import time
from concurrent.futures import ThreadPoolExecutor

from PyQt5.QtCore import QTimer,Qt
from PyQt5.QtWidgets import QFrame, QLabel, QPushButton,QCheckBox

import Count
import MapGLWidget as viewer

class JointControlFrame(QFrame):
    threadPool_ = ThreadPoolExecutor(5)

    def __init__(self, robot1, robot2):
        QFrame.__init__(self)

        self.targetId_ = None
        self.begId_ = None
        self.robot1 = robot1
        self.robot2 = robot2
        self.robot1_parameters = dict()
        self.robot2_parameters = dict()

        self.InitUI()
        self.setFrameShape(self.StyledPanel)
        self.timer_ = QTimer()
        self.timer_.timeout.connect(self.Update)
        self.timer_.start(100)

    def testadjust(self, beg, target):
        autoDirect = True
        self.threadPool_.submit(self.robot1.Navigatting,
                                beg, target, autoDirect)
        time.sleep(2)
        self.threadPool_.submit(self.robot2.Navigatting,
                                beg, target, autoDirect)

    def InitUI(self):
        self.btnSend = QPushButton(self)
        self.btnSend.setGeometry(80, 5, 100, 40)
        self.btnSend.setText("双单车协动")
        self.btnSend.clicked.connect(self.btnSendClick)

        self.btnCancel = QPushButton(self)
        self.btnCancel.setGeometry(200, 5, 100, 40)
        self.btnCancel.setText("  取消")
        self.btnCancel.clicked.connect(self.btnCancelClick)

    def Update(self):
        if self.robot1.IsNavigating() is True or self.robot2.IsNavigating() is True:
            if self.btnSend.isEnabled():
                self.btnSend.setEnabled(False)
        else:
            self.btnSend.setEnabled(True)

    def btnSendClick(self):
        autoDirect = True

        self.threadPool_.submit(self.robot1.Navigatting,
                                self.robot1_parameters["begId_"], self.robot1_parameters["targetId_"], autoDirect, "DoubleAGV")
        time.sleep(0.5)
        self.threadPool_.submit(self.robot2.Navigatting,
                                self.robot2_parameters["begId_"], self.robot2_parameters["targetId_"], autoDirect, "DoubleAGV")

    def btnCancelClick(self):
        self.threadPool_.submit(self.robot1.CancelNavTask)
        self.threadPool_.submit(self.robot2.CancelNavTask)

    def SetRobot1_BaTID(self, begId_, targetId_):
        self.robot1_parameters["begId_"] = begId_
        self.robot1_parameters["targetId_"] = targetId_

    def SetRobot2_BaTID(self,  begId_, targetId_):
        self.robot2_parameters["begId_"] = begId_
        self.robot2_parameters["targetId_"] = targetId_


class CountFrame(QFrame):
    def __init__(self):
        QFrame.__init__(self)

        self.InitUI()
        self.timer_ = QTimer()
        self.timer_.timeout.connect(self.UpdateUI)
        self.timer_.start(200)

    def InitUI(self):
        self.static1 = QLabel(self)
        self.static1.setText("重载导航次数 : /")
        #self.static1.setGeometry(5, 5, 100, 30)

        self.static2 = QLabel(self)
        self.static2.setText("单车导航次数 : /")
        #self.static2.setGeometry(5, 40, 100, 30)

        self.btnFrontCheck = QCheckBox("前车地图", self)
        self.btnFrontCheck.setGeometry(5, 5, 40, 30)
        self.btnFrontCheck.clicked.connect(self.FrontChecked)

        self.btnBackCheck = QCheckBox("后车地图", self)
        self.btnBackCheck.setGeometry(260, 40, 40, 30)
        self.btnBackCheck.clicked.connect(self.FrontChecked)

        self.btnMainCheck = QCheckBox("整车地图", self)
        self.btnMainCheck.setGeometry(310, 40, 40, 30)
        self.btnMainCheck.clicked.connect(self.FrontChecked)

        self.btnBaseCheck = QCheckBox("原始地图", self)
        self.btnBaseCheck.setGeometry(360, 40, 40, 30)
        self.btnBaseCheck.clicked.connect(self.FrontChecked)

    def UpdateUI(self):
        load_str = "重载导航次数 : %d" % (Count.TestCount().loadCount())
        single_str = "单车导航次数 : %d" % (Count.TestCount().singleCount())
        self.static1.setText(load_str)
        self.static2.setText(single_str)

    def FrontChecked(self):
        maps=[]
        if self.btnFrontCheck.checkState() == Qt.Checked:
            maps.append("Front")
        if self.btnBackCheck.checkState() == Qt.Checked:
            maps.append("Back")
        if self.btnMainCheck.checkState() == Qt.Checked:
            maps.append("Main")
        if self.btnBaseCheck.checkState() == Qt.Checked:
            maps.append("Base")
        view=viewer.MapGLWidget()
        view.SetMaps(maps)