, df.index[-1] - 1, 10):
            speed_row = df.iloc[row, 0] * clibs.RADIAN * rr * 60 / 360
            if abs(speed_row) < 1:
                row_end = row + 100 if row + 100 <= df.index[-1] - 1 else df.index[-1] - 1
                break
        else:
            self.logger("ERROR", "brake", f"数据文件 {data_file} 最后的速度未降为零", "red", "SpeedNotZeroError")

        av_estop = abs(df.iloc[row_start - 20:row_start, 0].abs().mean() * clibs.RADIAN)
        if abs(av_estop / av_max) < threshold:
            filename = data_file.split("/")[-1]
            msg = f"[av_estop: {av_estop:.2f} | shouldbe: {av_max:.2f}] 数据文件 {filename} 触发 ESTOP 时未采集到指定百分比的最大速度，需要检查"
            self.logger("WARNING", "brake", msg, "#8A2BE2")

        return row_start, row_end

    @staticmethod
    @clibs.handle_exception
    def get_shtname(conditions, count):
        # 33%负载_33%速度_1 - reach/load/speed
        load = conditions[1].removeprefix('load')
        speed = conditions[2].removeprefix('speed')
        result_sheet_name = f"{load}%负载_{speed}%速度_{count}"

        return result_sheet_name

    @clibs.handle_exception
    def single_file_process(self, data_file, wb, count, av, rr):
        df = pandas.read_csv(data_file, sep='\t')
        conditions = data_file.split("/")[-2].split("_")  # reach/load/speed
        shtname = self.get_shtname(conditions, count)
        ws = wb[shtname]

        row_start, row_end = self.get_row_range(data_file, df, conditions, av, rr)
        self.data2result(df, ws, row_start, row_end)

    @clibs.handle_exception
    def data_process(self, result_file, rawdata_dirs, av, rr):
        filename = result_file.split("/")[-1]
        self.logger("INFO", "brake", f"正在打开文件 {filename}，这可能需要一些时间......", "blue")
        try:
            wb = openpyxl.load_workbook(result_file)
        except Exception as Err:
            self.logger("ERROR", "brake", f"{filename}文件打开失败，可能是文件已损坏，确认后重新执行！<br>{Err}", "red", "CannotOpenFile")

        prefix = filename.split('_')[0]
        for rawdata_dir in rawdata_dirs:
            if rawdata_dir.split("/")[-1].split('_')[0] == prefix:
                self.now_doing_msg(rawdata_dir, 'start')
                _, data_files = clibs.traversal_files(rawdata_dir, self.output)
                for idx in range(3):
                    self.single_file_process(data_files[idx], wb, idx+1, av, rr)
                # threads = [
                #     threading.Thread(target=self.single_file_process, args=(data_files[0], wb, 1, av, rr)),
                #     threading.Thread(target=self.single_file_process, args=(data_files[1], wb, 2, av, rr)),
                #     threading.Thread(target=self.single_file_process, args=(data_files[2], wb, 3, av, rr))
                # ]
                # [t.start() for t in threads]
                # [t.join() for t in threads]
                self.now_doing_msg(rawdata_dir, 'done')

        self.logger("INFO", "brake", f"正在保存文件 {filename}，这可能需要一些时间......<br>", "blue")
        wb.save(result_file)
        wb.close()

    @clibs.handle_exception
    def processing(self):
        time_start = time.time()
        clibs.running[self.idx] = 1

        rawdata_dirs, result_files = clibs.traversal_files(self.dir_path, self.output)
        config_file, result_files = self.check_files(rawdata_dirs, result_files)
        av, rr = self.get_configs(config_file)

        for result_file in result_files:
            self.data_process(result_file, rawdata_dirs, av, rr)

        self.logger("INFO", "brake", "-"*60 + "<br>全部处理完毕<br>", "purple")
        time_total = time.time() - time_start
        msg = f"处理时间：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s"
        self.logger("INFO", "brake", msg)