import socket
import json
from pprint import pprint

from func import *

s = socket.socket()
host = MODBUS_SERVER_HOST
port = 9760

s.connect((host, port))
# print(s)
def send_data(data):    
    s.send(str.encode(json.dumps(data)))
    response_data = s.recv(1024)
    response = json.loads(response_data)
    
    if data["reqType"] == 'query':
        # pprint({"request":data["queryAddr"], "response":response["queryData"]})
        return response["queryData"]
    elif data["reqType"] == 'command':
        # pprint({"request":data["cmdData"], "response":response["cmdReply"]})
        return response["cmdReply"]
    else:
        pprint(response)

def make_addrcc_data(q, e="1"):
    # print(q)
    return {"dsID": "www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":e,"packID":"0","instructions":q} 
def make_command_data(q):
    return {"dsID": "www.hc-system.com.RemoteMonitor","reqType":"command","packID":"0","cmdData":q}
def make_query_data(q):
    return {"dsID": "www.hc-system.com.RemoteMonitor","reqType":"query","packID":"0","queryAddr":q}

axis_coord = send_data(make_query_data(['axis-0','axis-1','axis-2','axis-3','axis-4','axis-5']))
world_coord = send_data(make_query_data(['world-0','world-1','world-2','world-3','world-4','world-5']))

print('axis', axis_coord)
print('world',  world_coord)
print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))

def make_world_step(type, p):
    speed= 10.0
    smooth= 9
    step = {
        "oneshot": "1",
        "delay":"0.0",
        "speed":str(speed),"smooth":str(smooth),
        "coord":"0","tool":"1",
        "ckStatus":"0xFF",
    }
    if type == 'line':
        m0,m1,m2,m3,m4,m5=p
        step.update({"action": "10",
        "m0": str(float(world_coord[0]) + m0), "m1":str(float(world_coord[1]) + m1), "m2": str(float(world_coord[2]) + m2),
        "m3":str(float(world_coord[3]) + m3), "m4":str(float(world_coord[4]) + m4), "m5": str(float(world_coord[5]) + m5),
        "m6":"0", "m7":"0",})
    elif type == 'curve':
        m0,m1,m2,m3,m4,m5, m0_p, m1_p,m2_p,m3_p,m4_p,m5_p=p
        step.update({"action": "17",
        "m0": str(float(world_coord[0]) + m0), "m1":str(float(world_coord[1]) + m1), "m2": str(float(world_coord[2]) + m2),
        "m3": str(float(world_coord[3]) + m3), "m4": str(float(world_coord[4]) + m4), "m5":  str(float(world_coord[5]) + m5),
        "m6":"0", "m7":"0",
        "m0_p": str(float(world_coord[0]) + m0_p), "m1_p":str(float(world_coord[1]) + m1_p), "m2_p": str(float(world_coord[2]) + m2_p),
        "m3_p": str(float(world_coord[3]) + m3_p), "m4_p": str(float(world_coord[4]) + m4_p), "m5_p": str(float(world_coord[5]) + m5_p),
        "m6_p":"0", "m7_p":"0",})
    return step

k = 4
data = [
    ('line',(10*k, 10*k, 0, 
             0, 0, 0)),
    ('line',(0, 20*k, 0, 
             0, 0, 0)),
    ('line',(-10*k, 10*k, 0, 
             0, 0, 0)),
    ('line',(0, 0, 0, 
             0, 0, 0)),
    ('line',(0, 0, 0, 
             0, -10, 0)),
    ('curve',(0, -10*k, 0, 
              -10, 0, 0, 
              -20*k, -10*k, 0, 
              0, -10, 0)),
    ('line',(-20*k, -10*k, 0, 
              0, 0, 0)),
    ('curve',(0, -20*k, 0, 
              0, 0, 0, 
              0, -10*k, 0, 
              0, 0, 0)),
]
# Изменили глобальную скорость на 11%
send_data(make_command_data(['modifyGSPD', str(50  * 10)]))
# Поставили Y026 в TRUE
# send_data(make_addrcc_data([
#     {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"14"},
#     {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"14", "delay":"1"},
# ]))
send_data(make_addrcc_data(
    [
        # {"oneshot":"0", "action":"200","type":"0","io_status":"1", "point":"14"},
        # {"oneshot":"0", "action":"51","isUse":"1","speed":str(8*1000)}
    ]
    +[make_world_step(*p) for p in data]
    +[
        # {"oneshot":"0", "action":"51","isUse":"0"},
        # {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"14"},
    ]
))
print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))
send_data(make_command_data(['actionSingleCycle']))
# send_data(make_command_data(['actionStop']))