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):    
    response = None
    if data["reqType"] == 'AddRCC':
        return
        pass
    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"]
    elif data["reqType"] == 'AddRCC':
        return response["cmdReply"]
    else:
        pprint(response)

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}

axis_coord_raw = send_data(make_query_data(['axis-0','axis-1','axis-2','axis-3','axis-4','axis-5']))
axis_coord = []
for i in axis_coord_raw:
    axis_coord.append(float(i))

world_coord_raw = send_data(make_query_data(['world-0','world-1','world-2','world-3','world-4','world-5']))
world_coord = []
for i in world_coord_raw:
    world_coord.append(float(i))
x,y,z,u,v,w = world_coord

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

line_speed = 80.0
line_smooth = 9
line_tool = 1

global_speed = 50
physical_speed = 8
# laser_id = 15
laser_id = 14
filename = 'half-sphere-no-angle'

pass_size = 2

def make_world_step(type, p):
    step = {
        "oneshot": "0",
        "delay":"0.0",
        "speed":str(line_speed),"smooth":str(line_smooth),
        "coord":"0","tool":str(line_tool),
        "ckStatus":"0x3F",
    }
    if type == 'line':
        m0,m1,m2,m3,m4,m5=p
        step.update({
            "action": "10",
            "m0": round(x + m0,3), "m1": round(y + m1,3), "m2": round(z + m2,3),
            "m3": round(u + m3,3), "m4": round(v + m4,3), "m5": round(w + m5,3),
            "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": round(x + m0,3), "m1": round(y + m1,3), "m2": round(z + m2,3),
            "m3": round(u + m3,3), "m4": round(v + m4,3), "m5": round(w + m5,3),
            "m6": 0, "m7": 0,
            "m0_p": round(x + m0_p,3), "m1_p": round(y + m1_p,3), "m2_p": round(z + m2_p,3),
            "m3_p": round(u + m3_p,3), "m4_p": round(v + m4_p,3), "m5_p": round(w + m3_p,3),
            "m6_p": 0, "m7_p": 0,
        })

    for s in step:
        step[s] = str(step[s])
    return step

result = []
with open(f'data/{filename}.nc.result', 'r') as fp:
    for line in fp:
        data = line.strip().split(' ')
        prep = {}
        for item in data:
            prep[item[:1]] = float(item[1:])
        result.append(
            make_world_step(
                'line', 
                (
                    prep.get('X', 0), prep.get('Y', 0), prep.get('Z', 0), 
                    prep.get('U', 0), prep.get('V', 0), prep.get('W', 0)
                )
            )
        )

# Изменили глобальную скорость на global_speed%
send_data(make_command_data(['modifyGSPD', str(global_speed  * 10)]))
send_data(make_addrcc_data([
    # Включили физическую скорость
    {"oneshot":"0", "action":"51","isUse":"1","speed":str(physical_speed*1000)},
    # Поставили Y026 (laser id + 11) в TRUE -- ЛАЗЕР!!!!
    {"oneshot":"0", "action":"200","type":"0","io_status":"1", "point":str(laser_id)},
], 1))

for i in range(pass_size, len(result) + 1, pass_size):
    print(f"Отправили на устройство команды {i - pass_size} ... {i}")
    send_data(make_addrcc_data(result[i-pass_size:i]))

send_data(make_addrcc_data([
    {"oneshot":"0", "action":"51","isUse":"0"},
    {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":str(laser_id)},
]))

print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))
send_data(make_command_data(['actionSingleCycle']))
# send_data(make_command_data(['actionStop']))