from flask import Flask, render_template, request, jsonify
from flask_socketio import SocketIO, emit
import logging
import math
from gimbal import gimbal_ctrl

# 配置日志
logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)

# Flask 应用初始化
app = Flask(__name__)
app.config['SECRET_KEY'] = 'h2Ms4pw9GzvwiFHyNPhH'  # 请更换为安全的密钥
socketio = SocketIO(app, cors_allowed_origins="*")

# 全局变量存储摇杆数据
joystick_data = {}

ptz = gimbal_ctrl("192.168.17.114", 49125)

@app.route('/')
def index():
    return render_template('index.html')

@socketio.on('joystick_data')
def handle_joystick_data(data):
    global joystick_data
    joystick_data = data
    # logger.info(f"收到摇杆数据：{data}")

    force = data.get('force', 0)
    force = force if force <= 1 else 1

    degree = data.get('degree', 0)

    x = math.cos(math.radians(degree)) * force
    y = math.sin(math.radians(degree)) * force

    # print(f"force: {force} x: {x}, y: {y}")
    ptz.set_pitch_speed(int(y * 100))
    ptz.set_yaw_speed(int(x * 100))

    # direction = data.get('direction', '')
    # logger.info(f"收到摇杆数据：{direction}")
    # if direction:
    #     handle_robot_movement(direction, data.get('force', 0))
    
    # emit('data_received', {'status': 'success', 'timestamp': data.get('timestamp')})

# def handle_robot_movement(direction, force):
#     """
#     根据摇杆方向和力度控制机器人
#     这里是示例实现，您可以根据实际需求修改
#     """
#     # 示例：根据方向执行不同的动作
#     actions = {
#         'n': '向前移动',
#         's': '向后移动',
#         'w': '向左移动',
#         'e': '向右移动',
#         'nw': '左前移动',
#         'ne': '右前移动',
#         'sw': '左后移动',
#         'se': '右后移动'
#     }
    
#     action = actions.get(direction, '停止移动')
#     speed = int(force * 100) if force else 0
    
#     logger.info(f"执行动作：{action}, 速度：{speed}%")

@socketio.on('connect')
def handle_connect():
    """处理客户端连接"""
    logger.info(f"客户端已连接：{request.sid}")
    emit('connection_response', {'status': 'connected', 'message': 'WebSocket 连接成功'})

@socketio.on('disconnect')
def handle_disconnect():
    """处理客户端断开连接"""
    logger.info(f"客户端已断开连接：{request.sid}")

@socketio.on('ping')
def handle_ping():
    """处理心跳检测"""
    emit('pong')

@app.route('/get_joystick_data')
def get_joystick_data():
    """API 端点：获取当前摇杆数据"""
    from flask import jsonify
    return jsonify(joystick_data)

@app.route('/control/<action>')
def robot_control(action):
    """
    示例控制端点
    可用于直接控制机器人动作
    """
    from flask import jsonify
    valid_actions = ['forward', 'backward', 'left', 'right', 'stop']
    
    if action in valid_actions:
        logger.info(f"执行机器人控制：{action}")
        # 在这里添加实际的机器人控制逻辑
        return jsonify({'status': 'success', 'action': action})
    else:
        return jsonify({'status': 'error', 'message': '无效的动作'}), 400

if __name__ == '__main__':
    socketio.run(app, host='0.0.0.0', port=5000, debug=True)