import copy
import enum
import time
import message_pb2 as message
import grpc
import message_pb2_grpc as msg_rpc
from ManualOperationWidget import ManualOperationType
from custom_define import RobotName, ActType
from mqtt_async import MqttAsync
import google.protobuf.json_format as jtf
import json
from dijkstra.Map import DijikstraMap, SpaceNode, StreetNode
import uuid
import random
import math
import Count
from sigmoid import sigmoid


class TimeStatu:
    def __init__(self, statu=None, timeout=3):
        self.statu = statu
        self.time = time.time()
        self.timeout_ms = timeout

    def timeout(self):
        tm = time.time()
        return tm - self.time > self.timeout_ms or self.statu == None


class Robot(MqttAsync):

    def __init__(self, rpc_ipport, name=""):
        MqttAsync.__init__(self)
        self.test_speed = 0
        self.timedRobotStatu_ = TimeStatu(message.RobotStatu, 0)
        self.timedNavStatu_ = TimeStatu(message.NavStatu, 0)
        self.dataTopic_ = {}
        self.rpc_ipport_ = rpc_ipport
        self.messageArrivedSignal = None
        self.currentNavData_ = None
        self.navCmdTopic_ = None
        if(name == RobotName.strAGVMain):
            self.speedCmdTopic = "monitor_child/speedcmd"
        else:
            self.speedCmdTopic = "monitor_child/speedcmd"
        self.currentNavPathNodes_ = None
        self.currentNavPath_ = None

        self.pathColor_ = [1, 1, 0]
        self.robotColor_ = [0.7, 0.2, 0.3]  # agv当前颜色
        self.name_ = name

        self.begId_ = "------"
        self.targetId_ = "------"

        self.autoTest_ = False

        self.l_ = 0.8  # 轮长
        self.L_ = 1.3  # 轴距
        self.W_ = 2.5  # 宽
        self.heat_ = 0  # 心跳

    def Color(self):
        if self.IsMainModeStatu():
            return [0, 0, 0]
        return self.robotColor_

    def IsMainAgv(self):
        if self.timedNavStatu_.timeout() == False:
            if self.timedNavStatu_.statu.main_agv == True:
                return True
        return False

    def IsMainModeStatu(self):
        if self.IsMainAgv():
            if self.timedNavStatu_.timeout() == False:
                if self.timedNavStatu_.statu.move_mode == 1:
                    return True
        return False

    def SetSubDataTopic(self, match: dict, messageSignal=None):
        self.dataTopic_ = match
        self.messageArrivedSignal = messageSignal
        for item in match.items():
            [topic, _] = item
            self.subscribe(topic, self.on_message)

    def SetCmdTopic(self, topic):
        self.navCmdTopic_ = topic

    def SetColor(self, pathColor, robotColor):
        self.pathColor_ = pathColor
        self.robotColor_ = robotColor

    def ResetPose(self, agv: message.RobotStatu):
        self.timedRobotStatu_ = TimeStatu(agv, 2)

    def ResetNavStatu(self, statu: message.NavStatu):
        self.timedNavStatu_ = TimeStatu(statu, 2)

    def on_message(self, client, userdata, msg):
        topic = msg.topic
        if self.dataTopic_.get(topic) is not None:
            dtype = self.dataTopic_[topic]
            if dtype == message.RobotStatu.__name__:
                proto = message.RobotStatu()
                jtf.Parse(msg.payload.decode(), proto)
                self.ResetPose(proto)
            if dtype == message.NavStatu.__name__:
                self.last_running = self.IsNavigating()
                proto = message.NavStatu()
                jtf.Parse(msg.payload.decode(), proto)
                self.ResetNavStatu(proto)
                if self.last_running == True and self.IsNavigating() == False:
                    self.currentNavPathNodes_ = None
                    self.currentNavPath_ = None
            if self.messageArrivedSignal is not None:
                self.messageArrivedSignal()

    def MpcSelectTraj(self):
        traj = []
        if self.timedNavStatu_.timeout() == False:
            nav = self.timedNavStatu_.statu
            for pose2d in nav.selected_traj.poses:
                traj.append([pose2d.x, pose2d.y, pose2d.theta])
        return traj

    def MpcPredictTraj(self):
        traj = []
        if self.timedNavStatu_.timeout() == False:
            nav = self.timedNavStatu_.statu
            for pose2d in nav.predict_traj.poses:
                traj.append([pose2d.x, pose2d.y, pose2d.theta])
        return traj

    def Connected(self):
        return self.timedNavStatu_.timeout() == False and self.timedRobotStatu_.timeout() == False

    def IsNavigating(self):
        return not self.ActionType() == ActType.eReady
        '''if self.timedNavStatu_.timeout() == False:
            key = self.timedNavStatu_.statu.key
            if key == "" or key == None:
                return False
        return True'''

    def GeneratePath(self, begID, endID, task_type="None"):
        self.currentNavPathNodes_ = DijikstraMap().GetShortestPath(begID, endID)

        if task_type == "DoubleAGV":
            print("AdjustPath------------------")
            if self.IsMainModeStatu() is False:
                print("原始路径：")
                for node in self.currentNavPathNodes_:
                    print(node.id_, node.y_)
                self.currentNavPathNodes_ = self.AdjustPath(self.currentNavPathNodes_)
                print("修改路径：")
                for node in self.currentNavPathNodes_:
                    print(node.id_, node.y_)

        self.currentNavPath_ = DijikstraMap().CreatePath(self.currentNavPathNodes_, 0.5)
        if self.currentNavPathNodes_ is not None and self.currentNavPath_ is not None:
            self.begId_ = begID
            self.targetId_ = endID
            return True
        return False

    def PositionId(self):
        if self.timedRobotStatu_.timeout():
            return None
        x = self.timedRobotStatu_.statu.x
        y = self.timedRobotStatu_.statu.y
        djks_map = DijikstraMap()
        [label, pt] = djks_map.findNeastNode([x, y])
        return [label, pt]

    '''
    阻塞直到导航完成
    '''

    def Navigatting(self, begId, targetId, autoDirect, wheelbase=0, task_type="None"):
        print("nav")
        self.GeneratePath(begId, targetId, task_type=task_type)
        # self.ExecPathNodes(autoDirect)
        self.ExecNavtask(autoDirect, wheelbase)

        if self.IsMainModeStatu():
            Count.TestCount().loadCountAdd()
        else:
            Count.TestCount().singleCountAdd()

        return True

    def AutoTestNavClamp(self, begId, targetId):
        beg = begId
        target = targetId
        while self.autoTest_:
            if self.TestNavClampOnce(beg, target) == False:
                print("  quit auto Test")
                break
            print("1111")
            posInfo = self.PositionId()
            if posInfo is not None:
                [label, pt] = posInfo
                beg = label
                print("beg", beg)
                node = DijikstraMap().GetVertex(beg)

                if node is not None:
                    if isinstance(node, (SpaceNode)):
                        target = "O"
                    if isinstance(node, (StreetNode)):
                        end_nodes = ["E", "B", "C", "D"]
                        id = random.randint(0, 1000) % 4
                        target = end_nodes[id]
                    print("3333", target)
            print("  Next nav clamp cmd,%s to %s" % (beg, target))

    def ActionType(self):
        if self.timedNavStatu_.timeout() == False:
            runningStatu = self.timedNavStatu_.statu
            if runningStatu.statu == 0:
                return ActType.eReady
            if runningStatu.statu == 1:
                return ActType.eRotation
            if runningStatu.statu == 2:
                return ActType.eHorizon
            if runningStatu.statu == 3:
                return ActType.eVertical
            if runningStatu.statu == 4:
                return ActType.eMPC
            if runningStatu.statu == 5:
                return ActType.eClampOpen
            if runningStatu.statu == 6:
                return ActType.eClampClose
        else:
            return ActType.eReady

    @staticmethod
    def generateProtoNode(node):
        protoNode = message.PathNode()
        protoNode.x = node.x_
        protoNode.y = node.y_
        protoNode.id = node.id_
        return protoNode

    def ExecNavtask(self, autoDirect, wheelbase=0):
        cmd = message.NavCmd()
        key = str(uuid.uuid4())
        cmd.key = key
        cmd.action = 0

        actions = self.SplitPath(self.currentNavPathNodes_)
        for action in actions:
            [type, nodes] = action
            if type == "input":
                [street, space] = nodes
                protoSpace = self.generateProtoNode(space)
                protoStreet = self.generateProtoNode(street)
                act = message.NewAction()
                act.type = 1
                act.wheelbase = wheelbase
                act.spaceNode.CopyFrom(protoSpace)
                act.streetNode.CopyFrom(protoStreet)

                cmd.newActions.add().CopyFrom(act)
            if type == "output":
                [space, street] = nodes
                protoSpace = self.generateProtoNode(space)
                protoStreet = self.generateProtoNode(street)
                act = message.NewAction()
                act.type = 2
                act.wheelbase = wheelbase
                act.spaceNode.CopyFrom(protoSpace)
                act.streetNode.CopyFrom(protoStreet)

                cmd.newActions.add().CopyFrom(act)
            if type == "nav":
                action = self.CreateNavPathNodesAction(nodes, autoDirect)
                if action is None:
                    print("Nav cmd is None")
                    return False
                else:
                    cmd.newActions.add().CopyFrom(action)
        print(cmd)
        if cmd is None:
            print("Nav cmd is None")
            return False

        channel = grpc.insecure_channel(self.rpc_ipport_)
        stub = msg_rpc.NavExcutorStub(channel)
        response = stub.Start(cmd)
        print("client received: ", response)
        if not response.ret == 0:
            print("nav failed :%s" % (response.info))
        else:
            print("nav completed !!!")

        return True

    def CreateNavPathNodesAction(self, path, autoDirect):
        # if path is not None and self.timedRobotStatu_.timeout() == False:
        if 1:
            for node in path:
                if isinstance(node, (SpaceNode)):
                    print(" nodes must all street node")
                    return None
            statu = self.timedRobotStatu_.statu
            # if statu is not None:
            if 1:
                newAction = message.NewAction()
                size = len(path)
                for i in range(size):
                    node = path[i]
                    pathNode = message.PathNode()
                    pathNode.x = node.x_
                    pathNode.y = node.y_

                    newAction.type = 4
                    if autoDirect:
                        newAction.type = 3
                    newAction.pathNodes.add().CopyFrom(pathNode)

                return newAction
            else:
                print("statu is None")
        else:
            print("current path is none")
        return None

    def ExecPathNodes(self, autoDirect):
        if self.navCmdTopic_ == None:
            print("Robot has not set nav cmd topic")
            return False
        if not self.ActionType() == ActType.eReady:
            print(" robot is navigating ,key:%s" % (self.timedNavStatu_.statu.key))
            return False

        cmd = message.NavCmd()
        key = str(uuid.uuid4())
        cmd.key = key
        cmd.action = 0

        action = self.CreateNavPathNodesAction(self.currentNavPathNodes_, autoDirect)
        if action is None:
            print("Nav cmd is None")
            return False
        cmd.newActions.add().CopyFrom(action)

        print(cmd)
        channel = grpc.insecure_channel(self.rpc_ipport_)
        stub = msg_rpc.NavExcutorStub(channel)
        response = stub.Start(cmd)
        return True

    '''
    根据AGV单车的起始位置调整路径
    '''

    def AdjustPath(self, path):
        adjusted_path = copy.deepcopy(path)
        y_offset = 1.2
        dy = 0
        # if self.IsMainAgv() or self.name_ == "AgvMain":
        if self.name_ == RobotName.strAGVMain:
            dy = 1
        # if not self.IsMainAgv() or self == "AGV2":
        if self.name_ == RobotName.strAGV2:
            dy = -1
        print("dy:", dy)
        for node in adjusted_path:
            if isinstance(node, StreetNode):
                if dy > 0:
                    node.y_ += y_offset
                elif dy < 0:
                    node.y_ -= y_offset
                else:
                    pass

        return adjusted_path

    '''
    拆分路径，生成动作集,input:入库动作，nav:导航动作，output:出库动作
    '''

    def SplitPath(self, path):

        space_count = 0
        for i in range(len(path)):
            if isinstance(path[i], (SpaceNode)):
                space_count += 1
                if i == 0 or i == len(path) - 1:
                    pass
                else:
                    print("Error: space node is not first/last of path")
                    return None

        actions = []
        lastNode = None

        navIndex = -1
        for node in path:
            if lastNode == None:
                lastNode = node
                continue

            if isinstance(node, (SpaceNode)):  # 当前点是车位点
                if isinstance(lastNode, (SpaceNode)):  # 上一点为车位点
                    print("Error: last node and current node is space node ")
                    lastNode = None
                    continue
                elif isinstance(lastNode, (StreetNode)):  # 上一点为马路点,则动作为入库
                    actions.append(["input", [lastNode, node]])
                    lastNode = None
                    continue

            if isinstance(node, (StreetNode)):
                if isinstance(lastNode, (SpaceNode)):  # 上一点为车位点, 出库
                    actions.append(["output", [lastNode, node]])

                elif isinstance(lastNode, (StreetNode)):
                    if navIndex < 0:
                        actions.append(["nav", [lastNode]])
                        navIndex = len(actions) - 1
                    actions[navIndex][1].append(node)
            lastNode = node

        return actions

    def SwitchMoveMode(self, mode, wheelbase):
        if self.IsMainAgv() == False:
            print(" this agv is single can not switch mode")
            return False
        cmd = message.NavCmd()
        key = str(uuid.uuid4())
        cmd.key = key
        cmd.action = 0

        action = message.NewAction()
        action.type = 8
        action.changedMode = mode
        if mode == 1:
            action.wheelbase = wheelbase
        cmd.newActions.add().CopyFrom(action)
        channel = grpc.insecure_channel(self.rpc_ipport_)
        stub = msg_rpc.NavExcutorStub(channel)
        response = stub.Start(cmd)
        return False

    def IsClampClosed(self):
        if self.timedRobotStatu_.timeout() == False:
            if self.IsMainModeStatu():
                clamp = self.timedRobotStatu_.statu.agvStatu.clamp
                clamp_other = self.timedRobotStatu_.statu.agvStatu.clamp_other
                return (clamp == 1 and clamp_other == 1)
            else:
                return self.timedRobotStatu_.statu.agvStatu.clamp == 1

        return False

    def IsClampRunning(self):
        if self.timedRobotStatu_.timeout() == False:
            if self.IsMainModeStatu():
                clamp = self.timedRobotStatu_.statu.agvStatu.clamp
                clamp_other = self.timedRobotStatu_.statu.agvStatu.clamp_other
                return (clamp == 0 or clamp_other == 0)
            else:
                return self.timedRobotStatu_.statu.agvStatu.clamp == 0

        return False

    def IsClampOpened(self):
        if self.timedRobotStatu_.timeout() == False:
            if self.IsMainModeStatu():
                clamp = self.timedRobotStatu_.statu.agvStatu.clamp
                clamp_other = self.timedRobotStatu_.statu.agvStatu.clamp_other
                return (clamp == 2 and clamp_other == 2)
            else:
                return self.timedRobotStatu_.statu.agvStatu.clamp == 2

        return False

    def ClampClose(self):
        if self.IsClampClosed() == True:
            print("clamp closed")
            return True
        cmd = message.NavCmd()
        cmd.action = 0
        key = str(uuid.uuid4())
        cmd.key = (key)
        act = message.NewAction()
        act.type = 6
        cmd.newActions.add().CopyFrom(act)
        channel = grpc.insecure_channel(self.rpc_ipport_)
        stub = msg_rpc.NavExcutorStub(channel)
        response = stub.Start(cmd)
        return True

    def ClampOpen(self):
        if self.IsClampOpened() == True:
            print("clamp opended")
            return True
        cmd = message.NavCmd()
        cmd.action = 0
        key = str(uuid.uuid4())
        cmd.key = (key)
        act = message.NewAction()
        act.type = 7
        cmd.newActions.add().CopyFrom(act)
        channel = grpc.insecure_channel(self.rpc_ipport_)
        stub = msg_rpc.NavExcutorStub(channel)
        response = stub.Start(cmd)
        return True

    def CancelNavTask(self):
        cmd = message.NavCmd()
        cmd.action = 3

        channel = grpc.insecure_channel(self.rpc_ipport_)
        stub = msg_rpc.NavExcutorStub(channel)

        response = stub.Cancel(cmd)
        print("client received: ", response)
        print(" Cancel task completed!!!")
        return True

    def ManualTask(self, current_operation, step_acc):
        if self.IsNavigating():
            print("AGV is navigating!!!")
            return

        cmd = message.ToAgvCmd()
        self.heat_ += 1
        self.heat_ %= 255
        cmd.H = self.heat_
        if self.IsMainModeStatu():
            cmd.M = 1
        else:
            cmd.M = 0

        if current_operation == ManualOperationType.eCounterclockwiseRotate:
            cmd.T = 1
            cmd.V = 0
            cmd.W = 4.0 / 180 * math.pi * sigmoid(step_acc, 0, 1)
        if current_operation == ManualOperationType.eClockwiseRotate:
            cmd.T = 1
            cmd.V = 0
            cmd.W = -4.0 / 180 * math.pi * sigmoid(step_acc, 0, 1)
        if current_operation == ManualOperationType.eForwardMove:
            cmd.T = 3
            cmd.V = 0.6 * sigmoid(step_acc, 0, 1)
            cmd.W = 0
        if current_operation == ManualOperationType.eBackwardMove:
            cmd.T = 3
            cmd.V = -0.6 * sigmoid(step_acc, 0, 1)
            cmd.W = 0
        if current_operation == ManualOperationType.eLeftMove:
            cmd.T = 2
            cmd.V = 0.6 * sigmoid(step_acc, 0, 1)
            cmd.W = 0
        if current_operation == ManualOperationType.eRightMove:
            cmd.T = 2
            cmd.V = -0.6 * sigmoid(step_acc, 0, 1)
            cmd.W = 0
        cmd.L = self.L_
        cmd.end = 1

        # 处理为json格式
        cmd_dict = {}
        for field in cmd.DESCRIPTOR.fields:
            cmd_dict[field.name] = field.default_value
        for field, value in cmd.ListFields():
            cmd_dict[field.name] = value
        cmd_json = json.dumps(cmd_dict, indent=None, separators=(',', ':'))
        self.publish(self.speedCmdTopic, cmd_json)

        print(cmd_json)

        # cmd_0 = message.ManualCmd()
        # cmd_0.key = str(uuid.uuid4())
        # if current_operation == ManualOperationType.eCounterclockwiseRotate:
        #     cmd_0.operation_type = 1
        #     cmd_0.velocity = 1
        # if current_operation == ManualOperationType.eClockwiseRotate:
        #     cmd_0.operation_type = 1
        #     cmd_0.velocity = -1
        # if current_operation == ManualOperationType.eForwardMove:
        #     cmd_0.operation_type = 2
        #     cmd_0.velocity = 1
        # if current_operation == ManualOperationType.eBackwardMove:
        #     cmd_0.operation_type = 2
        #     cmd_0.velocity = -1
        # if current_operation == ManualOperationType.eLeftMove:
        #     cmd_0.operation_type = 3
        #     cmd_0.velocity = 1
        # if current_operation == ManualOperationType.eRightMove:
        #     cmd_0.operation_type = 3
        #     cmd_0.velocity = -1
        #
        # channel = grpc.insecure_channel(self.rpc_ipport_)
        # stub = msg_rpc.NavExcutorStub(channel)
        # response = stub.ManualOperation(cmd_0)
        # print("client received: ", response)

        print("ManualOperation {op_type} task completed!!!".format(op_type=current_operation))
        return True