print("modbus test")
from func import *

# from func import set_user_reg_800
from pymodbus.client import ModbusTcpClient
from pymodbus.constants import Endian
from pymodbus.payload import BinaryPayloadDecoder
import time
import glob

client = ModbusTcpClient(
    host=MODBUS_SERVER_HOST,
    port=MODBUS_SERVER_PORT,
)
client.connect()
# максимальное количество coils = 286

# bulb(2)
# get_coordinates()
# get_or_set_speed(10)

all_files = glob.glob("data/*.NC.result")
file = all_files[0]
data = []
with open(file, "r") as fp:
    lines = fp.readlines()
    for l in lines:
        r = l.strip().split(",")
        r[1] = int(float(r[1]) * 1000)
        r[2] = int(float(r[2]) * 1000)
        r[3] = int(float(r[3]) * 1000)

        data.append(r)


# print(data)
def multiply_1000(n):
    return n * 1000


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

    paths = data
    paths = [
        ("line", multiply_1000(300), multiply_1000(300), 0),
        ("line", multiply_1000(300), multiply_1000(-300), 0),
        ("line", multiply_1000(-300), multiply_1000(-300), 0),
        ("line", multiply_1000(-300), multiply_1000(300), 0),
        # ("line", 0, multiply_1000(-50), 0),
    ]

    bulb(2, 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(0, 1, MODBUS_SLAVE_ID).bits[0]
        # print(f"total {total}, state {state}, green light {green_light}")

        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

        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 = coord

            u_set = u - u_target
            v_set = v - v_target
            w_set = w - w_target

            set_user_reg_800(
                [
                    (0, to_double(set_x)),
                    (1, to_double(set_y)),
                    (2, to_double(set_z)),
                    (3, to_double(0)),
                    (4, to_double(0)),
                    (5, to_double(0)),
                ],
                client,
            )
            bulb(4, True, client)

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


except Exception as e:
    print("error", e)

client.close()