import time
import openapi
import json
import clibs


def initialization():
    hr = openapi.HmiRequest()
    pd = openapi.PreDos()
    # 推送配置文件
    clibs.logger.info("推送配置文件 fieldbus_device.json/registers.json/registers.xml 到控制器，并配置 IO 设备，设备号为 7...")
    robot_params = hr.get_robot_params
    robot_type = robot_params["robot_type"]
    security_type = robot_params["security_type"]
    controller_type = robot_params["controller_type"]
    io_device_file = "_".join(["io_device", controller_type, security_type, "1"])

    user_settings = "/home/luoshi/bin/controller/user_settings"
    interactive_data = f"/home/luoshi/bin/controller/interactive_data/{robot_type}"

    config_files = [
        "..\\assets\\configs\\fieldbus_device.json",
        "..\\assets\\configs\\registers.json",
        "..\\assets\\configs\\registers.xml"
    ]
    for config_file in config_files:
        filename = config_file.split("\\")[-1]
        pd.push_file_to_server(config_file, f"{user_settings}/{filename}")
        pd.push_file_to_server(config_file, f"{interactive_data}/{filename}")

    io_device_autotest = {'ai_num': 0, 'ao_num': 0, 'di_num': 16, 'do_num': 16, 'extend_attr': {'mode': 'slaver', 'name': 'autotest', 'type': 'MODBUS'}, 'id': 7, 'name': 'autotest', 'type': 6}
    io_device_file_local = f"..\\assets\\configs\\{io_device_file}"
    io_device_file_local_tmp = f"..\\assets\\configs\\{io_device_file}_tmp"
    io_device_file_remote = f"{user_settings}/{io_device_file}"
    pd.pull_file_from_server(io_device_file_remote, io_device_file_local)
    with open(io_device_file_local, mode="r", encoding="utf-8") as f:
        data = json.load(f)
        for _ in data["device_list"]:
            if _["extend_attr"].get("name", None) == "autotest":
                break
        else:
            data["device_list"].append(io_device_autotest)
            with open(io_device_file_local_tmp, mode="w", encoding="utf-8") as f_tmp:
                json.dump(data, f_tmp, indent=4)
            pd.push_file_to_server(io_device_file_local_tmp, f"{user_settings}/{io_device_file}")
            pd.push_file_to_server(io_device_file_local_tmp, f"{interactive_data}/{io_device_file}")

    hr.reload_io()
    hr.reload_registers()
    hr.reload_fieldbus()
    hr.set_fieldbus_device_params("autotest", True)

    md = openapi.ModbusRequest()
    # 触发急停并恢复
    md.r_soft_estop(0)
    md.r_soft_estop(1)

    # 断开示教器连接
    clibs.logger.info("断开示教器连接...")
    hr.switch_tp_mode("without")

    # 清空 system IO 配置
    clibs.logger.info("清空所有的 System IO 功能配置...")
    hr.update_system_io_configuration([], [], [], [], [])

    # 关闭缩减模式
    md.r_reduced_mode(0)

    # 打开软限位
    clibs.logger.info("打开软限位开关...")
    hr.set_soft_limit_params(enable=True)

    # 关闭安全区域
    clibs.logger.info("正在关闭所有的安全区，并关闭总使能开关...")
    hr.set_safety_area_overall(False)
    hr.set_safety_area_signal(False)
    for i in range(10):
        hr.set_safety_area_enable(i, False)

    # 打开外部通信，并设置控制器时间同步
    clibs.logger.info("配置并打开外部通信，默认服务器，8080端口，后缀为 \"\\r\"...")
    hr.set_socket_params(True, "8080", "\r", 1)
    ec = openapi.ExternalCommunication()
    ec.modify_system_time(time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time())))

    # 关闭拖动
    clibs.logger.info("关闭拖动模式...")
    hr.set_drag_params(False, 1, 2)

    # 关闭碰撞检测
    clibs.logger.info("关闭碰撞检测...")
    hr.set_collision_params(False, 0, 1, 100)

    # 清除所有过滤错误码
    clibs.logger.info("清除所有过滤错误码设定...")
    hr.set_filtered_error_code("clear", [])

    # 回拖动位姿
    clibs.logger.info("正在回拖动位姿...")
    hr.switch_operation_mode("manual")
    hr.switch_motor_state("on")
    hr.set_quickturn_pos(enable_drag=True)
    hr.move2quickturn("drag")
    while True:
        if md.w_robot_is_moving:
            time.sleep(1)
        else:
            break
    hr.stop_move(1)
    hr.switch_motor_state("off")
    hr.close()

    # 清除所有告警
    md.r_clear_alarm()


initialization()