# Настройки клиента Modbus
MODBUS_SERVER_HOST = "192.168.70.55"  # IP-адрес Modbus-сервера
# MODBUS_SERVER_HOST = "192.168.70.65"  # IP-адрес Modbus-сервера
MODBUS_SERVER_PORT = 502
MODBUS_SLAVE_ID = 11
# MODBUS_SLAVE_ID = 22

indent = 21100
s = 800
k = 2

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

def two_byte_convert(result):
    # print(result)
    v0 = result.registers[0]
    value = (v0 << 16) + result.registers[1]
    if result.registers[0] > (65535 * 0.5):
        value = value - (1 << 32)
    return value


def bulb(addr, new_state, client, slave_id):
    try:
        coils = client.read_coils(addr, 1, MODBUS_SLAVE_ID)
        # print("читаем начальное состояние", coils.bits)

        if not coils.bits[0] == new_state:
            result = client.write_coil(addr, new_state, coils.slave_id)
            # print(result)

        # print(
        #     "читаем после попытки",
        #     client.read_coils(0, len(coils.bits), coils.slave_id).bits,
        # )
    except Exception as e:
        raise e


def get_coordinates(client):
    try:
        data = [
            ("j1", 2268),
            ("j2", 2270),
            ("j3", 2272),
            ("j4", 2274),
            ("j5", 2276),
            ("j6", 2278),
            ("x", 2332),
            ("y", 2334),
            ("z", 2336),
            ("u", 2338),
            ("v", 2340),
            ("w", 2342),
        ]
        i = 2
        for d in data:
            result = client.read_holding_registers(d[1], 2, MODBUS_SLAVE_ID)
            value = two_byte_convert(result)
            adjusted_value = value / 1000.0
            i *= 2
            print(d[0], result.registers, adjusted_value)
    except Exception as e:
        raise e


def collect_coordinates(client):
    # собираем предварительные данные
    x = two_byte_convert(client.read_holding_registers(2332, 2, MODBUS_SLAVE_ID))
    y = two_byte_convert(client.read_holding_registers(2334, 2, MODBUS_SLAVE_ID))
    z = two_byte_convert(client.read_holding_registers(2336, 2, MODBUS_SLAVE_ID))
    u = two_byte_convert(client.read_holding_registers(2338, 2, MODBUS_SLAVE_ID))
    v = two_byte_convert(client.read_holding_registers(2340, 2, MODBUS_SLAVE_ID))
    w = two_byte_convert(client.read_holding_registers(2342, 2, MODBUS_SLAVE_ID))
    print(
        f"Предварительные данные X {x * 0.001}, Y {y * 0.001}, Z {z*0.001}, U {u*0.001}, V {v*0.001}, W {w*0.001}"
    )
    return [x, y, z, u, v, w]


def get_or_set_speed(number, client):
    result = client.read_holding_registers(20200, 1, MODBUS_SLAVE_ID)
    print("сейчас скорость", result.registers[0] * 0.1)
    if number and number > 0 and number <= 1000:
        client.write_register(20200, number * 10, MODBUS_SLAVE_ID)
        result = client.read_holding_registers(20200, 1, MODBUS_SLAVE_ID)
        print("установлена скорость", result.registers[0] * 0.1)


def set_user_register(n, values, client):
    client.write_registers(indent + s + k * n, values, MODBUS_SLAVE_ID)


def to_double(integr):
    return [(integr >> 16) & 0xFFFF, integr & 0xFFFF]


def set_user_reg_800(data, client):
    for item in data:
        d, values = item
        set_user_register(d, values, client)


def start_in_auto(client):
    # старт в авторежиме single loop
    client.write_register(20002, 1, MODBUS_SLAVE_ID)
    
    
def stop_immediately(client):
    client.write_register(20004, 1, MODBUS_SLAVE_ID)
    
def multiply_1000(n):
    return int(n * 1000)

def make_addrcc_data(q, emptyList=0):
    # print(q)
    return {"dsID": "www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":str(emptyList),"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}