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

import math

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


class QtWrapper:

    def __init__(self,widget):
        self.widget = widget
        self.logger_counter = 0
        self.displayed_robots_id_list = []

    def disconnect_signals(self):
        self.widget.clutchButton.clicked.disconnect()
        self.widget.stopButton.clicked.disconnect()
        self.widget.choiceButton.clicked.disconnect()

    def connect_robot_signals(self):
        self.widget.clutchButton.clicked.connect(self.handle_clutchButton_clicked_callback)
        self.widget.stopButton.clicked.connect(self.handle_stopButton_clicked_callback)
        self.widget.choiceButton.clicked.connect(self.handle_closeButton_clicked)

    def connect_signals(self):
        self.widget.clutchButton.clicked.connect(self.handle_not_selected_error)
        self.widget.stopButton.clicked.connect(self.handle_not_selected_error)
        self.widget.choiceButton.clicked.connect(self.handle_openButton_clicked)


    def handle_emitted_signal(self,method_name):
        exec('self.{0}()'.format(method_name))

    def handle_emitted_signal_with_list_argument(self,method_name,argument):
        if method_name == 'update_selected_robot_info':
            self.update_selected_robot_info(argument[0])

        else:
            method_with_argument = 'self.{0}({1})'.format(method_name,argument[0])
            exec(method_with_argument)

    def get_selected_robot_id(self):
        current_text = self.widget.robotsList.currentText()

        if 'PIONIER' in current_text:
            return int(current_text[7:])
        else:
            return None

    def handle_not_selected_error(self):
        self.log_error('Najpierw wybierz PIONIERA z listy robotow')

    def handle_openButton_clicked(self):
        selected_robot_id = self.get_selected_robot_id()

        if selected_robot_id != None:
            self.handle_openButton_clicked_callback(selected_robot_id)
        else:
            self.log_error('Najpierw wybierz PIONIERA z listy robotow')

    def handle_closeButton_clicked(self):
        self.handle_closeButton_clicked_callback()

    def set_robot_selection_callback(self,callback):
        self.handle_openButton_clicked_callback = callback

    def set_robot_release_callback(self,callback):
        self.handle_closeButton_clicked_callback = callback

    def set_user_stop_state_updated_callback(self,callback):
        self.handle_stopButton_clicked_callback = callback

    def set_clutch_switched_callback(self,callback):
        self.handle_clutchButton_clicked_callback = callback

    def select_robot(self,robot_id):
        self.disconnect_signals()
        self.connect_robot_signals()
        self.log_info('PIONIER' + str(robot_id) + ' wybrany!') 
        self.log_info('Robot zostanie zatrzymany i sprzegniety')

        self.widget.choiceButton.setText('Zwolnij robota')

    def release_robot(self):
        self.disconnect_signals()
        self.connect_signals()
        self.log_info('Odlaczam robota')
        self.clear_robot_info()

    def update_robots_list_gui(self,robots_id_list):
        robots_id_list.sort()
        id_strings_list = (('PIONIER'+str(x)) for x in robots_id_list)

        robots_to_add = []
        robots_to_remove = []

        for robot_id in robots_id_list:
            if robot_id not in self.displayed_robots_id_list:
                robots_to_add.append(robot_id)

        for robot_id in self.displayed_robots_id_list:
            if robot_id not in robots_id_list:
                robots_to_remove.append(robot_id)

        for robot_id in robots_to_remove:
            self.remove_robot_from_list(robot_id)

        for robot_id in robots_to_add:
            self.add_robot_to_list(robot_id)


    def remove_robot_from_list(self,robot_id):
        count = self.widget.robotsList.count()

        for i in range(count):
            if str(robot_id) in self.widget.robotsList.itemText(i):
                self.widget.robotsList.removeItem(i)
                self.displayed_robots_id_list.remove(robot_id)
                return
            

    def add_robot_to_list(self,robot_id):
        self.widget.robotsList.addItem('PIONIER'+str(robot_id))
        self.displayed_robots_id_list.append(robot_id)


    def update_selected_robot_info(self,robot_info):
        linear_vel = math.sqrt(robot_info.linear_velocity[0]**2 + robot_info.linear_velocity[1]**2)

        self.widget.idLabel.setText('PIONIER' + str(robot_info.robot_id))
        self.widget.batteryLabel.setText("{:.2f}".format(robot_info.battery_voltage))
        self.widget.linearLabel.setText("{:.2f}".format(linear_vel))
        self.widget.angularLabel.setText("{:.2f}".format(robot_info.angular_velocity[2]))

        # self.log_info(str(robot_info.clutch == CS.ENGAGED))
        
        if robot_info.clutch == CS.ENGAGED:
            self.widget.clutchLabel.setText('1')
        else:
            self.widget.clutchLabel.setText('0')

        if robot_info.state == SS.RUNNING:
            self.widget.stateLabel.setText('1')
        else:
            self.widget.stateLabel.setText('0')

    def master_stopped(self):
        # raise NotImplementedError
        self.log_info('Przycisk masterSTOP zostal nacisniety. Zatrzymuje roboty')

    def master_started(self):
        # raise NotImplementedError
        self.log_info('Przycisk masterSTOP odcisniety. Mozesz uruchomic robota')

    def user_stopped(self):
        # raise NotImplementedError
        self.log_info('Robot zatrzymany')
        self.widget.stateLabel.setText('0')

    def user_started(self):
        # raise NotImplementedError
        self.log_info('Robot wystartowal')
        self.widget.stateLabel.setText('1')

    def disengage_clutch(self):
        # raise NotImplementedError
        self.log_info('Rozprzegam sprzeglo')
        self.widget.clutchLabel.setText('0')
        # pass

    def engage_clutch(self):
        # raise NotImplementedError
        self.log_info('Sprzegam sprzeglo')
        # self.signal.('disengage_clutch')
        self.widget.clutchLabel.setText('1')

    def master_is_stopped_notify(self):
        self.log_error('Nie mozna wystartowac robota. MasterSTOP wcisniety!')

    def update_restrictions_gui(self,restrictions):
        self.widget.distanceRestrictionLabel.setText("{:.2f}".format(restrictions.distance))
        self.widget.linearRestrictionLabel.setText("{:.2f}".format(restrictions.linear_velocity))
        self.widget.angularRestrictionLabel.setText("{:.2f}".format(restrictions.angular_velocity))       

    def log_info(self,info_text):
        self.logger_counter += 1
        self.widget.logsBrowser.insertHtml('<font color="black">' + str(self.logger_counter) + '. ' + info_text + '</font><br>')
        self.scroll_to_bottom()
        # self.widget.logsBrowser.insertHtml(str(self.logger_counter) + '\t[INFO]\t' + info_text)

    def log_warning(self,warning_text):
        self.logger_counter += 1
        self.widget.logsBrowser.insertHtml('<font color="orange">' + str(self.logger_counter) + '. ' + warning_text + '</font><br> ')
        self.scroll_to_bottom()
        # self.widget.logsBrowser.append(str(self.logger_counter) + '\t[WARN]\t' + warning_text)

    def log_error(self,error_text):
        self.logger_counter += 1
        self.widget.logsBrowser.insertHtml('<font color="red">' + str(self.logger_counter) + '. ' + error_text + '</font><br>')
        self.scroll_to_bottom()
        # self.widget.logsBrowser.append(str(self.logger_counter) + '\t[ERROR]\t' + error_text)

    def connection_to_robot_lost(self,lost_robot_id):
        self.log_info('Utrata polaczenia z robotem PIONIER' + str(lost_robot_id))


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


    def clear_robot_info(self):
        self.widget.idLabel.setText('-')
        self.widget.batteryLabel.setText('-')
        self.widget.linearLabel.setText('-')
        self.widget.angularLabel.setText('-')
        self.widget.stateLabel.setText('-')
        self.widget.clutchLabel.setText('-')

        self.widget.choiceButton.setText('Wybierz')