#!/usr/bin/env python
# -*- coding: utf-8 -*-
# ===============================================================================
#
# test.py
#
# Test program for the simple GL Viewer.
#
# Copyright (c) 2011, Arne Schmitz <arne.schmitz@gmx.net>
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution.
#     * Neither the name of the <organization> nor the
#       names of its contributors may be used to endorse or promote products
#       derived from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
# ===============================================================================
import asyncio
import math
import threading
import time
import sys
from PyQt5.QtGui import *
from PyQt5.QtWidgets import *
from PyQt5.QtCore import *
from MapGLWidget import MapGLWidget
import json
import dijkstra.Map as mp
import ControllWidget
import JointContrallerWidget
import ManualOperationWidget
import RobotData as RD
import message_pb2 as message
import google.protobuf.json_format as jtf
import google.protobuf.text_format as tf
from concurrent.futures import ThreadPoolExecutor
import uuid
from mytool.txt_helper.txt_operation import TXTOperation
from custom_define import RobotName
from mytool.RabbitMq_helper import async_communication as rabitmq

import concurrent.futures
import TaskTable
from queue import Queue


# ===============================================================================


class MainWindow(QMainWindow):
    """docstring for Mainwindow"""
    mapManager = mp.MapManager()
    ui_nodes = {}
    ui_nodes["street_nodes"] = []
    ui_nodes["space_nodes"] = []
    taskTable = TaskTable.TaskTable()

    def __init__(self, parent=None):
        super(MainWindow, self).__init__(parent)
        self.basic()
        self.showMaximized()
        self.count_frame_ = ControllWidget.CountFrame()
        self.isLocalTest = False
        self.isAutoDispatchOnline = True

        self.Cancel_ = False

        task_thread = threading.Thread(target=self.execTask)
        task_thread.start()

        self.mapManager.LoadJson("./map.json")

        for node_id in self.mapManager.VertexDict("Base"):
            if node_id.find("S_") >= 0:
                self.ui_nodes["space_nodes"].append(node_id)
            if node_id.find("R_") >= 0:
                self.ui_nodes["street_nodes"].append(node_id)

        rpc_1 = "192.168.0.70:9090"
        mqtt_1 = ["pyui1", "192.168.0.70", 1883, "admin", "zx123456"]
        rpc_2 = "192.168.0.71:9090"
        mqtt_2 = ["pyui2", "192.168.0.71", 1883, "admin", "zx123456"]
        if self.isLocalTest:
            rpc_1 = "127.0.0.1:9090"
            mqtt_1 = ["pyui-main", "127.0.0.1", 1883, "admin", "zx123456"]
            rpc_2 = "127.0.0.1:9091"
            mqtt_2 = ["pyui-child", "127.0.0.1", 1883, "admin", "zx123456"]

        config1 = {"label": RobotName.strAGVMain,
                   "rpc": rpc_1,
                   "street_nodes": self.ui_nodes["street_nodes"],
                   "space_nodes": self.ui_nodes["space_nodes"],
                   "mqtt": mqtt_1,
                   "subTopics": {"agv_main/agv_statu": message.RobotStatu.__name__,
                                 "agv_main/nav_statu": message.NavStatu.__name__},
                   "cmdTopic": "agv_main/nav_cmd",
                   "robotColor": [0.7, 0.2, 0.3]}

        config2 = {"label": RobotName.strAGV2,
                   "rpc": rpc_2,
                   # "rpc": "127.0.0.1:9091",
                   "street_nodes": self.ui_nodes["street_nodes"],
                   "space_nodes": self.ui_nodes["space_nodes"],
                   "mqtt": mqtt_2,
                   "subTopics": {"agv_child/agv_statu": message.RobotStatu.__name__,
                                 "agv_child/nav_statu": message.NavStatu.__name__},
                   "cmdTopic": "agv_child/nav_cmd",
                   "robotColor": [0.4, 0.2, 0.8]}

        self.gl = MapGLWidget()  # 将opengl例子嵌入GUI
        self.Controller1 = ControllWidget.ControlFrame(config1)
        self.Controller2 = ControllWidget.ControlFrame(config2)
        robot_dict = {self.Controller1.robot_.name_: self.Controller1.robot_,
                      self.Controller2.robot_.name_: self.Controller2.robot_}
        self.ManualOperationWidget = ManualOperationWidget.ManualOperationWidget(robot_dict)

        splitter_main = self.split_()
        self.setCentralWidget(splitter_main)

        self.gl.SetRobot1Instance(self.Controller1.robot_)
        self.gl.SetRobot2Instance(self.Controller2.robot_)
        self.gl.SetMaps(self.mapManager.maps)

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

        # 启动RabbitMQ
        self.g_rabbitmq = None
        if self.isAutoDispatchOnline:
            self.g_rabbitmq = rabitmq.RabbitAsyncCommunicator("192.168.0.201", 5672, "zx", "123456")
            calbbacks = [["agv_park_command_request_queue", self.recv_park_request],
                         ["agv_pick_command_request_queue", self.recv_pick_request]]
            self.g_rabbitmq.Init(calbbacks, None)
            self.g_rabbitmq.setDaemon(True)  # 守护线程随主线程结束
            self.g_rabbitmq.start()

    def execTask(self):
        while self.Cancel_ == False:
            task = self.taskTable.GetTask()
            if task != None:
                if isinstance(task, (message.park_table)):
                    print(" exec park task :%s" % (task.primary_key))
                    ret = self.AutoParkTask(task)
                    self.taskTable.UpdateResult(task.primary_key, ret)
                if isinstance(task, (message.pick_table)):
                    print(" exec pick task :%s" % (task.primary_key))
                    ret = self.AutoPickTask(task)
                    self.taskTable.UpdateResult(task.primary_key, ret)
            time.sleep(0.5)

    async def recv_park_request(self, msg):
        print("Recv_park_request------------------\n", msg)

        park_table = message.park_table()
        try:
            tf.Parse(msg, park_table)
        except Exception as e:
            print("Parse  error\n")
            return False

        if self.isAutoDispatchOnline:
            return await self.PushParkTask(park_table)
        return False

    async def recv_pick_request(self, msg):
        print("Recv_pick_request------------------\n", msg)
        pick_table = message.pick_table()

        try:
            tf.Parse(msg, pick_table)
        except Exception as e:
            print("Parse  error\n")
            return False

        if self.isAutoDispatchOnline:
            return await self.PushPickTask(pick_table)
        return False

    def updateMap_park(self, entrance_id, pose, wheelbase):  # 0:前车轨迹，1：后车轨迹，2：添加整车轨迹
        # 修改Front地图
        self.mapManager.ResetMap("Front", 0, wheelbase / 2)
        [trans_x, trans_y, trans_a] = pose
        self.mapManager.maps["Front"].ResetVertexValue(mp.SpaceNode(entrance_id, trans_x, trans_y, trans_a))

        [f_id, f_x, f_y] = self.ComputeStreetNode("Front", entrance_id, trans_x, trans_y, trans_a)

        # 修改Back地图
        self.mapManager.ResetMap("Back", 0, -wheelbase / 2)
        [trans_x, trans_y, trans_a] = pose
        self.mapManager.maps["Back"].ResetVertexValue(mp.SpaceNode(entrance_id, trans_x, trans_y, trans_a))

        [b_id, b_x, b_y] = self.ComputeStreetNode("Back", entrance_id, trans_x, trans_y, trans_a)

        # 修正两个地图巷道点
        fff = False # 是否是整车空载进 出入口
        if fff == True:
            f_x = (f_x + b_x) / 2
            b_x = (f_x + b_x) / 2
        self.mapManager.maps["Front"].ResetVertexValue(mp.StreetNode(f_id, f_x, f_y))
        self.mapManager.maps["Back"].ResetVertexValue(mp.StreetNode(b_id, b_x, b_y))

    def asyncExecute(self, tasks):
        results = [feature.result() for feature in concurrent.futures.as_completed(tasks)]
        print("==========================\n")
        print(results)
        print("==========================\n")
        ret = True
        for result in results:
            ret = ret and result
        return ret

    def GetMainFrontBackAGV(self):
        controlMain = self.Controller1
        nagtive = False
        if controlMain.robot_.timedRobotStatu_.statu.theta < 0:
            nagtive = True
        control1 = None
        control2 = None
        if nagtive == False:
            control1 = self.Controller1
            control2 = self.Controller2
        else:
            control2 = self.Controller1
            control1 = self.Controller2
        return [controlMain, control1, control2]

    async def PushParkTask(self, park_table: message.park_table = None):
        pushed = False
        while pushed == False and self.Cancel_ == False:
            pushed = self.taskTable.PushTask(park_table.primary_key, park_table)
            await asyncio.sleep(0.3)
        if pushed != True or self.Cancel_ != False:
            return False
        ret = None
        while pushed and self.Cancel_ == False:
            ret = self.taskTable.GetResult(park_table.primary_key)
            if ret == None:
                await asyncio.sleep(1)
            else:
                break

        return (ret != None)

    async def PushPickTask(self, pick_table: message.pick_table = None):
        pushed = False
        while pushed == False and self.Cancel_ == False:
            pushed = self.taskTable.PushTask(pick_table.primary_key, pick_table)
            await asyncio.sleep(0.3)
        if pushed != True or self.Cancel_ != False:
            return False
        ret = None
        while pushed and self.Cancel_ == False:
            ret = self.taskTable.GetResult(pick_table.primary_key)
            if ret == None:
                await asyncio.sleep(1)
            else:
                break

        return (ret != None)

    def AutoParkTask(self, park_table: message.park_table = None):
        beg_time = time.time()
        print(beg_time, "AutoParkTask:---------------------\n")
        task_flag = 1  # 存车

        [controlMain, control1, control2] = self.GetMainFrontBackAGV()
        mainMap, frontMap, backMap = ["Base", "Front", "Back"]
        entrance_id = "S_" + str(park_table.terminal_id)  # "S1101"
        entrance_x, entrance_y, entrance_theta = [park_table.entrance_measure_info.measure_info_to_plc_forward.cx,
                                                  park_table.entrance_measure_info.measure_info_to_plc_forward.cy,
                                                  (
                                                          90 + park_table.entrance_measure_info.measure_info_to_plc_forward.theta) / 180 * math.pi]
        # 变换到地图坐标系
        # [dx, dy, da] = [-0.184040126204, -0.647539079189, 178.9302736990612 / 180 * math.pi]
        # trans_x = -0.999825716019 * entrance_x - 0.018668506294 * entrance_y + dx
        # trans_y = 0.018668506294 * entrance_x - 0.999825716019 * entrance_y + dy

        [dx, dy, da] = [-0.184040126204, -0.647539079189, 178.86625855601127 / 180 * math.pi]
        trans_x = -0.9998042333928334 * entrance_x - 0.01978622980177775 * entrance_y + dx
        trans_y = 0.01978622980177775 * entrance_x - 0.9998042333928334 * entrance_y + dy

        trans_a = entrance_theta + da - math.pi
        while trans_a < 0:
            trans_a += math.pi
        print("entrance:", entrance_id, trans_x, trans_y, trans_a / math.pi * 180)

        target_id = "S_" + str(park_table.allocated_space_info.table_id)  # "S147"
        print("target:", target_id)

        # 轴距
        wheel_base = park_table.entrance_measure_info.measure_info_to_plc_forward.wheelbase
        control1.WheelBaseEdit.setText(str(wheel_base))
        control2.WheelBaseEdit.setText(str(wheel_base))

        trans_x += wheel_base / 2 * math.cos(trans_a)
        trans_y += wheel_base / 2 * math.sin(trans_a)

        # # 双单车入库-----------------------------------------------------
        # if (controlMain.robot_.SwitchMoveMode(0, wheel_base) == False):
        #     return False
        # autoDirect = True
        # self.updateMap_park(entrance_id, [trans_x, trans_y, trans_a], wheel_base)
        #
        # cur_pose1 = control1.robot_.timedRobotStatu_.statu
        # [label, pt] = self.mapManager.findNeastNode(frontMap, [cur_pose1.x, cur_pose1.y])
        # control1.robot_.GeneratePath(label, entrance_id, frontMap)
        # print("Front: begin:%s   target:%s    wheelBase:%f" % (label, entrance_id, wheel_base))
        #
        # cur_pose2 = control2.robot_.timedRobotStatu_.statu
        # [label, pt] = self.mapManager.findNeastNode(backMap, [cur_pose2.x, cur_pose2.y])
        # control2.robot_.GeneratePath(label, entrance_id, backMap)
        # print("Back: begin:%s   target:%s    wheelBase:%f" % (label, entrance_id, wheel_base))
        #
        # threadPool = ThreadPoolExecutor(2)
        # features = [
        #     threadPool.submit(control1.robot_.Navigatting, label, entrance_id, autoDirect, wheel_base, task_flag),
        #     threadPool.submit(control2.robot_.Navigatting, label, entrance_id, autoDirect, wheel_base, task_flag)
        # ]
        # if self.asyncExecute(features) == False:
        #     print(" Park Failed ")
        #     return False

        # # ------------------------------------------
        # # 双单车驶至入口前巷道点
        self.updateMap_park(entrance_id, [trans_x, trans_y, trans_a], wheel_base)
        entrance_streetNode = entrance_id.replace("S_", "R_")
        if (controlMain.robot_.SwitchMoveMode(0, wheel_base) == False):
            return False
        cur_pose1 = control1.robot_.timedRobotStatu_.statu
        [label, pt] = self.mapManager.findNeastNode(frontMap, [cur_pose1.x, cur_pose1.y])
        control1.robot_.GeneratePath(label, entrance_streetNode, frontMap)
        print("Front: begin:%s   target:%s    wheelBase:%f" % (label, entrance_streetNode, wheel_base))

        cur_pose2 = control2.robot_.timedRobotStatu_.statu
        [label, pt] = self.mapManager.findNeastNode(backMap, [cur_pose2.x, cur_pose2.y])
        control2.robot_.GeneratePath(label, entrance_streetNode, backMap)
        print("Back: begin:%s   target:%s    wheelBase:%f" % (label, entrance_streetNode, wheel_base))

        autoDirect = True
        threadPool = ThreadPoolExecutor(2)
        features = [
        threadPool.submit(control1.robot_.Navigatting, label, entrance_id, autoDirect, wheel_base, task_flag),
        threadPool.submit(control2.robot_.Navigatting, label, entrance_id, autoDirect, wheel_base, task_flag)
        ]
        if self.asyncExecute(features) == False:
            print(" Park Failed ")
            return False
        # 整车驶进入口---------------------------------
        if (controlMain.robot_.SwitchMoveMode(1, wheel_base) == False):
            return False
        map_name = "Front"
        if controlMain.robot_.timedRobotStatu_.statu.theta < 0:
            map_name = "Back"
        controlMain.robot_.GeneratePath(entrance_streetNode, entrance_id, map_name)
        if controlMain.robot_.Navigatting(entrance_streetNode, entrance_id, True, wheel_base, task_flag) == False:
            return False
        # ---------------------------------


        print(" input entrance completed!!!!")
        # 整车夹持
        if (controlMain.robot_.SwitchMoveMode(1, wheel_base) == False):
            return False
        controlMain.robot_.ClampClose()


        # 整车去车位---------------------------------
        # map_name = "Front"
        # if controlMain.robot_.timedRobotStatu_.statu.theta < 0:
        #     map_name = "Back"
        # controlMain.robot_.GeneratePath(entrance_id, target_id, map_name)
        # print("begin:%s   target:%s    wheelBase:%f" % (entrance_id, target_id, wheel_base))
        # controlMain.robot_.Navigatting(entrance_id, target_id, autoDirect, wheel_base, task_flag)

        # 整车驶离入口到入口航道点
        entrance_streetNode = entrance_id.replace("S_", "R_")
        map_name = "Front"
        if controlMain.robot_.timedRobotStatu_.statu.theta < 0:
            map_name = "Back"
        controlMain.robot_.GeneratePath(entrance_id, entrance_streetNode, map_name)
        print("begin:%s   target:%s    wheelBase:%f" % (entrance_id, entrance_streetNode, wheel_base))
        controlMain.robot_.Navigatting(entrance_id, entrance_streetNode, autoDirect, wheel_base, task_flag)

        # 整车从入口航道点到车位
        map_name = "Front"
        if controlMain.robot_.timedRobotStatu_.statu.theta < 0:
            map_name = "Back"
        controlMain.robot_.GeneratePath(entrance_streetNode, target_id, map_name)
        print("begin:%s   target:%s    wheelBase:%f" % (entrance_streetNode, target_id, wheel_base))
        controlMain.robot_.Navigatting(entrance_streetNode, target_id, autoDirect, wheel_base, task_flag)


        print("-------------------------")
        # 整车松夹持------------------------------------
        if controlMain.robot_.ClampOpen() == False:
            return False

        map_name = "Front"
        if controlMain.robot_.timedRobotStatu_.statu.theta < 0:
            map_name = "Back"

        # 整车出库---------------------------------
        # 限定轴距2.6m
        temp_wheel_base = self.mapManager.default_wheel_base
        self.updateMap_park(entrance_id, [trans_x, trans_y, trans_a], temp_wheel_base)
        if (controlMain.robot_.SwitchMoveMode(1, temp_wheel_base) == False):
            return False
        entrance_streetNode = target_id.replace("S_", "R_")
        controlMain.robot_.GeneratePath(target_id, entrance_streetNode, map_name)
        if controlMain.robot_.Navigatting(target_id, entrance_streetNode, True, temp_wheel_base, task_flag) == False:
            return False

        #
        # if (controlMain.robot_.SwitchMoveMode(0, wheel_base) == False):
        #     return False
        #
        # # 双单车出库
        # controlMain, control1, control2 = self.GetMainFrontBackAGV()
        # end_street = target_id.replace("S_", "R_")
        # control1.robot_.GeneratePath(target_id, end_street, frontMap)
        # control2.robot_.GeneratePath(target_id, end_street, backMap)
        #
        # threadPool = ThreadPoolExecutor(2)
        # threadPool.submit(control1.robot_.Navigatting,
        #                   target_id, end_street, autoDirect, wheel_base, task_flag)
        # threadPool.submit(control2.robot_.Navigatting,
        #                   target_id, end_street, autoDirect, wheel_base, task_flag)
        # threadPool.shutdown(wait=True)

        # 反馈
        self.g_rabbitmq.publish("command_ex", "agv_park_command_response_port",
                                tf.MessageToString(park_table, as_utf8=True))
        end_time = time.time()
        print(end_time, "Park time=", end_time - beg_time, "Publish_park_response------------------\n", park_table)
        return True

    def updateMap_pick(self, wheelBase):  # 轴距
        self.mapManager.ResetMap("Front", 0, wheelBase / 2)
        self.mapManager.ResetMap("Back", 0, -wheelBase / 2)

    def AutoPickTask(self, pick_table: message.pick_table = None):
        beg_time = time.time()
        print(beg_time,"AutoPickTask:---------------------\n")
        task_flag = 2  # 取车

        controlMain, control1, control2 = self.GetMainFrontBackAGV()
        mainMap, frontMap, backMap = ["Main", "Front", "Back"]

        space_id = "S_" + str(pick_table.actually_space_info.table_id)  # "S147"

        export_id = "S_" + str(pick_table.terminal_id)  # "S1101"
        print(space_id, export_id)
        # 轴距
        wheel_base = pick_table.actually_measure_info.measure_info_to_plc_forward.wheelbase
        control1.WheelBaseEdit.setText(str(wheel_base))
        control2.WheelBaseEdit.setText(str(wheel_base))

        # # 双单车入库 -------------------------
        # self.updateMap_pick(wheel_base)
        # if (controlMain.robot_.SwitchMoveMode(0, wheel_base) == False):
        #     return False
        # cur_pose1 = control1.robot_.timedRobotStatu_.statu
        # [label, pt] = self.mapManager.findNeastNode(frontMap, [cur_pose1.x, cur_pose1.y])
        # control1.robot_.GeneratePath(label, space_id, frontMap)
        # print("Front: begin:%s   target:%s    wheelBase:%f" % (label, space_id, wheel_base))
        #
        # cur_pose2 = control2.robot_.timedRobotStatu_.statu
        # [label, pt] = self.mapManager.findNeastNode(backMap, [cur_pose2.x, cur_pose2.y])
        # control2.robot_.GeneratePath(label, space_id, backMap)
        # print("Back: begin:%s   target:%s    wheelBase:%f" % (label, space_id, wheel_base))
        #
        # autoDirect = True
        # threadPool = ThreadPoolExecutor(2)
        # features = [threadPool.submit(control1.robot_.Navigatting, label, space_id, autoDirect, wheel_base, task_flag),
        #             threadPool.submit(control2.robot_.Navigatting, label, space_id, autoDirect, wheel_base, task_flag)]
        # if self.asyncExecute(features) == False:
        #     print(" Pick Failed ")
        #     return False

        # ------------------------------------------
        # # 双单车驶至车位前巷道点
        self.updateMap_pick(wheel_base)
        space_streetNode = space_id.replace("S_", "R_")
        if (controlMain.robot_.SwitchMoveMode(0, wheel_base) == False):
            return False
        cur_pose1 = control1.robot_.timedRobotStatu_.statu
        [label, pt] = self.mapManager.findNeastNode(frontMap, [cur_pose1.x, cur_pose1.y])
        control1.robot_.GeneratePath(label, space_streetNode, frontMap)
        print("Front: begin:%s   target:%s    wheelBase:%f" % (label, space_streetNode, wheel_base))

        cur_pose2 = control2.robot_.timedRobotStatu_.statu
        [label, pt] = self.mapManager.findNeastNode(backMap, [cur_pose2.x, cur_pose2.y])
        control2.robot_.GeneratePath(label, space_streetNode, backMap)
        print("Back: begin:%s   target:%s    wheelBase:%f" % (label, space_streetNode, wheel_base))

        autoDirect = True
        threadPool = ThreadPoolExecutor(2)
        features = [
        threadPool.submit(control1.robot_.Navigatting, label, space_streetNode, autoDirect, wheel_base, task_flag),
        threadPool.submit(control2.robot_.Navigatting, label, space_streetNode, autoDirect, wheel_base, task_flag)
        ]
        if self.asyncExecute(features) == False:
            print(" Pick Failed ")
            return False

        # 整车驶进车位---------------------------------
        if (controlMain.robot_.SwitchMoveMode(1, wheel_base) == False):
            return False

        map_name = "Front"
        if controlMain.robot_.timedRobotStatu_.statu.theta < 0:
            map_name = "Back"
        controlMain.robot_.GeneratePath(space_streetNode, space_id, map_name)
        if controlMain.robot_.Navigatting(space_streetNode, space_id, True, wheel_base, task_flag) == False:
            return False
        # ---------------------------------

        # 整车夹持------------------------------------
        print(" input space completed!!!!")
        if (controlMain.robot_.SwitchMoveMode(1, wheel_base) == False):
            return False
        if controlMain.robot_.ClampClose() == False:
            return False

        # 整车到出口---------------------------------
        map_name = "Front"
        if controlMain.robot_.timedRobotStatu_.statu.theta < 0:
            map_name = "Back"
        controlMain.robot_.GeneratePath(space_id, export_id, map_name)
        print("Total: begin:%s   target:%s    wheelBase:%f" % (space_id, export_id, wheel_base))
        if controlMain.robot_.Navigatting(space_id, export_id, True, wheel_base, task_flag) == False:
            return False

        # 整车松夹池------------------------------------

        if controlMain.robot_.ClampOpen() == False:
            return False

        # 整车回巷道------------------------------------
        temp_wheel_base = self.mapManager.default_wheel_base
        self.updateMap_pick(temp_wheel_base)
        if (controlMain.robot_.SwitchMoveMode(1, temp_wheel_base) == False):
            return False
        map_name = "Front"
        if controlMain.robot_.timedRobotStatu_.statu.theta < 0:
            map_name = "Back"

        space_streetNode = export_id.replace("S_", "R_")
        controlMain.robot_.GeneratePath(export_id, space_streetNode, map_name)
        if controlMain.robot_.Navigatting(export_id, space_streetNode, True, temp_wheel_base, task_flag) == False:
            return False

        # 双单车出库
        # controlMain, control1, control2 = self.GetMainFrontBackAGV()
        # self.ReLoadMap(frontMap, "./map.json")
        # self.updateMap_pick(export_id, frontMap)
        # control1.robot_.GeneratePath(export_id, "F_exportLink", frontMap)
        #
        # self.ReLoadMap(backMap, "./map.json")
        # self.updateMap_pick(export_id, backMap)
        # control2.robot_.GeneratePath(export_id, "B_exportLink", backMap)
        #
        # threadPool = ThreadPoolExecutor(2)
        # features=[
        # threadPool.submit(control1.robot_.Navigatting,export_id, "F_exportLink", True, wheel_base, task_flag),
        # threadPool.submit(control2.robot_.Navigatting,export_id, "B_exportLink", True, wheel_base, task_flag)
        # ]
        # if self.asyncExecute(features) == False:
        #     print(" Pick Failed ")
        #     return False

        print("  over publish...")
        # 反馈
        self.g_rabbitmq.publish("command_ex", "agv_pick_command_response_port",
                                tf.MessageToString(pick_table, as_utf8=True))
        end_time = time.time()
        print(end_time, "Pick time=", end_time - beg_time, "Publish_pick_response------------------\n", pick_table)
        return True

    def ComputeStreetNode(self, mapName, s_id, s_x, s_y, s_theta):
        """
        """
        id, n_x, n_y = "", 0, 0
        if s_id == "S_1101":
            id = "R_1101"
            n_y = self.mapManager.maps[mapName].graph_.points[id][1]
            k = math.tan(s_theta)
            n_x = (n_y - s_y) / k + s_x  # 弧度

        print(id, n_x, n_y)
        return [id, n_x, n_y]

    def readJson(self, file):
        with open(file, 'r', encoding='utf-8') as fp:
            map = json.load(fp)
            return map

    def Update(self):
        self.gl.update()
        if self.isAutoDispatchOnline:
            # self.Controller1.setEnabled(False)
            # self.Controller2.setEnabled(False)
            pass
        else:
            self.Controller1.setVisible(True)
            self.Controller2.setVisible(True)

    # 窗口基础属性
    def basic(self):
        # 设置标题，大小，图标
        self.setWindowTitle("GT")
        self.resize(1100, 650)
        self.setWindowIcon(QIcon("./image/Gt.png"))
        # 居中显示
        screen = QDesktopWidget().geometry()
        self_size = self.geometry()
        self.move(int((screen.width() - self_size.width()) / 2), int((screen.height() - self_size.height()) / 2))

    def closeEvent(self, QCloseEvent):
        self.Cancel_ = True
        self.gl.close()
        print("close...")

    # 分割窗口
    def split_(self):
        splitter_main = QSplitter(Qt.Horizontal)
        splitter = QSplitter(Qt.Vertical)

        splitter.addWidget(self.count_frame_)
        splitter.addWidget(self.Controller1)
        splitter.addWidget(self.Controller2)
        splitter.addWidget(self.ManualOperationWidget)

        splitter.setStretchFactor(0, 1)
        splitter.setStretchFactor(1, 3)
        splitter.setStretchFactor(2, 3)
        splitter.setStretchFactor(3, 1)

        splitter_main.addWidget(splitter)
        splitter_main.addWidget(self.gl)

        splitter_main.setStretchFactor(0, 1)
        splitter_main.setStretchFactor(1, 10)

        return splitter_main


if __name__ == "__main__":
    app = QApplication(sys.argv)
    win = MainWindow()
    win.show()
    sys.exit(app.exec_())
# ===============================================================================
#
# Local Variables:
# mode: Python
# indent-tabs-mode: nil
# End:
#
# ===============================================================================