from __future__ import absolute_import

import time
import datetime

from celery.task import Task

#from django.core.exceptions import ObjectDoesNotExist
#from django.db.models import Q
from django.shortcuts import get_object_or_404
from django.conf import settings as djangosettings

import utils.Logger as L
'''

import observation_manager

import observation_manager.tasks

import scheduler
import scheduler.tasks as sched_task

import monitoring.tasks
import alert_manager.tasks

'''
#from common.models import *
from common.models import Config, Log, PlcDeviceStatus

from dashboard.views import get_sunelev
from devices.TelescopeRemoteControlDefault import TelescopeRemoteControlDefault

'''

from devices.CameraNIR import NIRCameraController

from devices.CameraVIS import VISCameraController

from devices.Dome import DomeController

from devices.PLC import PLCController

from devices.Telescope import TelescopeController
from majordome.MajordomeDecorators import *

from utils.JDManipulator import *

'''

from threading import Thread

DEBUG_FILE = False

log = L.setupLogger("MajordomeTaskLogger", "Majordome")

'''

    Task to handle the execution of the program

    check the environment status in database

    check the devices status (telescope / cameras)
    check if the last schedule made has to be planned
    launch schedule's sequences

'''

class Majordome(Task):
# (EP) do this so that Majordome can be run from a thread, and called with thread.start():
#class Majordome(Task, Thread):

    FOR_REAL = True

    loop_speed = 1
    julian_div = 86400

    executing_sequence = None
    next_sequence = None
    status_tel = ""
    status_nir = ""
    status_vis = ""

    status_dom = ""

    site_status = "OK"
    weather_status = "OK"

    timers = {}
    functions = {}
    schedule = None

    available_status = []

    alarm_list = []

    # New variables from TP:

    config = None

    plc_status = None

    current_state = "NONE"

    
    # OCS-RESTART, OCS-SHUTDOWN, or NONE (default)
    closing_mode = "NONE"
    

    NEED_TO_CLOSE = False
    PLC_IS_SAFE = False

    

    '''

        OLD //// Function called by celery task
        Behavior:
            Init telescope / cameras
            set night limits
            check the software version
            launch the majordome loop ///// OLD

        Main loop of Majordome
        startup everything if needed
        Loop over Majordome state

        Change behavior with the pyros states

        Take suitable decision thanks to states in database
    '''

    def run(self, FOR_REAL:bool=True):
        '''
            FOR_REAL: set to False if you don't want Majordome to send commands to devices
        '''

        self.FOR_REAL = FOR_REAL

        #self.createTask()
        #self.updateSoftware()
        #self.setContext()
        #self.setTime()                     /// OLD Majordome
        #self.setTasks()
        #self.loop()

        print("FOR REAL ?", self.FOR_REAL)

        print("DB3 used is:", djangosettings.DATABASES['default']['NAME'])

        while True:

            
            # SETUP

            try :

                self.config = get_object_or_404(Config, id=1)

                # By default, set mode to SCHEDULER (False = REMOTE, which should never be the default)
                self.config.global_mode = True
                self.config.save()

                #self.config = Config.objects.get(pk=1)
                #self.config = Config.objects.get()[0]

                #print("maj config id is", self.config.id)

            #except Config.ObjectDoesNotExist:
            except Exception as e:

                print("Config read (or write) exception", str(e))

                return -1
            

            #self.config.ntc = False

            
            # Set STATE to STARTING
            self.changeState("STARTING")
            
            '''
            if not self.config.majordome_restarted:
                #in order to start other agents etc....
                self.setup()
            
            # Set STATE to PASSIVE (NO PLC)
            self.changeState("Passive No PLC")
            print("Waiting for PLC connection")
            # Wait until PCL is connected
            while not self.plc_is_connected():                  
                pass           
            print("PLC is connected")
                    
            # Set STATE to PASSIVE (with PLC)
            self.changeState("Passive")
            self.config.majordome_state = "RUNNING"
    
            # MAIN LOOP: iterate on current state
            #while self.plc_is_connected() != False and self.closing_mode == "RUNNING" :          

            while self.plc_is_connected() and not self.is_shuttingdown_or_restarting():          

                # Call behavior for the current state and set new current state (can stay the same if no state change)
                #self.behavior[self.current_state](self)
                self.current_state = self.behavior[self.current_state](self)
                time.sleep(2)
            '''              
            while True:

                self.reload_config()
                if self.config.majordome_state == "STOP": break

                if self.config.majordome_state in ("OCS-RESTART", "OCS-SHUTDOWN"):
                    if self.config.majordome_state == "OCS-SHUTDOWN": self.NEED_TO_CLOSE=True
                    self.closing_mode = self.config.majordome_state
                    self.config.majordome_state = "RUNNING"
                    self.config.save()

                if self.current_state in ['STARTING', 'PASSIVE_NO_PLC', 'PASSIVE']:
                    if self.is_shuttingdown_or_restarting() and not self.NEED_TO_CLOSE: break
                '''

                if self.current_state not in ['STARTING', 'PASSIVE_NO_PLC']:

                    if self.plc_is_not_auto(): self.changeState("PASSIVE")
                '''        

                self.current_state = self.do_behavior_for_current_state()

            # Shutdown options change by the main program

            if self.config.majordome_state == "STOP" or self.closing_mode == "OCS-SHUTDOWN":

                if self.config.majordome_state == "STOP": print("STOP Majordome agent from DB")
                self.config.majordome_state = "RUNNING"
                self.changeState("KILLED")
                #self.config.save()

                #self.shutdown()

                #self.closeBehaviour(self)

                #self.sub_behavior_closing()
                break

            if self.closing_mode == "OCS-RESTART":

                self.config.majordome_restarted = True
                self.config.save()

                self.closing_mode = "NONE"

                #TODO: self.kill_all_agents()

                #self.send_alarm_if_not_closed()

                #self.run()

            '''    

            elif not self.plc_is_connected():
                #self.config.majordome_restarted = True
                #self.config.save()
                self.changeState("Passive No PLC")
                self.send_alarm_if_not_closed()
                #self.run()

            '''
        
        self.shutdown()
 

    def shutdown(self):
        #TODO: write shutdown code (kill agents...)
        print("OCS SHUTDOWN")
    
    def is_restarting(self):
        return self.closing_mode == "OCS-RESTART"
    def is_shuttingdown(self):
        return self.closing_mode == "OCS-SHUTDOWN"
    def is_shuttingdown_or_restarting(self):

        return self.closing_mode != "NONE"
    

    '''

        Function called to change and save current state of pyros.
    '''
    def changeState(self, state):

        # (local variable) idem self.config.pyros_state

        Log.objects.create(message="Go from " + self.current_state + " to " + state, agent="Majordome")

        self.current_state = state

        # (in DB) PASSIVE, STANDBY, REMOTE, OPERATING

        self.config.pyros_state = state
        self.config.save()

    def _plc_is_not_auto(self):
        if not self.plc_is_connected(): return True;
        # now, self.plc_status has been updated, so check it:
        return self.plc_status.plc_mode != "AUTO"
    def plc_is_auto(self):
        return not self._plc_is_not_auto()
    
    def plc_is_safe(self):
        if not self.plc_is_connected(): return False;
        # now, self.plc_status has been updated, so check it:
        return self.plc_status.is_safe
        
    
    def is_night(self):
        return get_sunelev() < -10

    '''

        Each function with behavior describes the behavior of a state,
        they are all contained in a dictionary called in run()

    '''

    def behavior_starting(self):
        #print("STARTING")

        #if self.is_shuttingdown_or_restarting(): return

        if not self.config.majordome_restarted:
            #TODO: Do setup things... (start agents...)
            time.sleep(2)
        '''
        Cette variable sert à indiquer l'état du majordome dans la DB.
        Elle va aussi être changée par le panneau Simulator pour passer à l'état SHUTDOWN ou RESTART.
        Elle est récupérée à chaque itération par la fonction plcConnection()
        '''
        self.config.majordome_state = "RUNNING"
        #self.config.majordome_state = "NONE"

        self.changeState("PASSIVE_NO_PLC")
        #return self.current_state

    def behavior_passive_no_plc(self):
        #print("PASSIVE_NO_PLC")

        #if self.is_shuttingdown_or_restarting(): return

        #self.changeState("Passive No PLC")
        print("Waiting for PLC connection")
        # Wait until PCL is connected
        while not self.plc_is_connected():

            time.sleep(3)

            '''
            if self.is_restarting():
                self.changeState("STARTING")
                return
            '''

            self.reload_config()
            if self.config.majordome_state == "STOP" or self.is_shuttingdown_or_restarting(): return

        print("PLC is connected")
        # Set STATE to PASSIVE (with PLC)

        self.changeState("PASSIVE")

        #return self.current_state
        

    def behavior_passive(self):
        #print("Passive")

        #if self.is_shuttingdown_or_restarting(): return
        #if self.plc_status.plc_mode == "AUTO":
        if not self.plc_is_connected(): 
            self.changeState("PASSIVE_NO_PLC")
            return
        
        if self.plc_is_auto():
            #if not self.config.majordome_restarted: self.config.ntc = True
            if not self.config.majordome_restarted: self.NEED_TO_CLOSE=True

            self.config.majordome_restarted = False

            self.changeState("Standby")

        #return self.current_state

    def behavior_standby(self):
        #print("Standby")

        #if self.config.ntc:
        if self.is_shuttingdown() and not self.NEED_TO_CLOSE:
            self.NEED_TO_CLOSE = True
            
        if self.NEED_TO_CLOSE:

            self.changeState("Closing")

            #self.sub_behavior_closing()

            self.do_behavior_for_current_state()

            self.changeState("Standby")
            
        #elif self.plc_status.plc_mode != "AUTO" or self.is_shuttingdown_or_restarting():
        if not self.plc_is_auto() or self.is_shuttingdown_or_restarting():

            self.changeState("PASSIVE")

        elif not self.config.global_mode and not self.config.lock:

            self.changeState("Remote")

            
        elif self.is_night() and self.plc_is_safe() and self.config.ack and not self.config.lock :

            self.changeState("Startup")

        #return self.current_state

    def behavior_remote(self):
        #print("Remote")

        if self.config.global_mode or self.is_shuttingdown_or_restarting() or not self.plc_is_auto() or self.config.lock:
            if not self.plc_is_auto() or self.config.lock or self.is_shuttingdown():
                self.NEED_TO_CLOSE=True

            self.changeState("Standby")

            return
        
        #TODO: get shutter state from db status (then wait until close/open)
        if not self.plc_is_safe() and self.PLC_IS_SAFE:
            PLC_IS_SAFE = False

            if self.FOR_REAL: response = TelescopeRemoteControlDefault("DOME SHUTTER CLOSE", expert_mode=True).exec_command()

        if self.plc_is_safe() and not self.PLC_IS_SAFE:
            PLC_IS_SAFE = True

            if self.FOR_REAL: response = TelescopeRemoteControlDefault("DOME SHUTTER OPEN", expert_mode=True).exec_command()

        #return self.current_state

    def behavior_startup(self):

        #print("Startup")

        if self.config.lock or not self.plc_is_auto():
            self.NEED_TO_CLOSE=True

            self.changeState("Standby")

            return
        
        #TODO: get shutter and telescope from db status
        time.sleep(5)
        '''
        if not (dome_shutter == Open and telescope == Ready)
            TelescopeRemoteControlDefault("DO DOME SHUTTER OPEN", expert_mode=True).exec_command()
            TelescopeRemoteControlDefault("DO START", expert_mode=True).exec_command()
        '''
        self.changeState("Scheduler")

        #return self.current_state

    def behavior_scheduler(self):
        #print("Scheduler")

        if not self.is_night() or not self.plc_status.is_safe or self.config.lock or not self.plc_is_auto() or not self.config.global_mode or self.is_shuttingdown_or_restarting():
            if not ( not self.config.global_mode or self.is_restarting() ): self.NEED_TO_CLOSE = True

            self.changeState("Standby")

        #return self.current_state

    def sub_behavior_closing(self):
        #print("CURRENT OCS (MAJORDOME) STATE: "+ self.current_state)

        #print("Closing")

        #self.config.save()
        if not self.plc_is_auto():
            # PLC not AUTO => we can do nothing, so only send email if dome not closed...
            self.send_alarm_if_not_closed()

        else: 
            if self.FOR_REAL:
                # These commands should do nothing if instruments are already closed/parked...
                response = TelescopeRemoteControlDefault("DO DOME SHUTTER CLOSE", expert_mode=True).exec_command()
                response = TelescopeRemoteControlDefault("DO DOME PARK", expert_mode=True).exec_command()
                response = TelescopeRemoteControlDefault("DO TELESCOPE PARK", expert_mode=True).exec_command()

        self.NEED_TO_CLOSE = False

        #self.changeState("Standby")

        #return self.current_state

    behavior = {
        "STARTING": behavior_starting,
        "PASSIVE_NO_PLC": behavior_passive_no_plc,

        "PASSIVE": behavior_passive,

        "Standby": behavior_standby,
        "Remote": behavior_remote,
        "Startup": behavior_startup,
        "Scheduler": behavior_scheduler,

        #"Closing": sub_behavior_closing,

    }

    def do_behavior_for_current_state(self) -> str:
        print("CURRENT OCS (MAJORDOME) STATE: " + self.current_state)

        time.sleep(2)

        # EXIT if PLC not connected
        #if not self.plc_is_connected(): return                  
        # EXIT if closing or restarting

        #if self.is_shuttingdown_or_restarting(): return

        # run behavior for this state
        #self.behavior[current_state](self)

        if self.current_state == "Closing": 

            self.sub_behavior_closing()
        else:

            self.behavior[self.current_state](self)
        return self.current_state

    '''

        Function called to send alarms is the site isn't closed (Empty for the moment)
    '''

    def send_alarm_if_not_closed(self):

        pass

    '''
        Function called by run to wait for PLC connection before and during the loop
        (also gathering needed info)
    '''

    def plc_is_connected(self):

        try :
            self.config = Config.objects.get(pk=1)
            self.plc_status = PlcDeviceStatus.objects.exclude(plc_mode=None).latest('created')

            timeout = (datetime.datetime.now() - self.plc_status.created).total_seconds()

            if timeout >= self.config.plc_timeout_seconds:

                return (False)
            return (True)

        except Config.DoesNotExist or PlcDeviceStatus.DoesNotExist:
            return (False)

    def reload_config(self):
        self.config = Config.objects.get(pk=1)
        '''
        try :
            self.config = Config.objects.get(pk=1)
        except Config.DoesNotExist:
            return (False)
        return self.config
        '''
            






""" OLD MAJORDOME CODE

    '''
        Check if the instrument status is valid
    '''
    def isValidStatus(self, status):
        # TODO REMOVE COMMENT AND CHANGE WHEN DEFINED
        # if (status == "" or status == "ERROR" or status == "FAILED" or status == "NOT_SET"):
        #     return (False)
        return (True)

    def setContext(self):
        self.tel = TelescopeController()
        self.vis_camera = VISCameraController()
        self.nir_camera = NIRCameraController()
        self.plc = PLCController()

        self.dom = DomeController()

        return (0)

    def createTask(self):
        try:

            # (EP) NO find() method available from Django ORM !!!! 
            #TaskId.objects.find(task="majordome").delete()
            TaskId.objects.filter(task="majordome").delete()

        except Exception as e:
            log.info(str(e))
            return 1
        TaskId.objects.create(task_id=self.request.id, task="majordome")
        return 0

    def setTasks(self):
        try:
            self.monitoring_task = TaskId.objects.get(task="monitoring")
            self.alert_task = TaskId.objects.get(task="alert_manager")
        except Exception as e:
            self.monitoring_task = None
            self.alert_task = None
        return 0

    '''
        Reads the softwares versions in the settings.py, store them in the DB and send them to the IC.
    '''
    def updateSoftware(self):
        versions = settings.MODULES_VERSIONS
        for module, version in versions.items():
            same_module_versions = Version.objects.filter(module_name=module)
            if same_module_versions.count() == 0:
                Version.objects.create(module_name=module, version=version)
            elif same_module_versions.order_by("-created")[0].version != version:
                Version.objects.create(module_name=module, version=version)
        return (0)

    '''

        Loop to wait for the device to be idle with the starting configurations.

    '''
    def waitDevices(self):

        while self.status_vis == "" and self.status_tel == "" and self.status_nir == "" and self.status_dom == "":
            self.status_vis = self.vis_camera.getStatus()
            self.status_nir = self.nir_camera.getStatus()
            self.status_tel = self.tel.getStatus()
            self.status_dom = self.dom.getStatus()

        return (0)

    '''
        Computes the beginning and the end of the following (or current) night

        set the timers -> maybe put timers in a config file ?

    '''
    def setTime(self):
        self.night_start = getNightStart()
        self.night_end = getNightEnd()
        self.night_start_jd = secondsToJulianDate(getNightStart())
        self.night_end_jd = secondsToJulianDate(getNightEnd())

        self.timer_night_start = self.night_start - getCurrentTime()
        self.timer_night_end = self.night_end - getCurrentTime()

        self.timer_status = 5

        self.tasks_timer = 5

        self.timer_plc = 2

        self.alert_timer = 1

        self.timer_schedule = 1

        self.timer_sequence = 1

        if (self.night_start - 120 > getCurrentTime()):
            self.timer_night_start = self.night_start - 120 - getCurrentTime()
        self.timer_night_end = self.night_end - getCurrentTime()

        if (getCurrentTime() > self.night_start):
            self.adaptTimers()

        self.timers = {

            "status": self.timer_status,
            "environment": self.timer_plc,
            "night_start": self.timer_night_start,
            "night_end": self.timer_night_end,
            "schedule": self.timer_schedule,

            "sequence": self.timer_sequence,
            "tasks": self.tasks_timer

        }

        if (settings.DEBUG and DEBUG_FILE):

            log.info("Majordome started with timers : " + str(self.timers))
        # Functions called during the loop

        self.functions = {
            "status": self.handleStatusTimer,
            "environment": self.handleEnvironmentTimer,
            "night_start": self.handleNightStartTimer,
            "night_end": self.handleNightEndTimer,
            "schedule": self.handleScheduleTimer,

            "sequence": self.handleSequenceTimer,
            "tasks": self.handleTasks

        }

        return (0)

    '''
        Function called by the main loop to handle the task event (check monitoring and alert_manager)
    '''

    def handleTasks(self):

        if not settings.USE_CELERY: return 0

        self.timers["tasks"] = self.tasks_timer
        if self.monitoring_task is None:
            try:
                self.monitoring_task = TaskId.objects.get(task="monitoring")
            except Exception as e:
                monitoring.tasks.Monitoring.apply_async()
                if settings.DEBUG and DEBUG_FILE:
                    log.info(str(e))
        if self.alert_task is None:
            try:
                self.alert_task = TaskId.objects.get(task="alert_manager")
            except Exception as e:
                alert_manager.tasks.AlertListener.apply_async()
                if settings.DEBUG and DEBUG_FILE:
                    log.info(str(e))
        return 0

    # TODO adapt timers if the majordome is started during the night or not ?

    def adaptTimers(self):
        pass

    def logDB(self, message: str):
        Log.objects.create(agent="Majordome", message=message)

    '''
        Infinite loop according to the majordome behavior

    '''
    def loop(self):

        while (self.closing_mode != "OCS-SHUTDOWN"):

            print("(MAJOR): start new iteration")

            minimal_timer = min(self.timers, key=self.timers.get)
            if (self.timers[minimal_timer] > 0):
                time.sleep(self.timers[minimal_timer])
                self.timers = {key: value - self.timers[minimal_timer] for key, value in self.timers.items()}

            for timer_name, timer_value in self.timers.items():
                if (timer_value <= 0):

                    if timer_name in self.functions:

                        self.logDB("Executing timer " + str(timer_name))

                        self.functions[timer_name]()

                    else:

                        if (settings.DEBUG and DEBUG_FILE):

                            log.info("Timer : " + str(timer_name) + "is not known by the Majordome")

                        self.logDB("Timer " + str(timer_name) + " unknown")

                    if (settings.DEBUG and DEBUG_FILE):

                        log.info("Timer : " + str(timer_name) + " executed")

            # EP added because loop is too quick (without CELERY)
            if not settings.USE_CELERY: time.sleep(2)

        return (0)

    '''
        Function called by the main loop to handle environment event (PLC info)
    '''

    def handleEnvironmentTimer(self):
        self.timers["environment"] = self.timer_plc

        self.handlePLC()

        return (0)

    '''
        Function called by the main loop to handle the devices status
    '''

    def handleStatusTimer(self):
        self.timers["status"] = self.timer_status

        self.status_tel = self.tel.getStatus()
        self.status_nir = self.nir_camera.getStatus()
        self.status_vis = self.vis_camera.getStatus()
        self.status_dom = self.dom.getStatus()

        self.handleStatus()

        return 0

    '''
        Function called by the main loop to check if the executing sequence is finished
    '''

    def handleSequenceTimer(self):
        self.timers["sequence"] = self.timer_sequence

        if (self.executing_sequence):
            self.handleSequence(self.executing_sequence[0],
                                self.executing_sequence[1], self.executing_sequence[2])

        return (0)

    '''
        Function called by the main loop to check if there is a new schedule and to execute its sequences
    '''

    def handleScheduleTimer(self):

        self.timers["schedule"] = self.timer_schedule

        if (self.isValidStatus(self.status_tel)):

            if (self.schedule is None):

                try:
                    self.schedule = Schedule.objects.latest('created')
                except ObjectDoesNotExist:

                    if (settings.DEBUG and DEBUG_FILE):

                        log.info("No schedule found in database")
                    return (1)

            else:

                try:
                    schedule = Schedule.objects.latest('created')
                except ObjectDoesNotExist:

                    if (settings.DEBUG and DEBUG_FILE):

                        log.info("No schedule found in database")
                    return (1)

                if (schedule.created != self.schedule.created):
                    self.next_sequence = None
                    self.schedule = schedule

                    self.firstSequenceIsAlert()

            if (self.schedule):

                shs_list = self.schedule.shs.filter(Q(status=Sequence.PLANNED) |
                                                    Q(status=Sequence.PENDING)).order_by('tsp')

                self.executeSchedule(shs_list)
        else:
            self.notifyTelescopeStatus("scheduler")
        return (0)

    '''

        Function called by handleScheduleTimer, the purpose is to kill the executing sequence if the
        first sequence in the new planning is from an alert
    '''
    @executingSequenceExist
    def firstSequenceIsAlert(self):
        shs_list = self.schedule.shs.filter(Q(status=Sequence.PLANNED) |
                                            Q(status=Sequence.PENDING)).order_by('tsp')
        if shs_list and shs_list[0].sequence.is_alert:
            if shs_list[0].sequence.created.date() >= (datetime.datetime.now() - datetime.timedelta(seconds=10)).date():
                self.killExecutingSequence()
                return 1
        return 0

    '''

        Function called by the main loop to handle the end of a night
    '''

    def handleNightEndTimer(self):

        self.timers["night_end"] = getNightEnd()

        if (self.isValidStatus(self.status_tel)):

            #observation_manager.tasks.night_calibrations.apply_async()
            if settings.USE_CELERY:
                print("MJ: call observation_manager WITH CELERY")
                observation_manager.tasks.night_calibrations.apply_async()
            else:
                print("MJ: call observation_manager WITHOUT CELERY")
                observation_manager.tasks.night_calibrations().run()

        else:
            self.notifyTelescopeStatus("night_end")
        return (0)

    '''

        Function called by the main loop to handle the beginning of a night

    '''

    def handleNightStartTimer(self):
        self.timers["night_start"] = getNextNightStart()

        if self.isOutsideOk():
            self.dom.open()
            self.vis_camera.open_shutter()
            self.nir_camera.open_shutter()

        #scheduler.tasks.scheduling.apply_async((False, False))
        if settings.USE_CELERY:
            print("MJ: call schedule WITH CELERY")
            scheduler.tasks.scheduling.apply_async((False, False))
        else:
            print("MJ: call schedule WITHOUT CELERY")
            scheduler.tasks.scheduling().run((False, False))

        return (0)

    def notifyTelescopeStatus(self, timer_name):
        return (self.notifyDeviceStatus("telescope", timer_name, self.status_tel))

    def notifyDeviceStatus(self, device_name, timer_name, status):

        Log.objects.create(agent=device_name, created=datetime.datetime.now(),
                           message="The action : " + str(timer_name) + " has been canceled : Telescope status : " + str(status))

        # TODO MAYBE reset some variables and do a scheduling

        return (0)

    '''

        Execute a schedule

    '''
    def executeSchedule(self, shs_list):

        for shs in shs_list:  # shs_list is sorted by tsp

            if (self.executableSequence(shs.sequence.status) and self.observable(shs.sequence)):
                if self.next_sequence is None:
                    self.setNextSequence(shs, shs.sequence)

                if self.isExecutable() and self.executing_sequence is None:

                    if self.isValidTimer(self.next_sequence[0]):
                        if self.executeSequence(self.next_sequence[0], self.next_sequence[1]) == -1:
                            return -1
                        if self.next_sequence[0] != shs and self.next_sequence[1] != shs.sequence:
                            self.setNextSequence(shs, shs.sequence)

                        else:

                            self.next_sequence = None

                    else:
                        return 0

            else:

                if (settings.DEBUG and DEBUG_FILE):

                    log.info("Sequence cannot be executed : Not observable")

                self.logDB("Sequence "+shs.sequence.name+" cannot be executed : Not observable")
        return 0

    def observable(self, sequence):

        if (sequence.jd2 - sequence.duration - secondsToPreciseJulianDate(getPreciseCurrentTime()) <= 0):
            return 0
        return 1

    def executableSequence(self, status):
        if status == Sequence.PLANNED or status == Sequence.PENDING:
            return 1
        return 0

    '''
        Kill the executing sequence and set its state to cancelled
    '''

    @executingSequenceExist
    def killExecutingSequence(self):
        shs = self.executing_sequence[0]
        sequence = self.executing_sequence[1]
        executing_plans = self.executing_sequence[2]

        shs.status = Sequence.CANCELLED
        sequence.status = Sequence.CANCELLED
        shs.save()
        sequence.save()
        for rev in executing_plans:
            if (not rev.failed() and not rev.successful()):
                rev.revoke(terminate=True)
        self.executing_sequence = None
        return 0

    def reset(self, type):
        if type == "WEATHER":
            self.dom.open()

            #scheduler.tasks.scheduling.delay((False, False))
            if settings.USE_CELERY:
                print("MJ: call schedule WITH CELERY")
                scheduler.tasks.scheduling.delay((False, False))
            else:
                print("MJ: call schedule WITHOUT CELERY")
                scheduler.tasks.scheduling().run((False, False))

        elif type == "INSIDE":

            #scheduler.tasks.scheduling.delay((False, False))
            if settings.USE_CELERY:
                print("MJ: call schedule WITH CELERY")
                scheduler.tasks.scheduling.delay((False, False))
            else:
                print("MJ: call schedule WITHOUT CELERY")
                scheduler.tasks.scheduling().run((False, False))

    '''
        Handle a new alarm (called by isInsideOk or isWeatherOk)
    '''

    @SameAlarmCheck
    def handleAlarm(self, type, pos=-1):
        if type == "WEATHER":
            #TODO send email
            self.dom.close()
            self.killExecutingSequence()
            self.vis_camera.park()
            self.nir_camera.park()
        elif type == "INSIDE":
            #TODO send email
            self.killExecutingSequence()
            self.vis_camera.park()
            self.nir_camera.park()
        elif type == "ENDED":
            if len(self.alarm_list) > 0 and pos != -1:
                ended = self.alarm_list[pos]
                del self.alarm_list[pos]
                self.reset(ended)
            return 0
        else:
            return 1
        self.alarm_list.append(type)
        return 0

    '''
        for now weather_status and site_status contains something different than OK if the status is critical
        Later we may have other states to handle
    '''

    def isOutsideOk(self) -> bool:
        self.handlePLC()
        if self.weather_status == "OK":

            if "WEATHER" in self.alarm_list:
                self.handleAlarm("ENDED", self.alarm_list.index("WEATHER"))

            return True

        self.handleAlarm("WEATHER")

        return False

    '''
        Check the telescope inside status
    '''

    def isInsideOk(self) -> bool:
        self.handlePLC()
        if self.site_status == "OK":

            if "INSIDE" in self.alarm_list:
                self.handleAlarm("ENDED", self.alarm_list.index("INSIDE"))

            return True

        self.handleAlarm("INSIDE")

        return False

    def isDevicesOk(self) -> bool:
        if self.isValidStatus(self.status_tel) and self.isValidStatus(self.status_dom)\
            and self.isValidStatus(self.status_vis) and self.isValidStatus(self.status_nir):
            return True
        return False

    def isExecutable(self) -> bool:
        if self.isValidStatus(self.status_tel) and self.isValidStatus(self.status_dom)\
                and self.isOutsideOk() and self.isInsideOk():
            return True
        return False

    '''
        check if the sequence timer is valid for execution, also check if there is a scheduling task running
    '''

    def isValidTimer(self, shs) -> bool:

        current_countdown = self.getCountdown(shs)
        if (current_countdown <= JulianSeconds(5)):

            try:
                task = TaskId.objects.filter(task="scheduling")
                if not task:

                    return True
                return False

            except:

                return True
        return False

    '''

        Launch the observation tasks NIR and VIS associated to a sequence

    '''

    def executeSequence(self, shs, sequence):

        shs.status = Sequence.EXECUTING
        sequence.status = Sequence.EXECUTING
        shs.save()
        sequence.save()

        log.info("Executing sequence id = " + str(sequence.pk))

        self.logDB("Executing sequence")

        plans_results = []

        if sequence.albums.filter(detector__name="Cagire").exists():
            if (self.isValidStatus(self.status_nir)):
                for plan in sequence.albums.get(detector__name="Cagire").plans.all():

                    #res = observation_manager.tasks.execute_plan_nir.apply_async((plan.id, float(self.getCountdown(shs))))
                    if settings.USE_CELERY:
                        print("MJ: call observation_manager WITH CELERY")
                        res = observation_manager.tasks.execute_plan_nir.apply_async(
                            (plan.id, float(self.getCountdown(shs))))
                    else:
                        print("MJ: call observation_manager WITHOUT CELERY")
                        res = observation_manager.tasks.execute_plan_nir().run(
                            (plan.id, float(self.getCountdown(shs))))

                    # JB TODO : is it still usefull ?
                    # TaskId.objects.create(task_id=res.id, task="execute_plan")

                    plans_results.append(res)

            else:
                self.notifyDeviceStatus("Cagire", "Sequence execution", self.status_nir)

                sequence.status = Sequence.CANCELLED
                shs.status = Sequence.CANCELLED
                shs.save()

                sequence.save()
                return (1)

        if sequence.albums.filter(detector__name="Visible camera").exists():
            if (self.isValidStatus(self.status_vis)):
                for plan in sequence.albums.get(detector__name="Visible camera").plans.all():

                    #res = observation_manager.tasks.execute_plan_vis.apply_async((plan.id, float(self.getCountdown(shs))))
                    if settings.USE_CELERY:
                        print("MJ: call observation_manager WITH CELERY")
                        res = observation_manager.tasks.execute_plan_vis.apply_async((plan.id, float(self.getCountdown(shs))))
                    else:
                        print("MJ: call observation_manager WITHOUT CELERY")
                        res = observation_manager.tasks.execute_plan_vis().run((plan.id, float(self.getCountdown(shs))))

                    plans_results.append(res)
            else:
                self.notifyDeviceStatus("Camera visible", "Sequence execution", self.status_vis)

                sequence.status = Sequence.CANCELLED
                shs.status = Sequence.CANCELLED
                shs.save()

                sequence.save()
                return (1)

        self.executing_sequence = [shs, sequence, plans_results]

        return (0)

    '''
        Set the next sequence
    '''

    def setNextSequence(self, shs, sequence):

        sequence.status = Sequence.PENDING

        shs.status = Sequence.PENDING
        self.next_sequence = [shs, sequence]

        sequence.save()

        shs.save()

        return (0)

    '''
        Check if the current sequence is finished
    '''
    def handleSequence(self, shs, sequence, executing_plans):

        count = 0

        for res in executing_plans:

            try:

                if res.successful() or res.failed():
                    count += 1

            except Exception as e:

                if DEBUG_FILE and settings.DEBUG:
                    log.info(str(e))

                shs.status = Sequence.CANCELLED
                sequence.status = Sequence.CANCELLED
                shs.save()
                sequence.save()
                for rev in executing_plans:

                    if (not rev.failed() and not rev.successful()):
                        rev.revoke(terminate=True)
                self.executing_sequence = None

                return (-1)

        if count >= len(executing_plans):

            sequence.status = Sequence.EXECUTED
            shs.status = Sequence.EXECUTED
            sequence.save()
            shs.save()
            message = "Finished sequence " + str(sequence.pk) + " execution"

            Log.objects.create(agent="Majordome", message=message)

            self.executing_sequence = None

        return (0)

    '''
        Function called to do an action with the devices status
    '''

    def handleStatus(self):

        telescope = Telescope.objects.first()
        camera_nir = Detector.objects.get(name="Cagire")
        camera_vis = Detector.objects.get(name="Visible camera")

        dome = Dome.objects.get(name="Dome")

        dome.status = self.status_dom

        telescope.status = self.status_tel
        camera_nir.status = self.status_nir
        camera_vis.status = self.status_vis

        dome.save()
        telescope.save()
        camera_nir.save()
        camera_vis.save()

        self.logDB("Instrument status : dome  = " + str(self.status_dom) + ", telescope = " + str(self.status_tel)
                   + ", camera_nir = " + str(self.status_nir) + ", camera_vis" + str(self.status_vis))

        return (0)

    '''

        Put the majordome in pause

    '''

    def systemPause(self, duration, cause: str):

        self.logDB("System in pause for " + str(duration))

        time.sleep(duration)

        #scheduler.tasks.scheduling.apply_async(first_schedule=False, alert=False)
        if settings.USE_CELERY:
            print("MJ: call schedule WITH CELERY")
            scheduler.tasks.scheduling.apply_async(first_schedule=False, alert=False)
        else:
            print("MJ: call schedule WITHOUT CELERY")
            scheduler.tasks.scheduling().run(first_schedule=False, alert=False)

        self.setTime()
        print("system has been paused. Cause : " + cause)
        return (0)

    '''

        Function called to do an action with the site status and the wheather status
    '''

    def handlePLC(self):
        try:
            site_status = SiteWatch.objects.latest('updated')
            weather_status = WeatherWatch.objects.latest('updated')
            self.weather_status = weather_status.global_status
            self.site_status = site_status.global_status
        except ObjectDoesNotExist as e:
            if (settings.DEBUG and DEBUG_FILE):
                log.info("No site_status or weather_status found in database : " + str(e))
            # TODO shutdown everything
            return 1

        return 0

    '''

        Gets the time before the expected start of the execution.

    '''

    def getCountdown(self, shs):
        # TODO start sequence as soon as possible (a lot of verifications must be done there)

        current_time = secondsToPreciseJulianDate(getPreciseCurrentTime())

        countdown = shs.tsp - current_time

        return countdown

    '''
        Change observation conditions
    '''
    def changeObsConditions(self):

        print("change_obs_conditions")

        pass

"""