import inspect
import sys
import time
from concurrent.futures import ThreadPoolExecutor

from PyQt5.QtCore import QTimer, Qt
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.speed_lineEdit.setText("0.5")

        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)
        # 夹持/抬升
        self.Clamp_Close_btn.pressed.connect(self.Clamp_Close)
        self.Clamp_Close_btn.released.connect(self.Cancel)
        self.Clamp_Open_btn.pressed.connect(self.Clamp_Open)
        self.Clamp_Open_btn.released.connect(self.Cancel)
        self.Lifter_Rise_btn.pressed.connect(self.Lifter_Rise)
        self.Lifter_Rise_btn.released.connect(self.Cancel)
        self.Lifter_Down_btn.pressed.connect(self.Lifter_Down)
        self.Lifter_Down_btn.released.connect(self.Cancel)
        # 设定速度
        self.speed_lineEdit.textChanged.connect(self.speed_lineEdit_change)

        # 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.Update)
        self.timer.start(50)

        # 操作计时
        self.manual_task_beg = 0

    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):
        if self.robot_dict[self.selected_robot_name].IsManualTaskRunning():
            return print("ManualTask is running...")

        if self.current_operation == ManualOperationType.eReady:
            print("eCounterclockwiseRotate")
            self.current_operation = ManualOperationType.eCounterclockwiseRotate

    def Clockwise_Rotate(self):
        if self.robot_dict[self.selected_robot_name].IsManualTaskRunning():
            return print("Clockwise_Rotate | ManualTask is running...")

        if self.current_operation == ManualOperationType.eReady:
            print("eCounterclockwiseRotate")
            self.current_operation = ManualOperationType.eClockwiseRotate

    def Forward_Move(self):
        if self.robot_dict[self.selected_robot_name].IsManualTaskRunning():
            return print("ManualTask is running...")

        if self.current_operation == ManualOperationType.eReady:
            self.current_operation = ManualOperationType.eForwardMove

    def Backward_Move(self):
        if self.robot_dict[self.selected_robot_name].IsManualTaskRunning():
            return print("ManualTask is running...")

        if self.current_operation == ManualOperationType.eReady:
            self.current_operation = ManualOperationType.eBackwardMove

    def Left_Move(self):
        if self.robot_dict[self.selected_robot_name].IsManualTaskRunning():
            return print("ManualTask is running...")

        if self.current_operation == ManualOperationType.eReady:
            self.current_operation = ManualOperationType.eLeftMove

    def Right_Move(self):
        if self.robot_dict[self.selected_robot_name].IsManualTaskRunning():
            return print("ManualTask is running...")

        if self.current_operation == ManualOperationType.eReady:
            self.current_operation = ManualOperationType.eRightMove

    def Lifter_Rise(self):
        if self.robot_dict[self.selected_robot_name].IsManualTaskRunning():
            return print("ManualTask is running...")
        if self.current_operation == ManualOperationType.eReady:
            print("Lifter_Rise")
            self.current_operation = ManualOperationType.eLifterRise

    def Lifter_Down(self):
        if self.robot_dict[self.selected_robot_name].IsManualTaskRunning():
            return print("ManualTask is running...")
        if self.current_operation == ManualOperationType.eReady:
            self.current_operation = ManualOperationType.eLifterDown

    def Clamp_Close(self):
        if self.robot_dict[self.selected_robot_name].IsManualTaskRunning():
            return print("ManualTask is running...")
        if self.current_operation == ManualOperationType.eReady:
            self.current_operation = ManualOperationType.eClampClose

    def Clamp_Open(self):
        if self.robot_dict[self.selected_robot_name].IsManualTaskRunning():
            return print("ManualTask is running...")
        if self.current_operation == ManualOperationType.eReady:
            self.current_operation = ManualOperationType.eClampOpen

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

    def Update(self):
        self.DownCmd()
        self.UIRefresh()

    def speed_lineEdit_change(self):
        try:
            if not 0 <= float(self.speed_lineEdit.text()) <= 99:
                self.speed_lineEdit.setText("0")
        except:
            self.speed_lineEdit.setText("0")

    def speed_lineEdit_check(self):
        try:
            if not 0 <= float(self.speed_lineEdit.text()) <= 99:
                self.speed_lineEdit.setText("0")
            else:
                return True
        except:
            self.speed_lineEdit.setText("0")
            return False

    def DownCmd(self):
        if ManualOperationType.eCounterclockwiseRotate <= self.current_operation <= ManualOperationType.eClockwiseRotate:
            speed = 0.0
            if self.speed_lineEdit_check():
                speed = float(self.speed_lineEdit.text())
            speed = min(speed, 30)
            self.speed_lineEdit.setText(str(speed))
            self.robot_dict[self.selected_robot_name].ManualTask(self.current_operation, self.step_acc, speed=speed)
            self.step_acc += 1
            # self.threadPool_.submit(self.robot_dict[self.selected_robot_name].ManualTask, self.current_operation)
        elif ManualOperationType.eForwardMove <= self.current_operation <= ManualOperationType.eRightMove:
            speed = 0.0
            if self.speed_lineEdit_check():
                speed = float(self.speed_lineEdit.text())
            speed = min(speed, 2.0)
            self.speed_lineEdit.setText(str(speed))
            self.robot_dict[self.selected_robot_name].ManualTask(self.current_operation, self.step_acc, speed=speed)
            self.step_acc += 1
        elif ManualOperationType.eClampClose <= self.current_operation <= ManualOperationType.eClampOpen:
            self.robot_dict[self.selected_robot_name].ManualTask(self.current_operation)
        elif ManualOperationType.eLifterRise <= self.current_operation <= ManualOperationType.eLifterDown:
            self.robot_dict[self.selected_robot_name].ManualTask(self.current_operation)
        elif self.current_operation == ManualOperationType.eReady and \
                self.operation_count[ManualOperationType.eReady] != 0:
            speed = float(self.speed_lineEdit.text())
            self.robot_dict[self.selected_robot_name].ManualTask(self.current_operation, speed=speed)
            # 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:
            pass
            # self.current_operation = ManualOperationType.eReady
            # self.operation_count[ManualOperationType.eReady] = 0
            # self.step_acc = 0

    def UIRefresh(self):
        pass