import socket
import json

HOST = "127.0.0.1"  # Standard loopback interface address (localhost)
PORT = 9760  # Port to listen on (non-privileged ports are > 1023)

c_angles = [
    {
        "world": [
            1131.959351,
            -588.689941,
            1277.805054,
            6.181231,
            54.227802,
            -100.604988,
        ],
        "axis": [-41.612457, 31.759747, -26.773878, 74.869049, -45.417992, -20.86335],
    },
    {
        "world": [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999],
        "axis": [-8.487, -8.681, 33.058, 88.070, -75.010, -10.566],
    },
    {
        "world": [1630.006, 628.326, 1322.554, 0, 90, 0],
        "axis": [22.493, -30.696, 35.997, -77.419, -23.007, 76.362],
    },
    {
        "world": [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065],
        "axis": [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362],
    },
    {
        "world": [1396.525, 1.687, 1322.697, 0, 90, 0],
        "axis": [0, -0.002, -0.002, 0.003, -0.001, 0],
    },
    {
        "world": [1396.513, 1.758, 1322.749, -0.002, 90, 0],
        "axis": [0.002, -0.001, 0, 0, 0, 0],
    },
    {
        "world": [-1.645, 1396.533, 1322.700, -89.998, 90.000, 0],
        "axis": [89.998, -0.002, -0.001, 0.001, -0.001, -0.001],
    },
    {
        "world": [-61.982, 1.689, 1955.771, 0, 25, 0.003],
        "axis": [0.003, 65, -0.001, 0.001, 0, -0.001],
    },
    {
        "world": [72.252, 1.696, 2450.564, 0, 0, 0],
        "axis": [0.002, -0.001, 89.999, 0.002, 0, -0.001],
    },
    {
        "world": [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003],
        "axis": [0.002, -0.003, 0, 89.999, -0.001, 0],
    },
    {
        "world": [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001],
        "axis": [0.001, -0.002, -0.001, 0.004, 89.998, 0],
    },
    {
        "world": [1396.518, 1.704, 1322.743, 90.002, -0.006, 90],
        "axis": [0, -0.001, 0, 0.002, 0, 90.003],
    },
]
c_angles = [
    {
        "world": [
            894.159973,
            -738.295654,
            782.748047,
            172.274109,
            28.079031,
            120.377357,
        ],
        "axis": [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755],
    },
    {
        "world": [
            1100.071655,
            -347.347412,
            782.754578,
            172.284241,
            28.079557,
            142.505508,
        ],
        "axis": [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479],
    },
]
coordinates_index = 0


def handle_client(conn, addr):
    print(f"Connected by {addr}")
    try:
        while True:
            data = conn.recv(1024)
            if not data:
                break
            req = json.loads(data)
            res = {"queryData": ["ok"]}
            if "axis-0" in req["queryAddr"]:
                global coordinates_index
                print(coordinates_index)
                c = c_angles[coordinates_index]
                limit = len(c_angles) - 1
                # limit = 2
                if coordinates_index < limit:
                    coordinates_index += 1
                else:
                    coordinates_index = 0

            if "queryAddr" in req.keys() and "axis-0" in req["queryAddr"]:
                res["queryData"] = c["axis"]

            if "queryAddr" in req and "world-0" in req["queryAddr"]:
                res["queryData"] = c["world"]

            if req["reqType"] == "command":
                res["cmdReply"] = ["ok"]
            conn.sendall(json.dumps(res).encode())
    except json.JSONDecodeError as e:
        print(f"JSON decode error: {e}")
    except socket.error as e:
        print(f"Socket error: {e}")
    except Exception as e:
        print(f"Unexpected error: {e}")
    finally:
        conn.close()
        print(f"Connection with {addr} closed")


with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
    s.bind((HOST, PORT))
    s.listen()
    print(f"Server listening on {HOST}:{PORT}")

    while True:
        conn, addr = s.accept()
        handle_client(conn, addr)