from concurrent.futures import ThreadPoolExecutor

from PyQt5.QtCore import QTimer
from PyQt5.QtWidgets import QFrame

from UI.manual_operation import Ui_manual_operation_widget


from custom_define import ManualOperationType, RobotName


class ManualOperationWidget(QFrame, Ui_manual_operation_widget):
    threadPool_ = ThreadPoolExecutor(1)

    def __init__(self, robot_dict:dict):
        super().__init__()
        self.setupUi(self)

        self.robot_dict = robot_dict
        self.selected_robot_name = None
        self.current_operation = ManualOperationType.eReady
        self.operation_count = dict()
        self.operation_count[ManualOperationType.eReady] = 0

        # 所选robot
        for robot in self.robot_dict.values():
            self.select_box.addItem(robot.name_)
        self.select_box.activated.connect(self.SelectRobot)
        self.selected_robot_name = self.select_box.currentText()
        # 逆/顺时针旋转
        self.Counterclockwise_Rotate_btn.pressed.connect(self.Counterclockwise_Rotate)
        self.Counterclockwise_Rotate_btn.released.connect(self.Cancel)
        self.Clockwise_Rotate_btn.pressed.connect(self.Clockwise_Rotate)
        self.Clockwise_Rotate_btn.released.connect(self.Cancel)
        # 前后左右平移
        self.Forward_Move_btn.pressed.connect(self.Forward_Move)
        self.Forward_Move_btn.released.connect(self.Cancel)
        self.Backward_Move_btn.pressed.connect(self.Backward_Move)
        self.Backward_Move_btn.released.connect(self.Cancel)
        self.Left_Move_btn.pressed.connect(self.Left_Move)
        self.Left_Move_btn.released.connect(self.Cancel)
        self.Right_Move_btn.pressed.connect(self.Right_Move)
        self.Right_Move_btn.released.connect(self.Cancel)

        # 加减速阶梯
        self.step_acc: int = 0

        # 启动界面刷新定时器
        self.timer = QTimer()
        self.timer.timeout.connect(self.DownCmd)
        self.timer.start(50)

    def SelectRobot(self):
        if self.robot_dict[RobotName.strAGVMain].IsMainModeStatu():
            self.selected_robot_name = RobotName.strAGVMain
        else:
            self.selected_robot_name = self.select_box.currentText()

    def Counterclockwise_Rotate(self):
        self.current_operation = ManualOperationType.eCounterclockwiseRotate

    def Clockwise_Rotate(self):
        self.current_operation = ManualOperationType.eClockwiseRotate

    def Forward_Move(self):
        self.current_operation = ManualOperationType.eForwardMove

    def Backward_Move(self):
        self.current_operation = ManualOperationType.eBackwardMove

    def Left_Move(self):
        self.current_operation = ManualOperationType.eLeftMove

    def Right_Move(self):
        self.current_operation = ManualOperationType.eRightMove

    def Cancel(self):
        self.current_operation = ManualOperationType.eReady
        self.operation_count[ManualOperationType.eReady] += 1

    def DownCmd(self):
        if self.current_operation != ManualOperationType.eReady:
            self.robot_dict[self.selected_robot_name].ManualTask(self.current_operation, self.step_acc)
            self.step_acc += 1
            # self.threadPool_.submit(self.robot_dict[self.selected_robot_name].ManualTask, self.current_operation)
        elif self.operation_count[ManualOperationType.eReady] != 0:
            # self.threadPool_.shutdown(False)
            self.threadPool_.submit(self.robot_dict[self.selected_robot_name].CancelNavTask)
            self.current_operation = ManualOperationType.eReady
            self.operation_count[ManualOperationType.eReady] = 0
            self.step_acc = 0
        else:
            self.current_operation = ManualOperationType.eReady
            self.operation_count[ManualOperationType.eReady] = 0
            self.step_acc = 0