#!/usr/bin/env python
import os
import rospy
import rospkg

import math
import datetime

from enums.clutch_state import ClutchState as CS
from enums.stop_state import StopState as SS

from master_restrictions import Restrictions

from python_qt_binding.QtGui import QPixmap
from python_qt_binding.QtGui import QTextCursor
from python_qt_binding.QtGui import QStandardItem
from python_qt_binding.QtGui import QStandardItemModel
from python_qt_binding.QtGui import QBrush
from python_qt_binding.QtWidgets import QMessageBox
from python_qt_binding.QtWidgets import QHeaderView
from python_qt_binding.QtWidgets import QAbstractItemView
from python_qt_binding.QtCore import Qt


class QtWrapper:

    def __init__(self,widget):
        self.widget = widget
        self.displayed_robots_id_list = []

        self.master_stop_state = None
        self.init_robots_list()

        # self.disable_sliders_tracking()

        ui_directory_path = '{0}/ui'.format(rospkg.RosPack().get_path('safety_master_plugin'))

        self.distance_pixmap = QPixmap('{0}/Distance.png'.format(ui_directory_path))
        self.angular_pixmap = QPixmap('{0}/Angular.png'.format(ui_directory_path))
        self.linear_pixmap = QPixmap('{0}/Linear.png'.format(ui_directory_path))
        self.widget.distanceImage.setPixmap(self.distance_pixmap)
        self.widget.angularImage.setPixmap(self.angular_pixmap)
        self.widget.linearImage.setPixmap(self.linear_pixmap)

    def set_sliders_to_initial_values(self):
        self.widget.distanceSlider.setMaximum(200)
        self.widget.angularSlider.setMaximum(200)
        self.widget.linearSlider.setMaximum(200)

        self.widget.distanceSlider.setValue(75)
        self.widget.angularSlider.setValue(100)
        self.widget.linearSlider.setValue(100)

    def init_robots_list(self):
        self.stdItemModel = QStandardItemModel( 0, 6, self.widget.robotsList) 
        self.stdItemModel.setHeaderData( 0, Qt.Horizontal, 'Robot' )
        self.stdItemModel.setHeaderData( 1, Qt.Horizontal, 'Stan baterii' )
        self.stdItemModel.setHeaderData( 2, Qt.Horizontal, 'Stan robota' )
        self.stdItemModel.setHeaderData( 3, Qt.Horizontal, 'Stan sprzegla' )
        self.stdItemModel.setHeaderData( 4, Qt.Horizontal, 'Predk. lin.' )
        self.stdItemModel.setHeaderData( 5, Qt.Horizontal, 'Predk. obr.' )

        self.widget.robotsList.setModel(self.stdItemModel)

        self.widget.robotsList.horizontalHeader().setSectionResizeMode(0, QHeaderView.Stretch)
        self.widget.robotsList.horizontalHeader().setSectionResizeMode(1, QHeaderView.Stretch)
        self.widget.robotsList.horizontalHeader().setSectionResizeMode(2, QHeaderView.Stretch)
        self.widget.robotsList.horizontalHeader().setSectionResizeMode(3, QHeaderView.Stretch)
        self.widget.robotsList.horizontalHeader().setSectionResizeMode(4, QHeaderView.Stretch)
        self.widget.robotsList.horizontalHeader().setSectionResizeMode(5, QHeaderView.Stretch)

        self.widget.robotsList.horizontalHeader().setSectionsMovable(False)
        # self.widget.robotsList.setSelectionBehavior(QAbstractItemView.SelectRows)
        self.widget.robotsList.setSelectionMode(QAbstractItemView.NoSelection)


    def disable_sliders_tracking(self):
        self.widget.distanceSlider.setTracking(False)
        self.widget.angularSlider.setTracking(False)
        self.widget.linearSlider.setTracking(False)


    def set_master_stop_state_updated_callback(self,callback_function):
        self.master_stop_state_updated_callback = callback_function

    def set_restrictions_updated_callback(self,callback_function):
        self.restrictions_updated_callback = callback_function

    def handle_restrictions_update(self):
        distance = (float(self.widget.distanceSlider.value())/100)
        angular_velocity = (float(self.widget.angularSlider.value())/100)
        linear_velocity = (float(self.widget.linearSlider.value())/100)

        self.widget.distanceLabel.setText("{:.2f}".format(distance))
        self.widget.angularLabel.setText("{:.2f}".format(angular_velocity))
        self.widget.linearLabel.setText("{:.2f}".format(linear_velocity))

        restrictions = Restrictions(distance,angular_velocity,linear_velocity)

        self.restrictions_updated_callback(restrictions)


    def connect_signals(self):
        self.widget.distanceSlider.valueChanged.connect(self.handle_restrictions_update)
        self.widget.angularSlider.valueChanged.connect(self.handle_restrictions_update)
        self.widget.linearSlider.valueChanged.connect(self.handle_restrictions_update)
        self.widget.masterstopButton.clicked.connect(self.handle_masterstopButton_clicked)

        self.set_sliders_to_initial_values()

    def handle_masterstopButton_clicked(self):
        if self.master_stop_state == SS.RUNNING:
            self.master_stop_state_updated_callback()
        else:
            reply = QMessageBox.warning(self.widget,"UWAGA","Na pewno chcesz odblokowac wszystkie roboty?",QMessageBox.Yes,QMessageBox.No)
            
            if reply == QMessageBox.Yes:
                self.master_stop_state_updated_callback()

    def display_master_stop_on(self):
        self.widget.masterstopButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}")
        self.widget.masterstopButton.setText('Zatrzymaj roboty')

    def display_master_stop_off(self):
        self.widget.masterstopButton.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 20px}")
        self.widget.masterstopButton.setText('Odblokuj roboty')


    def update_robot_info(self,robot_info):
        items_to_add = []
        items_to_add.append(QStandardItem('PIONIER{}'.format(robot_info.robot_id)))
        items_to_add.append(QStandardItem('{:.2f}'.format(robot_info.battery_voltage)))

        if robot_info.state == SS.RUNNING:
            item = QStandardItem('Dziala')
            item.setBackground(QBrush(Qt.green))
            items_to_add.append(item)
        elif robot_info.state == SS.STOPPED:
            item = QStandardItem('Zatrzymany')
            item.setBackground(QBrush(Qt.red))
            items_to_add.append(item)
        else:
            raise ValueError('Undefined value of robot_info.robot_state')

        if robot_info.clutch == CS.ENGAGED:
            item = QStandardItem('Sprzegniete')
            item.setBackground(QBrush(Qt.green))
            items_to_add.append(item)
        elif robot_info.clutch == CS.DISENGAGED:
            item = QStandardItem('Rozprzegniete')
            item.setBackground(QBrush(Qt.red))
            items_to_add.append(item)
        else:
            raise ValueError('Undefined value of robot_info.clutch_state')

        linear_vel = math.sqrt(robot_info.linear_velocity[0]**2 + robot_info.linear_velocity[1]**2)
        items_to_add.append(QStandardItem('{:.2f}'.format(linear_vel)))
        
        items_to_add.append(QStandardItem('{:.2f}'.format(robot_info.angular_velocity[2])))


        items_list = self.stdItemModel.findItems('PIONIER{0}'.format(robot_info.robot_id),Qt.MatchExactly)
        if len(items_list) > 0:
            for item in items_list:
                row_number = item.row()
        else:
            row_number = self.stdItemModel.rowCount()

        for i,item in enumerate(items_to_add):
            item.setTextAlignment(Qt.AlignCenter)
            item.setEditable(0)
            self.stdItemModel.setItem(row_number,i,item)

    def master_stopped(self):
        self.master_stop_state = SS.STOPPED
        self.display_master_stop_off()
        self.log_info('Przycisk masterSTOP zostal nacisniety. Zatrzymuje roboty')

    def master_started(self):
        self.master_stop_state = SS.RUNNING
        self.display_master_stop_on()
        self.log_info('Przycisk masterSTOP odcisniety')


    def add_robot(self,robot_id):

        if robot_id not in self.displayed_robots_id_list:
            new_robot_info=QStandardItem('PIONIER{}'.format(robot_id))
            new_robot_info.setTextAlignment(Qt.AlignCenter)
            new_robot_info.setEditable(0)
            # new_robot_info.setBackground(QBrush(Qt.white))
            self.stdItemModel.setItem(self.stdItemModel.rowCount(),0,new_robot_info)

            self.displayed_robots_id_list.append(robot_id)
            self.log_info('PIONIER{0} polaczony'.format(robot_id))
        else:
            raise RuntimeError('Adding robot, which is already in master GUI')

    def remove_robot(self,robot_id):
        items_list = self.stdItemModel.findItems('PIONIER{0}'.format(robot_id),Qt.MatchExactly)

        if len(items_list) > 0:
            for item in items_list:
                row_number = item.row()
                self.stdItemModel.removeRow(row_number)
        
        self.log_info('PIONIER{0} rozlaczony'.format(robot_id))
        self.displayed_robots_id_list.remove(robot_id)

    def log_info(self,info_text):
        time = datetime.datetime.now().strftime('[%H:%M:%S]')

        cursor = self.widget.logsBrowser.textCursor()
        cursor.movePosition(QTextCursor.End)
        self.widget.logsBrowser.setTextCursor(cursor)
        # self.widget.logsBrowser.insertHtml('<font color="black">' + str(time) + '. ' + info_text + '</font><br>')
        self.widget.logsBrowser.insertHtml('<font color="black"> {0} {1}</font><br>'.format(time,info_text))
        self.scroll_to_bottom()

    def log_warning(self,warning_text):
        time = datetime.datetime.now().strftime('[%H:%M:%S]')
        
        cursor = self.widget.logsBrowser.textCursor()
        cursor.movePosition(QTextCursor.End)
        self.widget.logsBrowser.setTextCursor(cursor)
        self.widget.logsBrowser.textCursor().movePosition(QTextCursor.End)
        self.widget.logsBrowser.insertHtml('<font color="orange"> {0} {1}</font><br>'.format(time,warning_text))
        self.scroll_to_bottom()

    def log_error(self,error_text):
        time = datetime.datetime.now().strftime('[%H:%M:%S]')

        cursor = self.widget.logsBrowser.textCursor()
        cursor.movePosition(QTextCursor.End)
        self.widget.logsBrowser.setTextCursor(cursor)
        self.widget.logsBrowser.textCursor().movePosition(QTextCursor.End)
        self.widget.logsBrowser.insertHtml('<font color="red"> {0} {1}</font><br>'.format(time,error_text))
        self.scroll_to_bottom()

    def scroll_to_bottom(self):
        scrollbar = self.widget.logsBrowser.verticalScrollBar()
        scrollbar.setValue(scrollbar.maximum())