from json import loads
from sys import argv
from logging import getLogger, INFO
from commons import clibs

tab_name = clibs.tab_names['at']
logger = getLogger(__file__)
logger.setLevel(INFO)


def trigger_estop(md, w2t):
    md.trigger_estop()
    w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)


def reset_estop(md, w2t):
    md.reset_estop()
    w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)


def get_state(hr, w2t):
    # 获取机器状态
    _response = clibs.execution('state.get_state', hr, w2t, tab_name)
    stat_desc = {'engine': '上电状态', 'operate': '操作模式', 'rc_state': '控制器状态', 'robot_action': '机器人动作', 'safety_mode': '安全模式', 'servo_mode': '伺服工作模式', 'task_space': '工作任务空间'}
    for component, state in _response['data'].items():
        w2t(f"{stat_desc[component]}: {state}", tab_name=tab_name)

    # 获取设备伺服信息
    _response = clibs.execution('device.get_params', hr, w2t, tab_name)
    dev_desc = {0: '伺服版本', 1: '伺服参数', 2: '安全板固件', 3: '控制器', 4: '通讯总线', 5: '解释器', 6: '运动控制', 8: '力控版本', 9: '末端固件', 10: '机型文件', 11: '环境包'}
    dev_vers = {}
    for device in _response['data']['devices']:
        dev_vers[device['type']] = device['version']
    for i in sorted(dev_desc.keys()):
        w2t(f"{dev_desc[i]}: {dev_vers[i]}", tab_name=tab_name)

    # 设置示教器模式
    _response = clibs.execution('state.set_tp_mode', hr, w2t, tab_name, tp_mode='without')


def warning_info(hr, w2t):
    for postfix in ['', '.2', '.3', '.4', '.5', '.6', '.7', '.8', '.9', '.10']:
        log_name = clibs.log_data + postfix
        try:
            with open(log_name, 'r', encoding='utf-8') as f_log:
                for line in f_log:
                    if 'alarm' in line:
                        w2t(line.strip(), tab_name=tab_name)
        except FileNotFoundError:
            pass


def main(hr, md, func, w2t):
    if hr is None:
        w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red', tab_name)
    # func: get_state/
    match func:
        case 'trigger_estop':
            trigger_estop(md, w2t)
        case 'reset_estop':
            reset_estop(md, w2t)
        case 'get_state':
            get_state(hr, w2t)
        case 'warning_info':
            warning_info(hr, w2t)


if __name__ == '__main__':
    main(*argv[1:])