import json
import sys
import time
import argparse
import threading
from PyQt5.QtCore import QThread
from PyQt5.QtWidgets import QApplication

from robot.client_socket import SocketRobotArm
from gui.init import MainContentComponent

class MyApp:
    with open("./robots.json", "r") as file:
        robots = json.load(file)

    def __init__(self, mode):
        self.mode = mode
        self.startRobot()
        self.startGui()

    def get_status(self):
        if self.robot_app:
            return self.robot_app.get_status()
        else:
            return self.def_robot_status()

    def def_robot_status(self):
        return SocketRobotArm.Status[1]

    def startGui(self):
        app = QApplication(sys.argv)
        self.robot_app.q_app = app
        mainWindow = MainContentComponent(
            get_status=self.get_status,
            robotPanel={
                "robots": self.robots,
                "updateRobot": self.updateRobot,
                "status": self.get_status,
            },
            statusPanel={
                "status": self.get_status,
            },
            imitatorPanel={
                "world_coord": self.robot_app.get_world_coordinates,
                "axis_coord": self.robot_app.get_axis_coordinates,
                "command_count": self.robot_app.get_command_count,
                "updateData": self.robot_app.upd_model,
            },
            visPanel={
                "get_pybullet_image": self.robot_app.get_pybullet_image,
            },
        )
        mainWindow.setWindowTitle("ROBOT GUI")
        mainWindow.show()

        sys.exit(app.exec_())

    def startRobot(self):
        self.robot_app = SocketRobotArm()
        # Запускаем SocketRobotArm в отдельном потоке
        threading.Thread(target=self.run_robot_arm, daemon=True).start()

    def run_robot_arm(self):
        time.sleep(1)
        self.robot_app.start('GUI')

    def updateRobot(self, robot):
        if robot in self.robots:
            selected_robot = robot
            if self.mode == "test":
                selected_robot = {"name": "test", "host": "127.0.0.1", "slave_id": 11}

            if self.robot_app.status == "connected":
                self.robot_app.close()
                time.sleep(0.3)
            else:
                self.robot_app.connect(
                    selected_robot["host"], selected_robot["slave_id"]
                )


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="MyApp Command Line Interface")
    parser.add_argument(
        "--mode",
        type=str,
        choices=["test", "prod"],
        default="prod",
        help="Mode of operation",
    )
    # MyApp()
    args = parser.parse_args()
    app = MyApp(args.mode)