import os.path
import matplotlib.pyplot as plt
import pandas
from matplotlib.widgets import Slider
from common import clibs


def initialization():
    path, curves = None, None
    try:
        path = clibs.data_dd["path"]
        curves = clibs.data_dd["curves"]
    except Exception:
        clibs.w2t("程序未开始运行，暂无数据可以展示......\n", "red")
        return None, None

    for curve in curves:
        if not os.path.exists(f"{path}/{curve}.csv"):
            clibs.w2t(f"{curve}曲线数据暂未生成，稍后再试......\n", "orange")
            return None, None

    return path, curves


def data_plot(path, curve):
    titles = {"hw_joint_vel_feedback": "各关节最大速度曲线", "device_servo_trq_feedback": "各关节平均有效转矩曲线"}
    ylabels = {"hw_joint_vel_feedback": "速度(rad/s)", "device_servo_trq_feedback": "转矩(Nm)"}

    fig, axes = plt.subplots(figsize=(10, 4.5), dpi=100)
    cols = [f"{curve}_{i}" for i in range(6)]
    cols.insert(0, "time")
    df = pandas.read_csv(f"{path}/{curve}.csv")
    plt.plot(df[cols[1]], label="一轴")
    plt.plot(df[cols[2]], label="二轴")
    plt.plot(df[cols[3]], label="三轴")
    plt.plot(df[cols[4]], label="四轴")
    plt.plot(df[cols[5]], label="五轴")
    plt.plot(df[cols[6]], label="六轴")
    axes.set_title(titles[curve])
    axes.set_ylabel(ylabels[curve])
    axes.legend(loc="upper right")

    slider_position = plt.axes((0.1, 0.01, 0.8, 0.05), facecolor="blue")  # (left, bottom, width, height)
    scrollbar = Slider(slider_position, 'Time', 1, int(len(df)), valstep=1)

    def update(val):
        pos = scrollbar.val
        axes.set_xlim([pos, pos + 10])
        fig.canvas.draw_idle()

    scrollbar.on_changed(update)
    fig.tight_layout(rect=(0, 0.02, 0.96, 1))  # tuple (left, bottom, right, top)


def main():
    path, curves = initialization()
    if not path or not curves:
        return

    for curve in curves:
        data_plot(path, curve)

    plt.rcParams['font.sans-serif'] = ['SimHei']
    plt.rcParams['axes.unicode_minus'] = False
    plt.rcParams['figure.dpi'] = 100
    plt.rcParams['font.size'] = 14
    plt.rcParams['lines.marker'] = 'o'
    plt.rcParams["figure.autolayout"] = True
    plt.show()

    # threads = [threading.Thread(target=data_plot, args=(path, curve)) for curve in curves]
    # for t in threads:
    #     t.daemon = True
    #     t.start()
    # for curve in curves:
    #     t = threading.Thread(target=data_plot, args=(path, curve))
    #     t.daemon = True
    #     t.start()


if __name__ == '__main__':
    main()