import os
import threading
import time
import paramiko
import pandas
from PySide6.QtCore import Signal, QThread
from codes.common import clibs


class DoCurrentTest(QThread):
    def __init__(self, dir_path, tool, /):
        super().__init__()
        self.dir_path = dir_path
        self.tool = tool
        self.idx = 5
        self.logger = clibs.logger

    def initialization(self, data_dirs, data_files):
        def check_files():
            msg = "初始路径下不允许有文件夹，初始路径下只能存在如下两个文件，且文件为关闭状态，确认后重新运行！<br>"
            msg += "1. T_电机电流.xlsx<br>2. xxxx.zip"
            if len(data_dirs) != 0 or len(data_files) != 2:
                self.logger("ERROR", "do_current", msg, "red")

            prj_file, count = None, 0
            for data_file in data_files:
                filename = data_file.split("/")[-1]
                if filename == "T_电机电流.xlsx":
                    count += 1
                elif filename.endswith(".zip"):
                    count += 1
                    prj_file = data_file
                else:
                    self.logger("ERROR", "do_current", msg, "red")

            if count != 2:
                self.logger("ERROR", "do_current", msg, "red")

            if self.tool == "tool100":
                os.mkdir(f"{self.dir_path}/single")
                os.mkdir(f"{self.dir_path}/s_1")
                os.mkdir(f"{self.dir_path}/s_2")
                os.mkdir(f"{self.dir_path}/s_3")
            elif self.tool == "inertia":
                os.mkdir(f"{self.dir_path}/inertia")
            else:
                self.logger("ERROR", "do_current", "负载选择错误，电机电流测试只能选择 tool100/inertia 规格！", "red")

            return prj_file

        def get_configs():
            robot_type = None
            msg_id = clibs.c_hr.execution("controller.get_params")
            records = clibs.c_hr.get_from_id(msg_id)
            for record in records:
                if "请求发送成功" not in record[0]:
                    robot_type = eval(record[0])["data"]["robot_type"]
            server_file = f"/home/luoshi/bin/controller/robot_cfg/{robot_type}/{robot_type}.cfg"
            local_file = self.dir_path + f"/{robot_type}.cfg"
            clibs.c_pd.pull_file_from_server(server_file, local_file)

        self.logger("INFO", "do_current", "正在做初始化校验和配置，这可能需要一点时间......", "green")
        _prj_file = check_files()
        get_configs()
        self.logger("INFO", "do_current", "数据目录合规性检查结束，未发现问题......", "green")
        return _prj_file

    def single_axis_proc(self, records, number):
        text = "single" if number < 6 else "hold"
        number = number if number < 6 else number - 6
        d_vel, d_trq, d_sensor, d_trans = [], [], [], []
        for record in records:
            data = eval(record[0])["data"]
            for item in data:
                d_item = reversed(item["value"])
                if item.get("channel", None) == number and item.get("name", None) == "hw_joint_vel_feedback":
                    d_vel.extend(d_item)
                elif item.get("channel", None) == number and item.get("name", None) == "device_servo_trq_feedback":
                    d_trq.extend(d_item)
                elif item.get("channel", None) == number and item.get("name", None) == "hw_sensor_trq_feedback":
                    d_sensor.extend(d_item)
                elif item.get("channel", None) == number and item.get("name", None) == "hw_estimate_trans_trq_res":
                    d_trans.extend(d_item)

        df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
        df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
        df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor})
        df4 = pandas.DataFrame.from_dict({"hw_estimate_trans_trq_res": d_trans})
        df = pandas.concat([df1, df2, df3, df4], axis=1)
        filename = f"{self.dir_path}/single/j{number + 1}_{text}_{time.time()}.data"
        df.to_csv(filename, sep="\t", index=False)

    def scenario_proc(self, records, number, scenario_time):
        d_vel, d_trq, d_sensor, d_trans = [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []]
        for record in records:
            data = eval(record[0])["data"]
            for item in data:
                d_item = reversed(item["value"])
                for axis in range(6):
                    if item.get("channel", None) == axis and item.get("name", None) == "hw_joint_vel_feedback":
                        d_vel[axis].extend(d_item)
                    elif item.get("channel", None) == axis and item.get("name", None) == "device_servo_trq_feedback":
                        d_trq[axis].extend(d_item)
                    elif item.get("channel", None) == axis and item.get("name", None) == "hw_sensor_trq_feedback":
                        d_sensor[axis].extend(d_item)
                    elif item.get("channel", None) == axis and item.get("name", None) == "hw_estimate_trans_trq_res":
                        d_trans[axis].extend(d_item)

        for axis in range(6):
            df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel[axis]})
            df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq[axis]})
            df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor[axis]})
            df4 = pandas.DataFrame.from_dict({"hw_estimate_trans_trq_res": d_trans[axis]})
            df = pandas.concat([df1, df2, df3, df4], axis=1)
            filename = f"{self.dir_path}/s_{number-11}/j{axis+1}_s_{number-11}_{scenario_time}_{time.time()}.data"
            df.to_csv(filename, sep="\t", index=False)

    def gen_result_file(self, number, start_time, end_time, scenario_time):
        def get_records():
            s_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(start_time))
            e_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(end_time+clibs.INTERVAL))

            try:
                clibs.lock.acquire(True)
                clibs.cursor.execute(f"SELECT content FROM logs WHERE timestamp BETWEEN '{s_time}' AND '{e_time}' AND content LIKE '%diagnosis.result%' ORDER BY id ASC")
                return clibs.cursor.fetchall()
            finally:
                clibs.lock.release()

        if number < 12:
            records = get_records()
            t = threading.Thread(target=self.single_axis_proc, args=(records, number))
            t.daemon = True
            t.start()
        elif number < 15:
            records = get_records()
            t = threading.Thread(target=self.scenario_proc, args=(records, number, scenario_time))
            t.daemon = True
            t.start()

    @staticmethod
    def change_curve_state(stat):
        curves = ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback", "hw_estimate_trans_trq_res"]
        display_pdo_params = [] if not stat else [{"name": curve, "channel": chl} for curve in curves for chl in range(6)]
        clibs.c_hr.execution("diagnosis.open", open=stat, display_open=stat)
        clibs.c_hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params)

    def run_rl(self, prj_file):
        prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
        c_regular = [
            "scenario(0, j1_p, j1_n, p_speed, p_tool, i_tool)",
            "scenario(0, j2_p, j2_n, p_speed, p_tool, i_tool)",
            "scenario(0, j3_p, j3_n, p_speed, p_tool, i_tool)",
            "scenario(0, j4_p, j4_n, p_speed, p_tool, i_tool)",
            "scenario(0, j5_p, j5_n, p_speed, p_tool, i_tool)",
            "scenario(0, j6_p, j6_n, p_speed, p_tool, i_tool)",
            "scenario(4, j1_hold, j1_hold, p_speed, p_tool, i_tool)",
            "scenario(4, j2_hold, j2_hold, p_speed, p_tool, i_tool)",
            "scenario(4, j3_hold, j3_hold, p_speed, p_tool, i_tool)",
            "scenario(4, j4_hold, j4_hold, p_speed, p_tool, i_tool)",
            "scenario(4, j5_hold, j5_hold, p_speed, p_tool, i_tool)",
            "scenario(4, j6_hold, j6_hold, p_speed, p_tool, i_tool)",
            "scenario(1, j6_p, j6_n, p_speed, p_tool, i_tool)",
            "scenario(2, j6_p, j6_n, p_speed, p_tool, i_tool)",
            "scenario(3, j6_p, j6_n, p_speed, p_tool, i_tool)",
        ]
        c_inertia = [
            "scenario(5, j4_p_inertia, j4_n_inertia, p_speed, p_tool, i_tool)",
            "scenario(5, j5_p_inertia, j5_n_inertia, p_speed, p_tool, i_tool)",
            "scenario(5, j6_p_inertia, j6_n_inertia, p_speed, p_tool, i_tool)",
        ]
        disc_regular = ["一轴", "二轴", "三轴", "四轴", "五轴", "六轴", "一轴保持", "二轴保持", "三轴保持", "四轴保持", "五轴保持", "六轴保持", "场景一", "场景二", "场景三"]
        disc_inertia = ["四轴惯量", "五轴惯量", "六轴惯量"]
        conditions, disc = [], []
        if self.tool == "tool100":
            conditions, disc = c_regular, disc_regular
        elif self.tool == "inertia":
            conditions, disc = c_inertia, disc_inertia

        # 打开诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来
        clibs.c_md.r_soft_estop(0)
        clibs.c_md.r_soft_estop(1)
        clibs.c_md.r_clear_alarm()

        for condition in conditions:
            number = conditions.index(condition)
            # for testing
            # if number < 12:
            #     continue
            self.logger("INFO", "do_current", f"正在执行{disc[number]}测试......")

            # 1. 将act重置为False，并修改将要执行的场景
            clibs.c_md.write_act(False)
            ssh = paramiko.SSHClient()
            ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
            ssh.connect(clibs.ip_addr, clibs.ssh_port, username=clibs.username, password=clibs.password)
            cmd = "cd /home/luoshi/bin/controller/; "
            cmd += f'sudo sed -i "/scenario/d" projects/{prj_name}/_build/current/main.mod; '
            cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/{prj_name}/_build/current/main.mod'
            stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
            stdin.write(clibs.password + "\n")
            stdout.read().decode()  # 需要read一下才能正常执行
            stderr.read().decode()

            # 2. reload工程后，pp2main，并且自动模式和上电
            prj_path = f"{prj_name}/_build/{prj_name}.prj"
            clibs.c_hr.execution("overview.reload", prj_path=prj_path, tasks=["current"])
            clibs.c_hr.execution("rl_task.pp_to_main", tasks=["current"])
            clibs.c_hr.execution("state.switch_auto")
            clibs.c_hr.execution("state.switch_motor_on")

            # 3. 开始运行程序
            clibs.c_hr.execution("rl_task.set_run_params", loop_mode=True, override=1.0)
            clibs.c_hr.execution("rl_task.run", tasks=["current"])
            t_start = time.time()
            while True:
                if clibs.c_md.read_ready_to_go() == 1:
                    clibs.c_md.write_act(True)
                    break
                else:
                    time.sleep(1)
                    if (time.time() - t_start) > 15:
                        self.logger("ERROR", "do_current", "15s 内未收到机器人的运行信号，需要确认RL程序和工具通信是否正常执行...", "red")

            # 4. 执行采集
            time.sleep(10)  # 消除前 10s 的不稳定数据
            self.change_curve_state(True)
            start_time = time.time()
            single_time, stall_time, scenario_time = 40, 10, 0
            if number < 6:  # 单轴
                time.sleep(single_time)
            elif number < 12:  # 堵转
                time.sleep(stall_time)
            else:  # 场景
                t_start = time.time()
                while True:
                    scenario_time = float(f"{float(clibs.c_md.read_scenario_time()):.2f}")
                    if float(scenario_time) != 0:
                        self.logger("INFO", "do_current", f"场景{number - 11}的周期时间：{scenario_time}")
                        break
                    else:
                        time.sleep(1)
                        if (time.time()-t_start) > 180:
                            self.logger("ERROR", "do_current", f"180s 内未收到场景{number - 11}的周期时间，需要确认RL程序和工具通信交互是否正常执行...", "red")
                time.sleep(20)

            # 5.停止程序运行，保留数据并处理输出
            end_time = time.time()
            clibs.c_hr.execution("rl_task.stop", tasks=["current"])
            self.change_curve_state(False)
            time.sleep(2)  # 确保数据都入库
            self.gen_result_file(number, start_time, end_time, scenario_time)
        else:
            if self.tool == "tool100":
                self.logger("INFO", "do_current", "单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行", "green")
            elif self.tool == "inertia":
                self.logger("INFO", "do_current", "惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行", "green")

    def processing(self):
        time_start = time.time()
        clibs.running[self.idx] = 1
        if clibs.status["hmi"] != 1 or clibs.status["md"] != 1:
            self.logger("ERROR", "do_current", "processing: 需要在网络设置中连接HMI以及Modbus通信！", "red")

        data_dirs, data_files = clibs.traversal_files(self.dir_path)
        prj_file = self.initialization(data_dirs, data_files)
        clibs.c_pd.push_prj_to_server(prj_file)
        self.run_rl(prj_file)

        self.logger("INFO", "do_current", "-" * 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", "do_current", msg)