from enum import Enum
from loguru import logger
from utils import label_filter
from utils import tlabel
import toml
import zmq
import time

context = zmq.Context()
socket = context.socket(zmq.REQ)
socket.connect("tcp://localhost:6667")
logger.info("socket init")


by_cmd = None
filter = None
def import_obj(_by_cmd):
    global by_cmd
    global filter
    by_cmd = _by_cmd
    filter = label_filter(socket)



# 任务类
class task:  
    def __init__(self, task_template, find_counts=10, enable=True):  
        self.enable = enable
        self.task_t = task_template()

        self.counts = 0
        self.find_counts = find_counts
    def init(self):
        self.task_t.init()
    def find(self):
        # 检查该任执行标志
        while True:
            # if self.func_find():
            if self.task_t.find():
                self.counts += 1
            if self.counts >= self.find_counts:
                break
        # while self.func_find() is False:
        #     pass

    def exec(self):  
        # 根据标志位确定是否执行该任务
        if self.enable is True:
            logger.debug(f"[Task ]# Executing task")  
            # self.func_exec()  
            self.task_t.exec()
            logger.debug(f"[Task ]# Task completed")  
        else:
            logger.warning(f"[Task ]# Skip task")

# 任务队列状态类
class task_queuem_status(Enum):
    IDEL      = 0
    SEARCHING = 1
    EXECUTING = 2

# 任务队列类 非 EXECUTEING 时均执行 huigui，注意互斥操作
class task_queuem(task):
    # task_now = task(None, False)
    def __init__(self, queue):
        super(task_queuem, self)
        self.queue = queue
        self.status = task_queuem_status.IDEL
        self.busy = True
        logger.info(f"[TaskM]# Task num {self.queue.qsize()}")
    def exec(self):
        # 如果空闲状态则将下一个队列任务取出
        if self.status is task_queuem_status.IDEL:
            if self.queue.qsize() == 0:
                self.busy = False
                logger.info(f"[TaskM]# Task queue empty, exit")
                return False
            self.task_now = self.queue.get()

            # 如果当前任务没有使能，则直接转入执行状态，由任务执行函数打印未执行信息
            if self.task_now.enable is True:
                self.status = task_queuem_status.SEARCHING
                # 如果使能该任务则执行该任务的初始化动作
                self.task_now.init()
            else:
                self.status = task_queuem_status.EXECUTING
            logger.info(f"[TaskM]# ---------------------->>>>")
        # 阻塞搜索任务标志位
        elif self.status is task_queuem_status.SEARCHING:
            logger.info(f"[TaskM]# Start searching task target")
            self.task_now.find()
            self.status = task_queuem_status.EXECUTING
        # 执行任务函数
        elif self.status is task_queuem_status.EXECUTING:
            logger.info(f"[TaskM]# Start execute task function")
            self.task_now.exec()                 # 执行当前任务函数
            self.queue.task_done()                  # 弹出已执行的任务
            self.status = task_queuem_status.IDEL   #
            logger.info(f"[TaskM]# <<<<----------------------")
        return True




# 人员施救
class get_block():
    def init(self):
        logger.info("人员施救初始化")
    def find(self):
        # 目标检测红/蓝方块
        ret1, list1 = filter.get(tlabel.RBLOCK)
        if ret1 > 0:
            logger.info("[抓方块]# find label")
            return True
        else:
            return False
    def exec(self):
        for _ in range(3):
            by_cmd.send_speed_x(7)
            by_cmd.send_speed_omega(0)
            time.sleep(0.1)
        logger.info("abcd")
        cfg = toml.load('cfg_subtask.toml') # 加载任务配置
        while True:
            # logger.info("等待进入准确区域")
            ret, error = filter.aim_near(tlabel.RBLOCK)
            while not ret:
                ret, error = filter.aim_near(tlabel.RBLOCK)
            # logger.info(error)
            if abs(error) < 5:
                for _ in range(3):
                    by_cmd.send_speed_x(0)
                    time.sleep(0.2)
                    by_cmd.send_speed_omega(0)
                break 
        ret, error = filter.aim_near(tlabel.RBLOCK)
        while not ret:
            ret, error = filter.aim_near(tlabel.RBLOCK)
        time.sleep(1)
        logger.error(error)
        if abs(error) > 5:
            logger.info("校准中")
            if error > 0:
                by_cmd.send_distance_x(-10, int(error*3))
            else:
                by_cmd.send_distance_x(10, int(-error*3))
                logger.error(error)
            time.sleep(1)
        for _ in range(3):
            by_cmd.send_speed_x(0)
            time.sleep(0.2)
            by_cmd.send_speed_omega(0)
        time.sleep(2)
        
        by_cmd.send_position_axis_z(10, 150)
        time.sleep(5)
        by_cmd.send_angle_claw_arm(127)
        time.sleep(1)
        by_cmd.send_position_axis_x(4, 140)
        time.sleep(4)
        by_cmd.send_angle_claw_arm(220)
        by_cmd.send_angle_claw(90)
        time.sleep(1)
        by_cmd.send_distance_axis_z(10, -70)
        time.sleep(3)
        by_cmd.send_angle_claw(27)
        by_cmd.send_distance_axis_z(10, 10)
        time.sleep(2)
        by_cmd.send_distance_axis_x(4, -100)
        time.sleep(1)
        by_cmd.send_distance_axis_z(10, -40)
        time.sleep(3)
        by_cmd.send_angle_claw(35)
        time.sleep(1)
        by_cmd.send_position_axis_z(10, 150)
        time.sleep(3)
        by_cmd.send_position_axis_x(2, 140)
        #  抓取第二个块后 收爪 
        time.sleep(3)
        by_cmd.send_position_axis_x(4, 0)
    def nexec(self):
        pass


# 紧急转移
class put_block():
    def init(self):
        logger.info("紧急转移初始化")
    def find(self):
        # 目标检测医院
        ret1, list1 = filter.get(tlabel.HOSPITAL)
        if ret1 > 0:
            return True
        else:
            return False
    def exec(self):
        cfg = toml.load('cfg_subtask.toml') # 加载任务配置
        logger.info("找到医院")
        for _ in range(3):
            by_cmd.send_speed_x(0)
            time.sleep(0.2)
            by_cmd.send_speed_omega(0)
        
        by_cmd.send_position_axis_z(10, 150)
        time.sleep(3)
        # TODO 切换爪子方向
        by_cmd.send_position_axis_x(2, 140)
        time.sleep(2)
        by_cmd.send_position_axis_z(10, 170)
        pass

# 整装上阵
class get_bball():
    def init(self):
        by_cmd.send_position_axis_x(2, 140)
        logger.info("整装上阵初始化")
        time.sleep(0.5)
        if (by_cmd.send_angle_camera(90) == -1):
            by_cmd.send_angle_camera(90)
    def find(self):
        # 目标检测黄球
        ret1, list1 = filter.get(tlabel.YBALL)
        if ret1 > 0:
            return True
        else:
            return False
    def exec(self):
        logger.info("找到黄色球")
        for _ in range(3):
            by_cmd.send_speed_x(7)
            by_cmd.send_speed_omega(0)
            time.sleep(0.1)
        while True:
            # logger.info("等待进入准确区域")
            ret, error = filter.aim_near(tlabel.YBALL)
            while not ret:
                ret, error = filter.aim_near(tlabel.YBALL)
            # logger.info(error)
            if abs(error) < 5:
                for _ in range(3):
                    by_cmd.send_speed_x(0)
                    time.sleep(0.2)
                    by_cmd.send_speed_omega(0)
                break 
        ret, error = filter.aim_near(tlabel.YBALL)
        while not ret:
            ret, error = filter.aim_near(tlabel.YBALL)
        time.sleep(1)
        logger.error(error)
        if abs(error) > 5:
            logger.info("校准中")
            if error > 0:
                by_cmd.send_distance_x(-10, int(error*3))
            else:
                by_cmd.send_distance_x(10, int(-error*3))
                logger.error(error)
            time.sleep(1)
        if (by_cmd.send_angle_camera(0) == -1):
            by_cmd.send_angle_camera(0)
        by_cmd.send_position_axis_z(20, 160)
        time.sleep(2)
        by_cmd.send_position_axis_x(2, 70)
        time.sleep(2)
        by_cmd.send_angle_claw(90)
        time.sleep(0.2)
        by_cmd.send_position_axis_x(2, 0)
        time.sleep(2)
        by_cmd.send_angle_claw(27)
        time.sleep(1)
        by_cmd.send_position_axis_z(20, 180)
        time.sleep(1)
        by_cmd.send_position_axis_x(4, 45)
        time.sleep(1)
        by_cmd.send_position_axis_z(20, 140)
        time.sleep(3)
        by_cmd.send_position_axis_x(2, 140)
        time.sleep(2)
        by_cmd.send_angle_claw(90)
        pass

# 通信抢修
class up_tower():
    def init(self):
        logger.info("通信抢修初始化")
    def find(self):
        # 目标检测通信塔
        ret1, list1 = filter.get(tlabel.TOWER)
        if ret1 > 0:
            return True
        else:
            return False
    def exec(self):
        logger.info("找到塔")
        for _ in range(3):
            by_cmd.send_speed_x(7)
            by_cmd.send_speed_omega(0)
            time.sleep(0.1)
        

        while True:
            # logger.info("等待进入准确区域")
            ret, error = filter.aim_near(tlabel.TOWER)
            while not ret:
                ret, error = filter.aim_near(tlabel.TOWER)
            # logger.info(error)
            if abs(error) < 5:
                for _ in range(3):
                    by_cmd.send_speed_x(0)
                    time.sleep(0.2)
                    by_cmd.send_speed_omega(0)
                break 
        ret, error = filter.aim_near(tlabel.TOWER)
        while not ret:
            ret, error = filter.aim_near(tlabel.TOWER)
        time.sleep(1)
        logger.error(error)
        if abs(error) > 5:
            logger.info("校准中")
            if error > 0:
                by_cmd.send_distance_x(-10, int(error*3))
            else:
                by_cmd.send_distance_x(10, int(-error*3))
                logger.error(error)
            time.sleep(1)

# 高空排险
class get_rball():
    def init(self):
        logger.info("高空排险初始化")
        if (by_cmd.send_angle_camera(0) == -1):
            by_cmd.send_angle_camera(0)
    def find(self):
        # 目标检测红球
        ret1, list1 = filter.get(tlabel.RBALL)
        if ret1 > 0:
            return True
        else:
            return False
    def exec(self):
        logger.info("找到红球")
        for _ in range(3):
            by_cmd.send_speed_x(0)
            time.sleep(0.2)
            by_cmd.send_speed_omega(0)
        time.sleep(1)
        pass

# 派发物资
class put_bball():
    def init(self):
        logger.info("派发物资初始化")
        if (by_cmd.send_angle_camera(90) == -1):
            by_cmd.send_angle_camera(90)
    def find(self):
        # 目标检测通信塔
        ret1, list1 = filter.get(tlabel.BASKET)
        if ret1 > 0:
            return True
        else:
            return False
    def exec(self):
        logger.info("找到篮筐")
        for _ in range(3):
            by_cmd.send_speed_x(0)
            time.sleep(0.2)
            by_cmd.send_speed_omega(0)
        time.sleep(1)
        
        pass
direction = tlabel.RMARK
direction_left = 0
direction_right = 0
# 物资盘点
class put_hanoi1():
    def init(self):
        logger.info("物资盘点 1 初始化")
        socket.send_string("2")
        socket.recv()
    def find(self):
        global direction
        global direction_left
        global direction_right
        # 目标检测左右转向标识
        # TODO 框的大小判断距离
        ret1, list1 = filter.get(tlabel.RMARK)
        ret2, list2 = filter.get(tlabel.LMARK)
        if ret1:
            logger.info("向右拐")
            direction_right += 1
            return True
        elif ret2:
            logger.info("向左拐")
            direction_left += 1
            return True
        return False
    def exec(self):
        for _ in range(3):
            by_cmd.send_speed_x(0)
            time.sleep(0.2)
            by_cmd.send_speed_omega(0)
        time.sleep(0.2)
        # if direction == tlabel.RMARK:
        if direction_right > direction_left:
            by_cmd.send_angle_omega(-20,500)
        else:
            by_cmd.send_angle_omega(20,500)
            time.sleep(0.2)
            if (by_cmd.send_angle_camera(180) == -1):
                by_cmd.send_angle_camera(180)
        time.sleep(2)
        socket.send_string("1")
        socket.recv()
        pass

class put_hanoi2():
    def init(self):
        logger.info("物资盘点 2 初始化")
    def find(self):
        # 目标检测左右转向标识
        ret1, list1 = filter.get(tlabel.LPILLER)

        if ret1 > 0:
            return True
        else:
            return False
    def exec(self):
        logger.info("找到最大块")
        for _ in range(3):
            by_cmd.send_speed_x(0)
            time.sleep(0.2)
            by_cmd.send_speed_omega(0)
        time.sleep(1)
        pass

# 应急避险
class move_area():
    def init(self):
        logger.info("应急避险初始化")
        if (by_cmd.send_angle_camera(180) == -1):
            by_cmd.send_angle_camera(180)
    def find(self):
        # 目标检测标志牌
        # TODO 如何确保在都检测标志牌的情况下，和下一个任务进行区分
        ret1, list1 = filter.get(tlabel.SIGN)

        if ret1 > 0:
            return True
        else:
            return False
    def exec(self):
        logger.info("找到标示牌")
        pass

# 扫黑除暴
class kick_ass():
    def init(self):
        logger.info("扫黑除暴初始化")
    def find(self):
        # 目标检测标志牌
        # TODO 如何确保在都检测标志牌的情况下，和上一个任务进行区分
        ret1, list1 = filter.get(tlabel.SIGN)

        if ret1 > 0:
            return True
        else:
            return False
    def exec(self):
        logger.info("找到标示牌")
        pass