import json
from socket import *
import threading
import time
import binascii


class HmiRequest(object):

    def __init__(self):
        self.c = socket(AF_INET, SOCK_STREAM)
        self.c.connect(('192.168.84.129', 5050))
        self.c_xs = socket(AF_INET, SOCK_STREAM)
        self.c_xs.connect(('192.168.84.129', 6666))
        self.c.setblocking(False)
        self.c_xs.setblocking(False)
        self.t = threading.Thread(target=self.__heartbeat_detection)
        self.t.daemon = True
        self.t.start()

    def __handle_command(self, cmd):
        len_frame, len_pkg = len(cmd), len(cmd) + 6
        pkg_head = str(hex(len_pkg))[2:].rjust(4, '0')
        frame_head = str(hex(len_frame))[2:].rjust(4, '0')
        str0 = binascii.unhexlify(pkg_head)  # 报文
        str1 = chr(0) + chr(0)  # 保留字段
        str2 = binascii.unhexlify(frame_head)  # 帧
        str3 = chr(2) + chr(0)  # 协议类型
        return str0 + str1.encode() + str2 + str3.encode() + cmd.encode()

    def __heartbeat_detection(self):
        data = {
            "id": "system.controller.heart_0",
            "module": "system",
            "command": "controller.heart",
        }
        _id = 1
        while True:
            data["id"] = f"#system.controller.heart_{_id}"
            cmd = json.dumps(data, separators=(',', ':'))
            self.c.send(self.__handle_command(cmd))
            time.sleep(10)
            _id += 1

    def motor_on(self):
        """HMI上电"""
        data = {
            "command": "state.switch_motor_on",
            "id": str(1234),
            "module": "system"
        }
        cmd = json.dumps(data, separators=(',', ':'))
        self.c.send(self.__handle_command(cmd))
        time.sleep(2)
        response = self.c.recv(102400)
        print(response)
        print(type(response))
        print(response.decode())

        # response = json.loads(self.c.recv(102400).decode('utf-16-be'))
        # print(response)


hr = HmiRequest()
hr.motor_on()