from json import loads
from sys import argv


def validate_resp(_id, response, w2t):
    match _id:
        case 'DATA ERR':
            w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
        case 'DATA READ ERR':
            w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
        case 'NOT SUPPORT':
            w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
    if not response:
        w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')


def execution(cmd, hr, w2t, **kwargs):
    _id = hr.execution(cmd, **kwargs)
    _msg = hr.get_from_id(_id)
    if not _msg:
        w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
    else:
        _response = loads(_msg)
        validate_resp(_id, _response, w2t)
        return _response


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', 'Automatic Test')


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', 'Automatic Test')


def get_state(hr, w2t):
    # 获取机器状态
    _response = execution('state.get_state', hr, w2t)
    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='Automatic Test')

    # 获取设备伺服信息
    _response = execution('device.get_params', hr, w2t)
    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='Automatic Test')

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


def warning_info(hr, w2t):
    for msg in hr.c_msg:
        if 'alarm' in msg.lower():
            w2t(str(loads(msg)), tab_name='Automatic Test')
    for msg in hr.c_msg_xs:
        if 'alarm' in msg.lower():
            w2t(str(loads(msg)), tab_name='Automatic Test')


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='Automatic Test')
    # 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:])