#!/usr/bin/env python

import os
import rospy
import rospkg

from qt_gui.plugin import Plugin

from qt_wrapper import QtWrapper
from ros_wrapper import ROSWrapper
from user_widget import UserWidget
from user_info import UserInfo

class UserPlugin(Plugin):

    def __init__(self,context):
        super(UserPlugin, self).__init__(context)
        self.setObjectName('User Plugin - L1.5 safety system')

        self._widget = UserWidget(context)
        self._qt_wrapper = QtWrapper(self._widget)
        self._ros_wrapper = ROSWrapper()
        self._user_info = UserInfo()

        # self.register_callback_functions()

        # At the end!
        # self._qt_wrapper.connect_signals()
        # self._ros_wrapper.setup_node()

    def register_callback_functions(self):
        raise NotImplementedError
        # self._ros_wrapper.set_robots_list_update_callback(self.handle_robots_list_update)


    # ROS callback functions
    def handle_robots_list_update(self,robots_id_list):
        self._user_info.update_robots_list(robots_id_list)
        self._qt_wrapper.update_robots_list_gui(robots_id_list)

    def handle_selected_robot_info_update(self,robot_info):
        self._qt_wrapper.update_selected_robot_info(self,robot_info)

    def handle_master_stop_update(self,topic_state):
        raise(NotImplementedError)

    # Qt callback functions
    def handle_robot_selection(self,robot_id):
        if self._user_info.selected_robot_id is None:
            if self._ros_wrapper.select_robot(robot_id) == True:
                self._qt_wrapper.select_robot(robot_id)
                self._user_info.select_robot(robot_id)
            else:
                # TODO - raise ROS subscriptions problem exception
                raise NotImplementedError
        else:
            # TODO - raise user already selected robot exception
            raise NotImplementedError

    def handle_user_stop_button_update(self,button_state):
        raise NotImplementedError

    def handle_clutch_switch(self,clutch_state):
        raise NotImplementedError