print("modbus test")

from pymodbus.client import ModbusTcpClient
import time
import glob
import tkinter as tk

from func import *

window = tk.Tk()
window.geometry('520x300')
label = tk.Label(window, text="Hello, world!")
label.pack()


all_files = glob.glob("data/data.txt")
file = all_files[0]
data = []
with open(file, "r") as fp:
    lines = fp.readlines()
    for l in lines:
        r = l.strip().split(",")
        r[1] = float(r[1])
        r[2] = float(r[2])
        r[3] = float(r[3])

        data.append(r)

client = ModbusTcpClient(
    host=MODBUS_SERVER_HOST,
    port=MODBUS_SERVER_PORT,
)
client.connect()


GOTO_Y = 5
try:
    total = 0
    state = None
    step = 0
    counter = 0

    paths = data

    bulb(GOTO_Y, False, client)
    get_or_set_speed(10, client)
    
    # ставим пользовательские переменные в ноль
    set_user_reg_800(
        [
            (0, to_double(0)),
            (1, to_double(0)),
            (2, to_double(0)),
            (3, [0, 0]),
            (4, [0, 0]),
            (5, [0, 0]),
        ],
        client,
    )
    # _, _, _, u_target, v_target, w_target = collect_coordinates(client)

    # старт в авторежиме single loop
    start_in_auto(client)

    while True:
        time.sleep(0.01)
        total += 1
        green_light = client.read_coils(GOTO_Y, 1, MODBUS_SLAVE_ID).bits[0]

        if state == green_light:
            continue

        state = green_light

        if state == True:
            continue

        x, y, z, u, v, w = collect_coordinates(client)

        if step >= len(paths):
            # counter += 1
            # step = 0
            # stop_immediately(client)
            exit()

        current_step = paths[step]
        line_type, *coord = current_step
        print(f"{line_type} {step} of {len(paths)} {current_step}")

        if line_type == "line":
            set_x, set_y, set_z, set_u, set_v, set_w = coord

            set_user_reg_800(
                [
                    (0, to_double(multiply_1000(set_x))),
                    (1, to_double(multiply_1000(set_y))),
                    (2, to_double(multiply_1000(set_z))),
                    (3, to_double(multiply_1000(set_u))),
                    (4, to_double(multiply_1000(set_v))),
                    (5, to_double(multiply_1000(set_w))),
                ],
                client,
            )
            # bulb(4, True, client)

        if not x == y == z == u == v == w == 0:
            bulb(GOTO_Y, True, client)
        step += 1


except Exception as e:
    print("error", e)
finally:
    client.close()
    
if __name__=="__main__":
    window.mainloop()