Agent.py 122 KB
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348 1349 1350 1351 1352 1353 1354 1355 1356 1357 1358 1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 1382 1383 1384 1385 1386 1387 1388 1389 1390 1391 1392 1393 1394 1395 1396 1397 1398 1399 1400 1401 1402 1403 1404 1405 1406 1407 1408 1409 1410 1411 1412 1413 1414 1415 1416 1417 1418 1419 1420 1421 1422 1423 1424 1425 1426 1427 1428 1429 1430 1431 1432 1433 1434 1435 1436 1437 1438 1439 1440 1441 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453 1454 1455 1456 1457 1458 1459 1460 1461 1462 1463 1464 1465 1466 1467 1468 1469 1470 1471 1472 1473 1474 1475 1476 1477 1478 1479 1480 1481 1482 1483 1484 1485 1486 1487 1488 1489 1490 1491 1492 1493 1494 1495 1496 1497 1498 1499 1500 1501 1502 1503 1504 1505 1506 1507 1508 1509 1510 1511 1512 1513 1514 1515 1516 1517 1518 1519 1520 1521 1522 1523 1524 1525 1526 1527 1528 1529 1530 1531 1532 1533 1534 1535 1536 1537 1538 1539 1540 1541 1542 1543 1544 1545 1546 1547 1548 1549 1550 1551 1552 1553 1554 1555 1556 1557 1558 1559 1560 1561 1562 1563 1564 1565 1566 1567 1568 1569 1570 1571 1572 1573 1574 1575 1576 1577 1578 1579 1580 1581 1582 1583 1584 1585 1586 1587 1588 1589 1590 1591 1592 1593 1594 1595 1596 1597 1598 1599 1600 1601 1602 1603 1604 1605 1606 1607 1608 1609 1610 1611 1612 1613 1614 1615 1616 1617 1618 1619 1620 1621 1622 1623 1624 1625 1626 1627 1628 1629 1630 1631 1632 1633 1634 1635 1636 1637 1638 1639 1640 1641 1642 1643 1644 1645 1646 1647 1648 1649 1650 1651 1652 1653 1654 1655 1656 1657 1658 1659 1660 1661 1662 1663 1664 1665 1666 1667 1668 1669 1670 1671 1672 1673 1674 1675 1676 1677 1678 1679 1680 1681 1682 1683 1684 1685 1686 1687 1688 1689 1690 1691 1692 1693 1694 1695 1696 1697 1698 1699 1700 1701 1702 1703 1704 1705 1706 1707 1708 1709 1710 1711 1712 1713 1714 1715 1716 1717 1718 1719 1720 1721 1722 1723 1724 1725 1726 1727 1728 1729 1730 1731 1732 1733 1734 1735 1736 1737 1738 1739 1740 1741 1742 1743 1744 1745 1746 1747 1748 1749 1750 1751 1752 1753 1754 1755 1756 1757 1758 1759 1760 1761 1762 1763 1764 1765 1766 1767 1768 1769 1770 1771 1772 1773 1774 1775 1776 1777 1778 1779 1780 1781 1782 1783 1784 1785 1786 1787 1788 1789 1790 1791 1792 1793 1794 1795 1796 1797 1798 1799 1800 1801 1802 1803 1804 1805 1806 1807 1808 1809 1810 1811 1812 1813 1814 1815 1816 1817 1818 1819 1820 1821 1822 1823 1824 1825 1826 1827 1828 1829 1830 1831 1832 1833 1834 1835 1836 1837 1838 1839 1840 1841 1842 1843 1844 1845 1846 1847 1848 1849 1850 1851 1852 1853 1854 1855 1856 1857 1858 1859 1860 1861 1862 1863 1864 1865 1866 1867 1868 1869 1870 1871 1872 1873 1874 1875 1876 1877 1878 1879 1880 1881 1882 1883 1884 1885 1886 1887 1888 1889 1890 1891 1892 1893 1894 1895 1896 1897 1898 1899 1900 1901 1902 1903 1904 1905 1906 1907 1908 1909 1910 1911 1912 1913 1914 1915 1916 1917 1918 1919 1920 1921 1922 1923 1924 1925 1926 1927 1928 1929 1930 1931 1932 1933 1934 1935 1936 1937 1938 1939 1940 1941 1942 1943 1944 1945 1946 1947 1948 1949 1950 1951 1952 1953 1954 1955 1956 1957 1958 1959 1960 1961 1962 1963 1964 1965 1966 1967 1968 1969 1970 1971 1972 1973 1974 1975 1976 1977 1978 1979 1980 1981 1982 1983 1984 1985 1986 1987 1988 1989 1990 1991 1992 1993 1994 1995 1996 1997 1998 1999 2000 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 2021 2022 2023 2024 2025 2026 2027 2028 2029 2030 2031 2032 2033 2034 2035 2036 2037 2038 2039 2040 2041 2042 2043 2044 2045 2046 2047 2048 2049 2050 2051 2052 2053 2054 2055 2056 2057 2058 2059 2060 2061 2062 2063 2064 2065 2066 2067 2068 2069 2070 2071 2072 2073 2074 2075 2076 2077 2078 2079 2080 2081 2082 2083 2084 2085 2086 2087 2088 2089 2090 2091 2092 2093 2094 2095 2096 2097 2098 2099 2100 2101 2102 2103 2104 2105 2106 2107 2108 2109 2110 2111 2112 2113 2114 2115 2116 2117 2118 2119 2120 2121 2122 2123 2124 2125 2126 2127 2128 2129 2130 2131 2132 2133 2134 2135 2136 2137 2138 2139 2140 2141 2142 2143 2144 2145 2146 2147 2148 2149 2150 2151 2152 2153 2154 2155 2156 2157 2158 2159 2160 2161 2162 2163 2164 2165 2166 2167 2168 2169 2170 2171 2172 2173 2174 2175 2176 2177 2178 2179 2180 2181 2182 2183 2184 2185 2186 2187 2188 2189 2190 2191 2192 2193 2194 2195 2196 2197 2198 2199 2200 2201 2202 2203 2204 2205 2206 2207 2208 2209 2210 2211 2212 2213 2214 2215 2216 2217 2218 2219 2220 2221 2222 2223 2224 2225 2226 2227 2228 2229 2230 2231 2232 2233 2234 2235 2236 2237 2238 2239 2240 2241 2242 2243 2244 2245 2246 2247 2248 2249 2250 2251 2252 2253 2254 2255 2256 2257 2258 2259 2260 2261 2262 2263 2264 2265 2266 2267 2268 2269 2270 2271 2272 2273 2274 2275 2276 2277 2278 2279 2280 2281 2282 2283 2284 2285 2286 2287 2288 2289 2290 2291 2292 2293 2294 2295 2296 2297 2298 2299 2300 2301 2302 2303 2304 2305 2306 2307 2308 2309 2310 2311 2312 2313 2314 2315 2316 2317 2318 2319 2320 2321 2322 2323 2324 2325 2326 2327 2328 2329 2330 2331 2332 2333 2334 2335 2336 2337 2338 2339 2340 2341 2342 2343 2344 2345 2346 2347 2348 2349 2350 2351 2352 2353 2354 2355 2356 2357 2358 2359 2360 2361 2362 2363 2364 2365 2366 2367 2368 2369 2370 2371 2372 2373 2374 2375 2376 2377 2378 2379 2380 2381 2382 2383 2384 2385 2386 2387 2388 2389 2390 2391 2392 2393 2394 2395 2396 2397 2398 2399 2400 2401 2402 2403 2404 2405 2406 2407 2408 2409 2410 2411 2412 2413 2414 2415 2416 2417 2418 2419 2420 2421 2422 2423 2424 2425 2426 2427 2428 2429 2430 2431 2432 2433 2434 2435 2436 2437 2438 2439 2440 2441 2442 2443 2444 2445 2446 2447 2448 2449 2450 2451 2452 2453 2454 2455 2456 2457 2458 2459 2460 2461 2462 2463 2464 2465 2466 2467 2468 2469 2470 2471 2472 2473 2474 2475 2476 2477 2478 2479 2480 2481 2482 2483 2484 2485 2486 2487 2488 2489 2490 2491 2492 2493 2494 2495 2496 2497 2498 2499 2500 2501 2502 2503 2504 2505 2506 2507 2508 2509 2510 2511 2512 2513 2514 2515 2516 2517 2518 2519 2520 2521 2522 2523 2524 2525 2526 2527 2528 2529 2530 2531 2532 2533 2534 2535 2536 2537 2538 2539 2540 2541 2542 2543 2544 2545 2546 2547 2548 2549 2550 2551 2552 2553 2554 2555 2556 2557 2558 2559 2560 2561 2562 2563 2564 2565 2566 2567 2568 2569 2570 2571 2572 2573 2574 2575 2576 2577 2578 2579 2580 2581 2582 2583 2584 2585 2586 2587 2588 2589 2590 2591 2592 2593 2594 2595 2596 2597 2598 2599 2600 2601 2602 2603 2604 2605 2606 2607 2608 2609 2610 2611 2612 2613 2614 2615 2616 2617 2618 2619 2620 2621 2622 2623 2624 2625 2626 2627 2628 2629 2630 2631 2632 2633 2634 2635 2636 2637 2638 2639 2640 2641 2642 2643 2644 2645 2646 2647 2648 2649 2650 2651 2652 2653 2654 2655 2656 2657 2658 2659 2660 2661 2662 2663 2664 2665 2666 2667 2668 2669 2670 2671 2672 2673 2674 2675 2676 2677 2678 2679 2680 2681 2682 2683 2684 2685 2686 2687 2688 2689 2690 2691 2692 2693 2694 2695 2696 2697 2698 2699 2700 2701 2702 2703 2704 2705 2706 2707 2708 2709 2710 2711 2712 2713 2714 2715 2716 2717 2718 2719 2720 2721 2722 2723 2724 2725 2726 2727 2728 2729 2730 2731 2732 2733 2734 2735 2736 2737 2738 2739 2740 2741 2742 2743 2744 2745 2746 2747 2748 2749 2750 2751 2752 2753 2754 2755 2756 2757 2758 2759 2760 2761 2762 2763 2764 2765 2766 2767 2768 2769 2770 2771 2772 2773 2774 2775 2776 2777 2778 2779 2780 2781 2782 2783 2784 2785 2786 2787 2788 2789 2790 2791 2792 2793 2794 2795 2796 2797 2798 2799 2800 2801 2802 2803 2804 2805 2806 2807 2808 2809 2810 2811 2812 2813 2814 2815 2816 2817 2818 2819 2820 2821 2822 2823 2824 2825 2826 2827 2828 2829 2830 2831 2832 2833 2834 2835 2836 2837 2838 2839 2840 2841 2842 2843 2844 2845 2846 2847 2848 2849 2850 2851 2852 2853 2854 2855 2856 2857 2858 2859 2860 2861 2862 2863 2864 2865 2866 2867 2868 2869 2870 2871 2872 2873 2874 2875 2876 2877 2878 2879 2880 2881 2882 2883 2884 2885 2886 2887 2888 2889 2890 2891 2892 2893 2894 2895 2896 2897 2898 2899 2900 2901 2902 2903 2904 2905 2906 2907 2908 2909 2910 2911 2912 2913 2914 2915 2916 2917 2918 2919 2920 2921 2922 2923 2924 2925 2926 2927 2928 2929 2930 2931 2932 2933 2934 2935 2936 2937 2938 2939 2940 2941 2942 2943 2944 2945 2946 2947 2948 2949 2950 2951 2952 2953 2954 2955 2956 2957 2958 2959 2960 2961 2962 2963 2964 2965 2966 2967 2968 2969 2970 2971 2972 2973 2974 2975 2976 2977 2978 2979 2980 2981 2982 2983 2984 2985 2986 2987 2988 2989 2990 2991 2992 2993 2994 2995 2996 2997 2998 2999 3000 3001 3002 3003 3004 3005 3006 3007 3008 3009 3010 3011 3012 3013 3014 3015 3016 3017 3018 3019 3020 3021 3022 3023 3024 3025 3026 3027 3028 3029 3030 3031 3032 3033 3034 3035 3036 3037 3038 3039 3040 3041 3042 3043 3044 3045 3046 3047 3048 3049 3050 3051 3052 3053 3054 3055 3056 3057 3058 3059 3060 3061 3062 3063 3064 3065 3066 3067 3068 3069 3070 3071 3072 3073 3074 3075 3076 3077 3078 3079 3080 3081 3082 3083 3084 3085 3086 3087 3088 3089 3090 3091 3092 3093 3094 3095 3096 3097 3098 3099 3100 3101 3102 3103 3104 3105 3106 3107 3108 3109 3110 3111 3112 3113 3114 3115 3116 3117 3118 3119 3120 3121 3122 3123 3124 3125 3126 3127 3128 3129 3130 3131 3132 3133 3134 3135 3136 3137 3138 3139 3140 3141 3142 3143 3144 3145 3146 3147 3148 3149 3150 3151 3152 3153 3154 3155 3156 3157 3158 3159 3160 3161 3162 3163 3164 3165 3166 3167 3168 3169 3170 3171 3172 3173 3174 3175 3176 3177 3178 3179 3180 3181 3182 3183 3184 3185 3186 3187 3188 3189 3190 3191 3192 3193 3194 3195 3196 3197 3198 3199 3200 3201 3202 3203 3204 3205 3206 3207 3208 3209 3210 3211 3212 3213 3214 3215 3216 3217 3218 3219 3220 3221 3222 3223 3224 3225 3226 3227 3228 3229 3230 3231 3232 3233 3234 3235 3236 3237 3238 3239 3240 3241
#!/usr/bin/env python3

#DEBUG=True
#DEBUG=False

"""
=================================================================
Agent class
=================================================================

This class is the base class for all AgentXXX classes (AgentSST, AgentScheduler, AgentImagesProcessor...)

It runs an infinite loop (called main_loop) doing at each iteration
some routine tasks (process_routine before and after)
and executing commands sent by other agents.

To start it up, from the project root :

- In normal mode :
- ./PYROS start -fg agent -o tnc
(add -d after the PYROS command for debug mode)

- In test mode (the agent will execute a scenario 
as a suite of commands (in TEST_COMMANDS_LIST) 
to send to himself (or other agents) 
and execute them on reception at each iteration :
- ./PYROS -t start -fg agent -o tnc

"""


###
# =================================================================
#    SETUP FOR DJANGO
#
#    (see https://docs.djangoproject.com/en/dev/topics/settings)
#    (see also https://docs.djangoproject.com/en/dev/ref/settings)
# =================================================================
###


# For cmd parsing
from array import array
from datetime import datetime
from typing import List, Tuple, Union, Any, Optional
import ast
from inspect import signature

import os
from pathlib import Path
import sys

import logging
import typing

from django.utils import timezone
from django.conf import settings as djangosettings

# Conseil sur le net:
#https://stackoverflow.com/questions/16853649/how-to-execute-a-python-script-from-the-django-shell
#""
#import sys, os
#sys.path.append('/path/to/your/django/app')
#os.environ['DJANGO_SETTINGS_MODULE'] = 'settings'
#from django.conf import settings
#""

# To avoid a "ModuleNotFoundError: No module named 'dashboard'"... (not even 1 app found) :
##sys.path.insert(0, os.path.abspath(".."))
##sys.path.insert(0, os.path.abspath("src"))
##sys.path.insert(0, "../src")
##sys.path.insert(0, "src")
# To avoid a "ModuleNotFoundError: No module named 'dashboard'"
## sys.path.append("..")
py_pwd = os.path.normpath(os.getcwd() + "/..")
if (py_pwd not in os.sys.path):
    (os.sys.path).append(py_pwd)
# To avoid a "ModuleNotFoundError: No module named 'src'"
## sys.path.append("../../../..")
py_pwd = os.path.normpath(os.getcwd() + "/../../../..")
if (py_pwd not in os.sys.path):
    (os.sys.path).append(py_pwd)
##sys.path.append("src")

from src.pyros_logger import log, handler_filebyagent
#from src.pyros_logger import logger as logg, handler_filebyagent, 
##from src import pyros_logger

'''
def printd(*args, **kwargs):
    if os.environ.get('PYROS_DEBUG', '0')=='1': print(*args, **kwargs)
'''

#printd("Starting with this sys.path", sys.path)
log.debug("Starting with this sys.path" + str(sys.path))

# DJANGO setup
# self.printd("file is", __file__)
# mypath = os.getcwd()
# Go into src/
##os.chdir("..")
##os.chdir("src")
#printd("Current directory : " + str(os.getcwd()))
log.debug("Current directory : " + str(os.getcwd()))

#os.environ.setdefault("DJANGO_SETTINGS_MODULE", "src.core.pyros_django.pyros.settings")
os.environ.setdefault("DJANGO_SETTINGS_MODULE", "src.core.pyros_django.pyros.settings")
# os.environ['SECRET_KEY'] = 'abc'
# os.environ['ENVIRONMENT'] = 'production'
import django

django.setup()

#printd("DB2 used is:", djangosettings.DATABASES["default"]["NAME"])
log.debug("DB2 used is:" + djangosettings.DATABASES["default"]["NAME"])


###
# =================================================================
#    IMPORT PYTHON PACKAGES
#=================================================================
###

# --- GENERAL PURPOSE IMPORT ---
#from __future__ import absolute_import
##import utils.Logger as L
import platform
import random
import threading
#import multiprocessing
import time
import re
'''
from threading import Thread
import socket
'''
#import ctypes
#import copy

# --- DJANGO IMPORT ---
from django.db import transaction
from django import db
# 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

# --- SPECIFIC IMPORT ---
# Many ways to import configuration settings:
##import config
import config.old_config as config_old
#from config import PYROS_ENV, ROOT_DIR, DOC_DIR
#from config import *

from common.models import AgentSurvey, AgentCmd, AgentLogs

#from config.configpyros import ConfigPyros
from config.old_config.configpyros import ConfigPyros as ConfigPyrosOld
from src.core.pyros_django.obsconfig.obsconfig_class import OBSConfig

#from dashboard.views import get_sunelev
#from devices.TelescopeRemoteControlDefault import TelescopeRemoteControlDefault
#from utils.JDManipulator import *

##from agent.logpyros import LogPyros
##from src.logpyros import LogPyros

'''
from device_controller.abstract_component.device_controller import (
    DCCNotFoundException, UnknownGenericCmdException,
    UnimplementedGenericCmdException, UnknownNativeCmdException
)
'''



###
# =================================================================
#    GENERAL MODULE CONSTANT & FUNCTIONS DEFINITIONS
# =================================================================
###

#DEBUG_FILE = False

##log = L.setupLogger("AgentLogger", "Agent")

IS_WINDOWS = platform.system() == "Windows"


class Colors:
    HEADER = "\033[95m"
    BLUE = "\033[94m"
    GREEN = "\033[92m"
    WARNING = "\033[93m"
    FAIL = "\033[91m"
    ENDC = "\033[0m"
    BOLD = "\033[1m"
    UNDERLINE = "\033[4m"

def printColor(color: Colors, message, file=sys.stdout, eol=os.linesep, forced=False):
    #system = platform.system()
    """
    if (self.disp == False and forced == False):
        return 0
    """
    #if system == "Windows":
    if IS_WINDOWS:
        print(message, file=file, end=eol)
    else:
        print(color + message + Colors.ENDC, file=file, end=eol)
    return 0

def printFullTerm(color: Colors, string: str):
    #system = platform.system()
    columns = 100
    row = 1000
    disp = True
    value = int(columns / 2 - len(string) / 2)
    printColor(color, "-" * value, eol="")
    printColor(color, string, eol="")
    value += len(string)
    printColor(color, "-" * (columns - value))
    return 0


"""
=================================================================
    class StoppableThread
=================================================================
"""
'''
class StoppableThreadEvenWhenSleeping(threading.Thread):
    # Thread class with a stop() method. The thread itself has to check
    # regularly for the stopped() condition.
    # It stops even if sleeping
    # See https://python.developpez.com/faq/?page=Thread#ThreadKill
    # See also https://www.oreilly.com/library/view/python-cookbook/0596001673/ch06s03.html

    def __init__(self, *args, **kwargs):
        #super(StoppableThreadSimple, self).__init__(*args, **kwargs)
        super().__init__(*args, **kwargs)
        self._stop_event = threading.Event()

    #def stop(self):
    def terminate(self):
        self._stop_event.set()

    def stopped(self):
        return self._stop_event.is_set()

    def wait(self, nbsec:float=2.0):
        self._stop_event.wait(nbsec)
'''


###
# =================================================================
#    EXCEPTIONS classes
# =================================================================
###

class CmdException(Exception):
    ''' Base class for all Agent command exceptions '''
    # pass
    def __init__( self, cmd:Union[AgentCmd,str], msg:str=None):
        self.cmd = cmd
        self._msg = msg
        self.cmd_name = cmd if isinstance(cmd,str) else cmd.name
    @property
    def msg(self):
        msg = "EXCEPTION on command "+self.cmd_name
        return msg if not self._msg else msg+': '+self._msg
    # Default message if print exception
    def __str__(self):
        return self.msg
        '''
        msg = "EXCEPTION on command "+self.cmd_name
        return msg if not self.msg else msg+': '+self.msg
        '''
    '''
    def __str__(self):
        return f"The Agent command '{self.cmd.name}' is unknown to the agent"
        #return f"({type(self).__name__}): Device Generic command has no implementation in the controller"
    '''

# --- CMD PENDING (non running) EXCEPTIONS ---

# @Override
class CmdExceptionUnknown(CmdException):
    ''' Raised when a PENDING (non running) Agent (specific) cmd is NOT known by the agent '''
    # @Override
    def __init__( self, cmd, msg:str=None):
        super().__init__(cmd, msg if msg else "Unknown command")
    #def __str__(self): return self.msg if self.msg else f"The Agent command '{self.cmd_name}' is unknown to the agent"

# @Override
class CmdExceptionUnimplemented(CmdException):
    ''' Raised when a PENDING (non running) Agent Specific cmd is known by the agent but not implemented '''
    # @Override
    def __init__( self, cmd, msg:str=None):
        super().__init__(cmd, msg if msg else "Command is known by the agent but not implemented")
    #def __str__(self): return f"The Agent command '{self.cmd_name}' is known by the agent but not implemented"

# @Override
class CmdExceptionBadArgs(CmdException):
    ''' Raised when a PENDING (non running) Agent cmd has bad, missing, or too many argument(s) '''
    # @Override
    def __init__( self, cmd, msg:str=None):
        super().__init__(cmd, msg if msg else "Command has bad, missing, or too many argument(s)")
    #def __str__(self): return f"The Agent command '{self.cmd_name}' has bad, missing, or too many argument(s)"


# --- CMD RUNNING EXCEPTIONS ---

# @Override
class CmdExceptionExecError(CmdException):
    ''' Raised when a RUNNING Agent cmd has had a running error  '''
    # @Override
    def __init__( self, cmd, msg:str=None):
        super().__init__(cmd, msg if msg else "Error during Execution")
    #def __str__(self): return f"The running Agent command '{self.cmd_name}' has had an error (during execution)"

# @Override
class CmdExceptionExecTimeout(CmdException):
    ''' Raised when a RUNNING Agent cmd is timeout  '''
    # @Override
    def __init__( self, cmd, msg:str=None):
        super().__init__(cmd, msg if msg else "Execution is TIMEOUT")
    #def __str__(self): return f"The running Agent command '{self.cmd_name}' is timeout"

# @Override
class CmdExceptionExecKilled(CmdException):
    ''' Raised when a RUNNING Agent cmd has been aborted (by another agent)  '''
    # @Override
    def __init__( self, cmd, msg:str=None):
        super().__init__(cmd, msg if msg else "Command was KILLED during Execution (by another agent")
    #def __str__(self): return f"The running Agent command '{self.cmd_name}' has been killed (by another agent)"

###
# =================================================================
#    class Agent
# =================================================================
###

class Agent:
    """
    See Agent_activity_diag.pu for PlantUML activity diagram

    Behavior of an agent:
    - If idle :
        - still does routine_process() and general_process()
        - does not do specific_process()
    - Once a command has been sent to another agent :
        - It waits (non blocking) for the end of execution of the command and get its result
        - If command is timed out or has been skipped or killed, then it is NOT re-executed at next iteration (except if needed explicitely)
    """

    # ---
    # --- CLASS (STATIC) attributes (CONSTANTS)
    # --- If agent is instance of Agent:
    # ---    - CLASS attributes are accessible via agent.__class__.__dict__
    # ---    - INSTANCE attributes are accessible via agent.__dict__
    # ---

    # Default modes
    DEBUG_MODE:bool = False
    #TEST_MODE = False

    # By default, a command is valid during 5s (and then perempted)
    DEFAULT_CMD_VALIDITY_DURATION:int = 5

    # Wait a fixed number of seconds before each loop ? 
    #WITH_RANDOM_WAIT = False
    # 1 sec by default
    __DELAY_NB_SEC:int = 1
    # - YES if TEST mode (in init())

    # Default LOG level is INFO
    #PYROS_DEFAULT_GLOBAL_LOG_LEVEL = LogPyros.LOG_LEVEL_INFO # INFO

    ''' 
    This Agent Specific commands list, that he is able to execute
    To be overriden by subclasses (here are just a few examples of commands)
    Format : ("cmd", args, timeout) with :
        - cmd (str) : the command name
        - timeout (int) : the command timeout (in sec)
        - exec_mode (int) : 0 (sequential), 1 (thread), or 2 (process)
    '''
    _AGENT_SPECIFIC_COMMANDS: List[ Tuple[str, int, int] ] = [
        # Format : (“cmd_name”, timeout, exec_mode)
        ("do_specific1", 10, 0),
        #("set_specific2", 5, 0),
        ("do_specific3", 3, 0),
    ]

    #
    # --- FOR TEST ONLY ---
    #

    # By default, NOT in test mode
    #TEST_MODE = False

    # Maximum duration of this agent (only for SIMULATION mode)
    # If set to None, it will never exit except if asked (or CTRL-C)
    # If set to 20, it will exit after 20s
    TEST_MAX_DURATION_SEC = None
    #TEST_MAX_DURATION_SEC = 30
    # Run this agent in simulator mode
    #TEST_MODE = True
    WITH_SIMULATOR:bool = False
    # Run the assertion tests at the end
    TEST_WITH_FINAL_TEST:bool = False

    CMD_STATUS = AgentCmd.CMD_STATUS_CODES
    AGT_STATUS = AgentSurvey.STATUS_CHOICES


    # (EP 2022/07) Default SCENARIO to be executed (only in TEST mode), and then STOP
    # 
    # It is a list of commands to be sent by this agent to other agents ("self" means himself)
    #
    # Format : List of tuples (command, validity, expected_res, expected_status), with :
    #   
    #   - DO_IT : execute this command yes (true) or no (false) ? (yes by default)

    #   - command : the format is "recipient cmd args", with :
    #       - recipient : name of the Agent that the command is to be sent to (use "self" to mean himself)
    #       - cmd : the command name
    #       - args : (optional) the list of command arguments, separated by blanks : arg1 arg2 arg3 ...
    #       
    #   - validity : the command is valid for this duration, afterwards you can forget it
    #
    #   - expected_res : the expected result (set to None if not to be tested)
    #
    #   - expected_status : the status of the command expected after execution (expired, killed, skipped, executed...) (set to None if not to be tested)
    # 
    # Ex :
    # - "AgentScheduler set_state ATTENTIVE" => means to send the command "set_state ATTENTIVE" to the agent AgentScheduler
    # - "AgentX set_state ATTENTIVE" => means to send the command "set_state ATTENTIVE" to the agent AgentX
    # - "self set_state ATTENTIVE" => means to send the command "set_state ATTENTIVE" to MYSELF
    # - "self do_restart_loop" => means to send the command "do_restart_loop" to MYSELF (no args)
    #
    #_TEST_COMMANDS_LIST: List[ Tuple[ bool, str, int, Union[str,None], Union[int,None] ] ] = [
    _TEST_COMMANDS_LIST: List[ Tuple[ bool, str, int, Optional[str], Optional[int]] ] = [

        # Format : (DO_IT, "self cmd_name cmd_args", timeout, "expected_result", expected_status),
        #("self do_stop now", 200, '15.5', None),
        (True, "self do_specific1 1 2 3.5 titi (3,'titi',5) [1,3,5,7,9]", 200, '15.5', None),

        # 1) First, 3 EXCEPTION CASES (uncomment to activate exception)
        # Each of these lines will stop execution with an exception
        # ------------------------------------------------------------

        # - Agent command, unknown => ko, UnknownCmdException
        #("self do_unknown", 10, None,None),

        # - Agent general command malformed (missing arg) => ko, AgentCmdBadArgsException
        #("Agent set_mode", 10, None,None),
        
        # - Agent specific command, known but not implemented => ko, AgentCmdUnimplementedException
        #("self set_specific2", 10, None,None),

        # - Agent specific command, implemented but missing args => ko, AgentCmdBadArgsException
        #("    self      do_specific1    1   ", 10, None,None),


        # 2) NORMAL CASES (test scenario)
        # All these commands should be executed without error, from the 1st to the last one
        # -------------------------------

        # This command has a validity of 0s and thus should be tagged as "expired"
        (True, "self set_mode ATTENTIVE", 0, "MODE is ATTENTIVE", CMD_STATUS.CMD_EXPIRED),

        # Agent general command
        (True, "self set_mode ATTENTIVE", 200, "MODE is ATTENTIVE", CMD_STATUS.CMD_EXECUTED),
        # => should get "ATTENTIVE"
        (True, "self get_mode", 100, "MODE is ATTENTIVE", None),

        # => should get "7"
        (True, "self do_eval 3+5-1", 200, '7', None),

        # END, will not go further
        #("self do_exit", 2, "STOPPING"),

        # Agent specific commands => should be executed
        (True, "self do_specific3", 200, '', None),
        (True, "self do_exit", 500, "STOPPING", None),
        (True, "self do_specific1 1 2 3.5 titi (3,'titi',5) [1,3,5,7,9]", 200, '15.5', None),


        (True, "self set_mode ROUTINE", 200, "MODE is ROUTINE", None),
        # => should get "ROUTINE"
        (True, "self get_mode", 200, "MODE is ROUTINE", None), 
        # Agent specific command => should be skipped (because not ATTENTIVE)
        (True, "self do_specific1 1 2 3.5 titi (3,'titi',5) [1,3,5,7,9]", 200, "SKIPPED", None),

        # From now on, should not run anymore process_before/after
        # => and should skip next specific commands
        (True, "self set_mode IDLE", 200, "MODE is IDLE", None),
        # => should get "IDLE"
        (True, "self get_mode", 200, "MODE is IDLE", None),
        # Agent specific command => should be skipped (because not ATTENTIVE)
        (True, "self do_specific1 1 2 3.5 titi (3,'titi',5) [1,3,5,7,9]", 200, 'SKIPPED', None),

        # TODO: test priority commands : do_abort, do_flush_cmds, ...
        # - Stop executing new commands (just let them accumulate)
        ##("self do_stop_exec",),
        ##("self set_mode ATTENTIVE",),
        ##("self get_mode",),
        ##("self do_specific1 1 2 3.5 titi (3,'titi',5) [1,3,5,7,9]",),
        ##("self set_mode ROUTINE",),
        ##("self get_mode",),
        ##("self do_abort",),
        # - Now, resume execution of commands :
        # we should have the previous list pending,
        # but as "do_abort" is priority, it should be executed first even if last !
        ##("self do_resume_exec",),

        # Restart the restart loop (from init())
        (True, "self do_restart", 200, "RESTARTING", None),

        # Now stop
        (True, "self do_exit", 200, "STOPPING", None),

        '''
        # specific0 not_executed_because_idle
        "specific0",

        "set_state:active",

        # specific1 executed_because_not_idle, should complete ok
        "specific1",

        # specific2 will be executed only when specific1 is finished,
        # and should be aborted before end of execution,
        # because of the 1st coming "do_abort" command below
        "specific2",
    
        # specific3 should be executed only when specific2 is finished (in fact, aborted),
        # and should be aborted before end of execution,
        # because of the 2nd coming "do_abort" command below
        "specific3",
    
        # These commands should not have the time to be processed
        # because the "do_exit" command below should be executed before
        "specific4",
        "specific5",
        "specific6",
        "specific7",
        "specific8",
    
        # Should abort the current running command (which should normally be specific2)
        # even if commands above (specific3, ..., specific8) are already pending
        "do_abort",
    
        # These commands (except abort) won't be executed
        # because too many commands are already pending (above)
        "specific9",
        "do_abort",
        "set_state:active",
        "set_state:idle",
    
        # Should stop the agent even before the previous pending commands are executed
        "do_exit",
    
        # Because of the previous "do_exit" command,
        # these following commands should not be executed,
        # and not even be added to the database command table
        "set_state:active",
        "specific10"
        '''
    ]
    #TEST_COMMANDS = iter(TEST_COMMANDS_LIST)



    '''
    # with thread
    RUN_IN_THREAD = True
    # with process
    #RUN_IN_THREAD = False
    _thread_total_steps_number = 1
    '''


    #COMMANDS_PEREMPTION_HOURS = 48
    #COMMANDS_PEREMPTION_HOURS = 60/60

    ##name = "Generic Agent"
    ##status = None
    ##mode = None
    config = None

    ''' Moved to more central file : config.config_base
    PYROS_DJANGO_BASE_DIR = Path("src/core/pyros_django") # pathlib
    DEFAULT_CONFIG_FILE_NAME = "config_unit_simulunit1.xml"
    CONFIG_DIR_NAME = "config"
    '''

    # My own ConfigPyros instance (Observatory Configuration) 
    _oc = None

    # Parameters from config file
    # for /src/
    #_path_data = '../../config'
    # for /src/core/pyros_django/
    #_path_data = '../../../../config'
    # Path to config
    _path_data = ''
    _computer_alias = ''
    _computer_description = ''

    # Current and next command to send
    ##_cmdts: AgentCmd = None
    ##_next_cmdts = None

    __agent_survey = None
    __pending_commands = []

    '''
    _current_device_cmd = None
    _current_device_cmd_thread = None
    '''

    # List of agents I will send commands to
    _my_client_agents_aliases = []
    _my_client_agents = {}

    # Log object
    _log = None

    def __repr__(self):
        return "I am agent " + self.name

    def __str__(self):
        return self.__repr__()
        #return "I am agent " + self.name

    # new obsconfig init for agent:
    ##def __init__(self, RUN_IN_THREAD=True):
    def __init__(self):

        # Declaration of Instance attributes, default values
        #self.UP_SINCE = datetime.utcnow()
        self.__UP_SINCE = datetime.now(tz=timezone.utc)
        self.__ROUTINE_PROCESS_BEFORE_IS_RUNNING:bool = False
        self.__ROUTINE_PROCESS_AFTER_IS_RUNNING:bool = False
        self.__test_cmd_received_num:int = 0  # only for tests
        # Current Command running
        self.__CC :AgentCmd = None
        # Previous Command running
        self.__CC_prev :AgentCmd = None
        # Current Command exception (if occurs)
        self.__CCE :Exception = None
        self.name = "Generic Agent"
        self.__status :str = None
        self.__mode :str = None
        self.unit = None
        self.TEST_COMMANDS = None
        self.__iter_num :int = 0

        #print(AgentSurvey.MODE_CHOICES.IDLE)
        #sys.exit()

        # Agent is by default in mode ATTENTIVE (most active mode)
        #self.__mode = self.MODE_ATTENTIVE
        self.set_mode_attentive()
        #self._set_mode(MODES.)

        log.addHandler(handler_filebyagent(logging.INFO, self.__class__.__name__))
        log.debug("start Agent init")
        obs_config_file_path = os.environ["PATH_TO_OBSCONF_FILE"]
        path_to_obs_config_folder = os.environ["PATH_TO_OBSCONF_FOLDER"]
        unit = os.environ["unit_name"]
        oc = OBSConfig(obs_config_file_path,unit)
        self.set_config(oc, obs_config_file_path, path_to_obs_config_folder, unit)

        self.name = self.__class__.__name__
        # set real unit name (the current unit used)
        if unit == "":
            unit = oc.unit_name
        agent_name_from_config = self.get_config().get_agent_name_from_config(self.__class__.__name__)
        if agent_name_from_config:
            self.name = agent_name_from_config
        self.unit = unit
        print(f"Agent name : {self.name}")
        print(f"Unit name : {self.unit}")
        
        # (EP) moved to AgentDevice
        ###self._set_agent_device_aliases_from_config(self.name)
        
        self._set_mode_from_config(self.name)
        log.debug("Step __init__")

        self.TEST_COMMANDS = iter(self._TEST_COMMANDS_LIST)
        ##self.RUN_IN_THREAD = RUN_IN_THREAD
        self.__set_status(self.AGT_STATUS.LAUNCHED)
        ####self._set_idle()

        # Create 1st survey if none
        #tmp = AgentSurvey.objects.filter(name=self.name)
        #if len(tmp) == 0:
        #nb_agents = AgentSurvey.objects.filter(name=self.name).count()
        #if nb_agents == 0:
        if AgentSurvey.objects.filter(name=self.name).exists():
            self.__agent_survey = AgentSurvey.objects.get(name=self.name)
        else:
            self.__agent_survey = AgentSurvey.objects.create(
                name=self.name, 
                validity_duration=60, 
                #mode=self.__mode,
                mode = self.__get_mode(),
                #status=self.__status, 
                status=self.get_status(),
                iteration=-1
            )
        log.debug("Agent survey is" + str(self.__agent_survey))
        #self.printd("Agent survey is", self._agent_survey)

        ("end Agent __init__")


    #def __init__(self, name:str="Agent", config_filename:str=None, RUN_IN_THREAD=True):
    #def __init__(self, config_filename:str=None, RUN_IN_THREAD=True, DEBUG_MODE=False):
    # def __init__(self, config_filename:str=None, RUN_IN_THREAD=True):

    #     '''
    #     print('PYROS_ENV', PYROS_ENV)
    #     print('ROOT_DIR', ROOT_DIR)
    #     print('DOC_DIR', DOC_DIR)
    #     '''

    #     # Set logger
    #     ##pyros_logger.set_logger_config()
    #     ##logg = logging.getLogger('pyroslogger')
    #     log.addHandler(handler_filebyagent(logging.INFO, self.__class__.__name__))

    #     log.debug("start Agent init")

    #     # SET CONFIG INSTANCE

    #     # - OLD CONFIG
    #     log.debug(f'config file is {config_filename}')
    #     ##log.info('PYROS_ENV', config.PYROS_ENV)
    #     log.debug('PYROS_ENV' + config_old.PYROS_ENV)
    #     log.debug('ROOT_DIR' + config_old.ROOT_DIR)
    #     log.debug('DOC_DIR' + config_old.DOC_DIR)
    #     ##if config.is_dev_env(): print("DEV ENV")
    #     if config_old.is_dev_env(): log.debug("DEV ENV")
    #     if config_old.is_prod_env(): log.debug("PROD ENV")
    #     if config_old.is_debug(): log.debug("IN DEBUG MODE")

    #     # - NEW CONFIG
    #     obs_config_file_path = os.environ["PATH_TO_OBSCONF_FILE"]
    #     path_to_obs_config_folder = os.environ["PATH_TO_OBSCONF_FOLDER"]
    #     unit = os.environ["unit_name"]
    #     oc = OBSConfig(obs_config_file_path)
    #     self.set_config(oc, obs_config_file_path, path_to_obs_config_folder, unit)
    #     log.debug("Step __init__")

    #     self.TEST_COMMANDS = iter(self.TEST_COMMANDS_LIST)
    #     self.RUN_IN_THREAD = RUN_IN_THREAD
    #     self._set_status(self.STATUS_LAUNCH)
    #     self._set_idle()

    #     self._set_agent_device_aliases_from_config(self.name)
    #     self._set_mode_from_config(self.name)
    #     #self.name = name
    #     self.name = self.__class__.__name__
        

    #     '''
    #     printd("*** ENVIRONMENT VARIABLE PYROS_DEBUG is:", os.environ.get('PYROS_DEBUG'), '***')
    #     ##self.DEBUG_MODE = DEBUG_MODE
    #     self.DEBUG_MODE = os.environ.get('PYROS_DEBUG', '0')=='1'
    #     '''
    #     #self.DEBUG_MODE = config.PYROS_ENV
    #     ##self.log = LogPyros(self.name, AgentLogs)
    #     ##self.DEBUG_MODE = config.is_debug()
    #     self.DEBUG_MODE = config_old.is_debug()
    #     ##self.log.debug_level = DEBUG_MODE
    #     '''
    #     # Default LOG level is INFO
    #     log_level = LogPyros.LOG_LEVEL_INFO # INFO
    #     self.log.set_global_log_level(LogPyros.LOG_LEVEL_DEBUG) if self.DEBUG_MODE else self.log.set_global_log_level(log_level)
    #     '''
    #     #global_log_level = LogPyros.LOG_LEVEL_DEBUG if self.DEBUG_MODE else self.PYROS_DEFAULT_GLOBAL_LOG_LEVEL
    #     ##global_log_level = LogPyros.LOG_LEVEL_DEBUG if self.DEBUG_MODE else config.PYROS_DEFAULT_GLOBAL_LOG_LEVEL
    #     ##global_log_level = LogPyros.LOG_LEVEL_DEBUG if self.DEBUG_MODE else config_old.PYROS_DEFAULT_GLOBAL_LOG_LEVEL
    #     ##self.log.set_global_log_level(global_log_level)
    #     ##self.printd("LOG LEVEL IS:", self.log.debug_level)
    #     ##self.print("LOG LEVEL IS:", self.log.get_global_log_level())


    #     # ------------- OLD CONFIG -------------------
    #     # Est-ce bien utile ???
    #     # New way with PathLib
    #     # my_parent_abs_dir = Path(__file__).resolve().parent
    #     #TODO: on doit pouvoir faire mieux avec pathlib (sans utiliser str())
    #     ##self._path_data = str( Path( str(my_parent_abs_dir).split(str(self.PYROS_DJANGO_BASE_DIR))[0] ) / self.CONFIG_DIR_NAME )
    #     ##self._path_data = config.CONFIG_DIR
    #     # self._path_data = config_old.CONFIG_DIR

    #     #self._set_mode(self.MODE_IDLE)
    #     # config_filename = self.get_config_filename(config_filename)
    #     #self.printd(f"*** Config file used is={config_filename}")
    #     # log.debug(f"*** Config file used is={config_filename}")
    #     # self.config = ConfigPyrosOld(config_filename)
    #     # if self.config.get_last_errno() != self.config.NO_ERROR:
    #     #     raise Exception(f"Bad config file name '{config_filename}', error {str(self.config.get_last_errno())}: {str(self.config.get_last_errmsg())}")

    #     #TODO: : à mettre dans la config
    #     '''
    #     'AgentDeviceTelescope1': 'AgentDeviceTelescopeGemini',
    #     'AgentDeviceFilterSelector1': 'AgentDeviceSBIG',
    #     'AgentDeviceShutter1': 'AgentDeviceSBIG',
    #     'AgentDeviceSensor1': 'AgentDeviceSBIG',
    #     '''
    #     #self._my_client_agents = {}

    #     ### self._agent_logs = AgentLogs.objects.create(name=self.name, message="Step __init__")
    #     #self.printdb("Step __init__")
    #     log.debug("Step __init__")

    #     self.TEST_COMMANDS = iter(self.TEST_COMMANDS_LIST)
    #     self.RUN_IN_THREAD = RUN_IN_THREAD
    #     self._set_status(self.STATUS_LAUNCH)
    #     self._set_idle()

    #     self._set_agent_device_aliases_from_config(self.name)
    #     self._set_mode_from_config(self.name)
    #     # TODO: remove
    #     #self._set_idle()
    #     self._set_active()

    #     # Create 1st survey if none
    #     #tmp = AgentSurvey.objects.filter(name=self.name)
    #     #if len(tmp) == 0:
    #     #nb_agents = AgentSurvey.objects.filter(name=self.name).count()
    #     #if nb_agents == 0:
    #     if AgentSurvey.objects.filter(name=self.name).exists():
    #         self._agent_survey = AgentSurvey.objects.get(name=self.name)
    #     else:
    #         self._agent_survey = AgentSurvey.objects.create(name=self.name, validity_duration=60, mode=self.__mode, status=self.__status, iteration=-1)
    #     log.debug("Agent survey is" + str(self._agent_survey))
    #     #self.printd("Agent survey is", self._agent_survey)

    #     ("end Agent init")



    # Current Command (CC)
    # - getter(to be used by subclasses ; this Agent superclass uses __CC instead)
    @property
    def CC(self):
        return self.__CC
    '''
    No setter defined because only Agent superclass can do this
    # - setter
    @CC.setter
    def CC(self, value):
        self.__current_cmd = value        
    '''

    # Current Command Exception (CCE)
    # - getter
    @property
    def CCE(self):
        return self.__CCE
    '''
    # - setter
    No setter defined because only Agent superclass can do this
    @CCE.setter
    def CCE(self, value):
        self.__CCE = value        
    '''

    def set_config(self, oc: OBSConfig, obs_config_file_path: str, path_to_obs_config_folder: str, unit: str):
        self._oc = {
            'config' : oc,
            'env' : [
                obs_config_file_path,
                path_to_obs_config_folder,
                unit
            ]
        }
        '''
        config_env = {
            obs_config_file_path: obs_config_file_path,
            path_to_obs_config_folder: path_to_obs_config_folder,
            unit: unit
        }
        '''

    def get_config(self): return self._oc['config']

    def get_config_env(self): return self._oc['env']

    def show_config(self):
        VERBOSE = False
        
        oc = self.get_config()
        obs_config_file_path, path_to_obs_config_folder, unit = self.get_config_env()
        #self.printd(obs_config_file_path)
        log.debug(obs_config_file_path)
        log.debug(path_to_obs_config_folder)
        log.debug(unit)
        #log.warning("petit warning bidon")
        print("\n")
        print("- Observatory:" + oc.get_obs_name())
        my_unit_name = oc.get_units_name()[0]
        my_unit = (oc.get_units()[my_unit_name])
    
        #print("- Unit description:", my_unit)
    
        if VERBOSE:
            print("\n")
            print("- Computers:", oc.get_computers())
        
        print("\n")
        print("- Active Computers:", oc.get_active_computers())
    
        print("\n")
        print("- Active Devices:", oc.get_active_devices())
    
        print("\n")
        print("- Unit:", my_unit_name)
        VERBOSE and print(oc.get_unit_by_name(my_unit_name))
    
        if VERBOSE:
            print("\n")
            print("- Unit topology:", oc.get_topology(my_unit_name))
    
        print("\n")
        print("- Unit active Agents:", oc.get_active_agents(my_unit_name))
        VERBOSE and print(oc.get_agents(my_unit_name))
    
        print("\n")
        print("- Unit Agents per computer:", oc.get_agents_per_computer(my_unit_name))
    
        print("\n")
        print("- Unit Agents per device:", oc.get_agents_per_device(my_unit_name))
    
        if VERBOSE:
            print("\n")
            print("- Unit Channel groups:", oc.get_channel_groups(my_unit_name))
    
        print("\n")
        print("- Unit Channels:", oc.get_channels(my_unit_name))
    
        #print("\n")
        #print("- Unit/Channel info:", oc.get_channel_information(my_unit_name, 'OpticalChannel_up'))
    
        if VERBOSE:
            print("\n")
            print("- Unit Components agents:", oc.get_components_agents(my_unit_name))
    
        if VERBOSE:
            print("\n")
            print("- Unit database:", oc.get_database_for_unit(my_unit_name))
    
        print("\n")
        print("- Devices names:", oc.get_devices_names())
        if VERBOSE:
            print("\n")
            print("- Devices names & files:", oc.get_devices_names_and_file())
            print("\n")
            print("- Devices:", oc.get_devices())
    
        print("\n")






    def get_config_filename(self, config_filename: str):
        if not config_filename:
            #config_filename = self.DEFAULT_CONFIG_FILE_NAME
            ##config_filename = config.DEFAULT_CONFIG_FILE_NAME
            config_filename = config_old.DEFAULT_CONFIG_FILE_NAME
        # If config file name is RELATIVE (i.e. without path, just the file name)
        # => give it an absolute path (and remove "src/agent/" from it)
        if config_filename == os.path.basename(config_filename):
            ##config_filename = os.path.join(config.CONFIG_DIR, config_filename)
            config_filename = os.path.join(config_old.CONFIG_DIR, config_filename)
            '''
            # Build abs path including current agent dir
            config_filename = os.path.abspath(self.CONFIG_DIR_NAME + os.sep + config_filename)
            # Remove "src/agent_name/" from abs dir :
            # (1) Remove "src/core/pyros_django/"
            config_filename = config_filename.replace(str(self.PYROS_DJANGO_BASE_DIR)+os.sep, os.sep)
            # (2) Remove "agent_name/"
            #TODO: bidouille, faire plus propre
            config_filename = config_filename.replace(os.sep+"agent"+os.sep, os.sep)
            config_filename = config_filename.replace(os.sep+"monitoring"+os.sep, os.sep)
            '''
        return os.path.normpath(config_filename)



    # Normal print
    ##def print(self, *args, **kwargs): self.log.print(*args, **kwargs)
    """
    if args:
        self.printd(f"({self.name}): ", *args, **kwargs)
    else:
        self.printd()
    """
    """
    # DEBUG print shortcut
    ##def printd(self, *args, **kwargs): self.log.printd(*args, **kwargs)
    #if DEBUG: self.printd(d(*args, **kwargs)
    def log_d(self, *args, **kwargs): self.log.log_d(*args, **kwargs)
    def log_i(self, *args, **kwargs): self.log.log_i(*args, **kwargs)
    def log_w(self, *args, **kwargs): self.log.log_w(*args, **kwargs)
    def log_e(self, *args, **kwargs): self.log.log_e(*args, **kwargs)
    def log_c(self, *args, **kwargs): self.log.log_c(*args, **kwargs)
    def printdb(self, *args, **kwargs): self.log.db( *args, **kwargs)
    """


    
    def _get_real_agent_name(self, agent_alias_name:str)->str:
        #self.printd("key is", agent_alias_name)
        '''
        if not self._my_client_agents: return agent_alias_name
        return self._my_client_agents[agent_alias_name]
        '''
        return self._my_client_agents.get(agent_alias_name)



    def run(self, nb_iter:int=None, FOR_REAL:bool=True):
        """
            FOR_REAL: set to False if you don't want Agent to send commands to devices but just print messages without really doing anything
        """

        ("in run()")
        self.__set_and_log_status(self.AGT_STATUS.LAUNCHED)

        #return

        # TEST MODE ONLY
        # IF in test mode but with REAL devices (no SIMULATOR), delete all dangerous commands from the test commands list scenario:
        self.__TEST_prepare()

        #self._DO_EXIT = False

        # No agent specific cmd currently running (thread)
        self.AGENT_SPECIFIC_CMD_RUNNING = False

        # No Routine process (before or after) currently running (thread)
        self.ROUTINE_PROCESS_RUNNING = False

        ################
        # RESTART loop #
        ###############@
        # REPEAT UNTIL not DO_RESTART_LOOP
        self.DO_RESTART_LOOP = True
        
        while self.DO_RESTART_LOOP:
            # By default, no restart after exit from main loop
            self.DO_RESTART_LOOP = False
            try:
                self.__restart_loop(nb_iter,FOR_REAL)
            except KeyboardInterrupt: # CTRL-C
                # In case of CTRL-C, kill the current thread (process) before dying (in error)
                #log.info("CTRL-C Interrupted, I kill the current thread (process) before exiting (if exists)")
                log.info(f"{self.name}: CTRL-C Interrupted")
                break
                #self._kill_running_device_cmd_if_exists("USER_CTRLC")
                #self.do_things_before_exit("USER_CTRLC")
                ##self._cleanup_before_exit("USER_CTRLC")
                ###self.do_stop("asap")
                ###exit(1)
        
        # exit
        self.do_stop("asap")


    def __restart_loop(self, nb_iter:int=None, FOR_REAL:bool=True):
        log.info("*"*10+ " STARTING RESTART LOOP "+ "*"*10+ '\n')

        self.start_time = time.time()
        #log.debug("on est ici: " + os.getcwd())

        self.__load_config()

        if self.is_in_test_mode(): self.__TEST_setup_TEST_MODE()

        self.__init()
        ''' testing log:
        self.log_e("ERROR")
        self.log_c("FATAL critical ERROR")
        '''
        #self.log_w("WARNING", "watch your step !")
        #log.warning("WARNING"+ "watch your step !")

        # Avoid blocking on false "running" command
        # (old commands that stayed with "running" status when agent was killed)
        #AgentCmd.delete_commands_with_running_status_for_agent(self.name)
        self.__kill_false_running_cmd_if_exists()

        #############
        # MAIN loop #
        ############@
        self.__iter_num = 1
        self.DO_MAIN_LOOP = True
        self.__CC = None
        self.__CC_prev = None
        self.__CCE = None
        while self.DO_MAIN_LOOP:
            # EXIT because of nb of iterations ?
            if nb_iter is not None:
                # Bad number of iterations or nb iterations reached => exit
                if nb_iter <= 0 or nb_iter < self.__iter_num:
                    log.info(f"Exit because number of iterations asked ({nb_iter}) has been reached") 
                    break
            self.__main_loop(nb_iter,FOR_REAL)
            self.__iter_num += 1
            #if not self.DO_MAIN_LOOP: break

        # TEST mode only
        if self.TEST_MODE and self.TEST_WITH_FINAL_TEST: self.__TEST_test_results()
        #if self._DO_EXIT: exit(0)


    def __kill_false_running_cmd_if_exists(self):
        AgentCmd.kill_false_running_cmd_if_exists_for_agent(self.name)


    def __main_loop(self, nb_iter:int=None, FOR_REAL:bool=True):

        self.__set_and_log_status(self.AGT_STATUS.IN_MAIN_LOOP)

        self.__main_loop_start(nb_iter)
        #if not self.DO_MAIN_LOOP: return 

        self.__reload_config_if_changed() # only if changed

        # Log this agent status (update my current mode and status in DB)
        ##self._log_agent_state()

        # better to do this in a subclass
        #self.show_config()

        #self.printd("====== START COMMMANDS PROCESSING ======")

        # SIMU
        #self.send_cmd_to("AgentScheduler", "do_replan")

        # ROUTINE process BEFORE
        # To be specified by subclass
        #FIXME: 
        #@call_only_if(self.IS_IDLE())
        #self.__routine_process_before()
        if not self.IS_IDLE(): self.__routine_process_before()
        #self.printd("I am IDLE, so I bypass the routine_process (do not send any new command)")

        # TRY TO START NEXT COMMAND if exists and if current cmd is finished
        #if self.__CC is None or self.__CC.is_finished() or self.__priority_cmd_received():
        CMD_PRIO=None
        if not self.__CC or self.__CC.is_finished() or (CMD_PRIO := self.__priority_cmd_received() is not None) :
            print()
            print()
            log.info("*"*10 + " NEXT CMD RECEIVED PROCESSING (START) " + "*"*10 + '\n')
            ##if self.__priority_cmd_received() and self.__CC.is_running(): self.__CC_prev = self.__CC
            # Save "current cmd" as now "previous cmd"
            self.__CC_prev = self.__CC
            # New CC will be either :
            # - None if no new command received
            # or
            # - a priority command if exists in the commands list, otherwise the next command in the list
            self.__CC = CMD_PRIO if CMD_PRIO else self.__get_next_received_command()
            if self.__CC:
                try: 
                    # If CC is a priority cmd, it will be executed SEQUENTIALLY
                    # Thus this call will be blocking until exec finished
                    self.__start_next_cmd()
                except Exception as e: self.__CCE=e
            log.info("*"*10 + " NEXT CMD RECEIVED PROCESSING (END) " + "*"*10 + "\n")
            
        # Check if running cmd timeout
        if self.__CC and self.__CC.is_running() and self.__CC.is_exec_timeout():
            self.__CC.set_as_exec_timeout()

        # If (SEQUENTIAL OR PARALLEL) current cmd is finished => process exception if exists (and test result if in testing mode)
        if ( self.__CC and self.__CC.is_finished() ) or self.__CCE :
            self.__process_finished_cmd()
            self.__CC = None


        # if no EXIT condition
        if self.DO_MAIN_LOOP:

            if not self.IS_IDLE(): self.__routine_process_after()
            
            # TEST MODE only : send next command from test scenario (not waiting for current cmd to be finished)
            if self.is_in_test_mode(): self.__TEST_send_next_test_cmd()

            #self.printd("====== END COMMMANDS PROCESSING ======")

            #self.waitfor(self.mainloop_waittime)

        self.__main_loop_end()



    # Process current finished command self.CC, then reset it to None
    def __process_finished_cmd(self):
        # If current cmd has exception, deal with it
        log.info('-'*6 + " CMD EXEC FINISHED")
        log.info('-'*6 + " CMD STATUS & RESULT ARE:")
        log.info('-'*6 + " - STATUS: " + self.__CC.get_status())
        log.info('-'*6 + " - RESULT: " + str(self.__CC.get_result()))
        if self.__CCE:
            log.info('-'*6 + "CMD finished WITH EXCEPTION ")
            self.__process_exception(self.CCE)
            self.__CCE = None
        if self.is_in_test_mode(): 
            self.__TEST_check_current_cmd_res_and_status()
        #self.CC = None


    def __priority_cmd_received(self):
        '''
        Return True if priority cmd found in the commands list
        (if not irrelevant or running or expired)
        '''
        with transaction.atomic():
            commands = AgentCmd.get_pending_and_running_commands_for_agent(self.name)
        if not commands.exists(): return None
        for cmd in commands:
            #if cmd.name in ("do_exit", "do_abort", "do_flush_commands"): break
            #if cmd.name in ("do_exit", "do_abort"): break
            if cmd.is_agent_general_priority_cmd(): 
                # If prio cmd but irrelevant => skip it
                if cmd.name in ("do_stop","do_restart") and self.__cmd_was_sent_before_my_start(cmd):
                    cmd.set_as_skipped("Cmd stop/restart was sent before agent start => skip it")
                    #return None
                    continue
                # if prio cmd already running, wait for it to finish
                if cmd.is_running():
                    return None
                if not cmd.is_expired():
                    return cmd
        return None


    # process self.current_cmd_exception
    def __process_exception(self, e:Exception):
        if not isinstance(
            e, 
            (
                # PENDING (non running) cmd exceptions
                CmdExceptionUnknown, CmdExceptionUnimplemented, CmdExceptionBadArgs,
                # RUNNING cmd exceptions
                CmdExceptionExecError, CmdExceptionExecKilled, CmdExceptionExecTimeout,
            )
        ): 
            # Unknown exception => raise it to stop agent
            raise(e)

        # Exception is known => deal with it
        print(e)
        log.error(e)
        #log.error(f"EXCEPTION on Agent command '{e.cmd_name}'")
        cmd = e.cmd
        if isinstance(cmd, AgentCmd) :
            # - Exception from PENGING
            if type(e) in (CmdExceptionUnknown, CmdExceptionUnimplemented, CmdExceptionBadArgs):
                if type(e) is CmdExceptionUnimplemented:
                    ##if cmd.name != "get_specific_cmds":
                    cmd.set_as_unimplemented(e.msg)
                    #cmd.set_as_unimplemented("EXCEPTION: Command known but unimplemented")
                else:
                    # set back to "pending" if ever was wrongly marked "running"
                    #cmd.set_as_pending()
                    cmd.set_as_invalid(e.msg)
                    #cmd.set_as_invalid("EXCEPTION: Command unknown or bad args")
            # - Exception from RUNNING (Execution Exception)
            else:
                if type(e) == CmdExceptionExecError:
                    print(e)
                    cmd.set_as_exec_error(e.msg)
                    print(e)
                    #cmd.set_as_exec_error(e.msg if e.msg else "EXCEPTION: Error during execution")
                else:
                    #FIXME: S'assurer que cmd.set_as_killed() or cmd.set_as_timeout() a bien été fait !!!
                    cmd.set_result(e.msg)
                    #cmd.set_result("EXCEPTION: Problem during execution")
        # isinstance(e.cmd, str)
        else:
            raise CmdException(cmd, "EXCEPTION: Abnormal error case...")
            #raise Exception("EXCEPTION: Abnormal error case...")





    def __cleanup_before_exit(self, stopper_agent_name:str=None):
        if not stopper_agent_name: stopper_agent_name = self.name
        #self._set_status(self.STATUS_EXIT)
        ##self._log_agent_state()

        log.info(f"{self.name}: Trying to stop cleanly")
        log.info(f"{self.name}: Before exiting, Here are (if exists) the current (still) pending commands (time ordered) :")
        #commands = AgentCmd.get_commands_sent_to_agent(self.name)
        commands = AgentCmd.get_pending_and_running_commands_for_agent(self.name)
        AgentCmd.show_commands(commands, True)
        ##self.do_flush_commands()
        #if self.TEST_MODE and self.TEST_WITH_FINAL_TEST and self.TEST_COMMANDS_DEST == "myself": self.simulator_test_results()
        if self.TEST_MODE and self.TEST_WITH_FINAL_TEST: 
            self.__TEST_test_results()
        #self._DO_EXIT=True
        #exit(0)

        wait_nbsec = 2

        # Waiting for current (in fact previous) command still running if need be (if exists)
        while self.__CC_prev and self.__CC_prev.is_running():
            log.info(f"The previous command {self.__CC_prev.name} is still running => Waiting for it to finish (waiting {wait_nbsec} sec...)")
            self.waitfor(wait_nbsec)

        # Waiting for current ROUTINE BEFORE process to finish if still running
        while self.__ROUTINE_PROCESS_BEFORE_IS_RUNNING:
            log.info(f"The ROUTINE BEFORE process is still running => Waiting for it to finish (waiting {wait_nbsec} sec...)")
            self.waitfor(wait_nbsec)

        # Waiting for current ROUTINE BEFORE process to finish if still running
        while self.__ROUTINE_PROCESS_AFTER_IS_RUNNING:
            log.info(f"The ROUTINE AFTER process is still running => Waiting for it to finish (waiting {wait_nbsec} sec...)")
            self.waitfor(wait_nbsec)

        log.info(f"{self.name}: Before exiting, calling do_things_before_exit()")
        self._do_things_before_exit(stopper_agent_name)
        ##self._set_and_log_status(self.AGT_STATUS.EXITING)

    #def _kill_running_device_cmd_if_exists(self, abort_cmd_sender):
    # to be overriden by subclass
    def _do_things_before_exit(self, stopper_agent_name:str=None):
        pass


    def __main_loop_start(self, nb_iter:int=None):

        for i in range(3): print()
        #self.printd("-"*80)
        log.info("*"*90)
        log.info("*"*20 + f" {self.name} : MAIN LOOP ITERATION #{self.__iter_num} (START) " + "*"*20)
        log.info("*"*90 + '\n')
        #self.print(f"Iteration {self._iter_num}")

        '''
        # EXIT because of nb of iterations ?
        if nb_iter is not None:
            # Bad number of iterations or nb iterations reached => exit
            if nb_iter <= 0 or nb_iter < self.__iter_num:
                log.info(f"Exit because number of iterations asked ({nb_iter}) has been reached") 
                self.DO_MAIN_LOOP = False
                return
        '''

        # Temporizing (delay) : Wait a random number of sec before starting iteration 
        # (to avoid to busy to much the processor)
        # (also to let another agent having the chance to send a me command)
        if self.__DELAY_NB_SEC :
            #random_waiting_sec = random.randint(0,5)
            log.info(f"Waiting {self.__DELAY_NB_SEC} sec (random) before starting new iteration...")
            #time.sleep(random_waiting_sec)
            self.waitfor(self.__DELAY_NB_SEC)

        # (Test only)
        # EXIT because max duration reached ?
        if self.TEST_MODE and self.TEST_MAX_DURATION_SEC and (time.time()-self.start_time > self.TEST_MAX_DURATION_SEC):
            log.info("Exit because of max duration set to ", self.TEST_MAX_DURATION_SEC, "s")
            #self._kill_running_device_cmd_if_exists(self.name)
            self.__cleanup_before_exit(self.name)
            #if self.TEST_MODE and self.TEST_WITH_FINAL_TEST: self._TEST_test_results()
            self.DO_MAIN_LOOP = False
            return

        ##self._set_status(self.AGT_STATUS.IN_MAIN_LOOP)
        self.show_state()

        self._main_loop_start()

    # To be overriden by subclass
    def _main_loop_start(self):
        pass

    def __main_loop_end(self):
        self._main_loop_end()
        log.info("*"*20 + " MAIN LOOP ITERATION (END) " + "*"*20 + '\n')
        #self.do_log(LOG_DEBUG, "Ending main loop iteration")

    # To be overriden by subclass
    def _main_loop_end(self):
        pass


    # To be overriden by subclass (AgentDevice)
    def _process_device_level_cmd(self, cmd):
        pass
        '''
        log.info("(DEVICE LEVEL CMD)")
        try:
            self.exec_device_cmd_if_possible(cmd)
        except (UnimplementedGenericCmdException) as e:
        #except (UnknownGenericCmdException, UnimplementedGenericCmdException, UnknownNativeCmdException) as e:
            log.e(f"EXCEPTION caught by {type(self).__name__} (from Agent mainloop) for command '{cmd.name}'", e)
            log.e("Thus ==> ignore this command")
            cmd.set_result(e)
            #cmd.set_as_killed_by(type(self).__name__)
            cmd.set_as_skipped()
            #raise
        '''



    def __start_next_cmd(self)->None:
        ''' Processing the next pending command (self.__CC) '''
        cmd = self.__CC
        self.__set_and_log_status(self.AGT_STATUS.IN_GET_NEXT_CMD)

        #print()
        #print()
        #log.info("*"*10 + " NEXT COMMAND PROCESSING (START) " + "*"*10 + '\n')


        # Purge commands (every N iterations, starting from 1st, delete old commands)
        '''
        N=5
        if ((self._iter_num-1) % N) == 0:
            log.info("Purging expired commands if exists")
            #AgentCmd.purge_old_commands_for_agent(self.name)
            self._purge_old_commands_sent_to_me()
        '''

        # Get next command and process it (if exists)
        ###cmd = self.__get_next_received_command()
        ###self.__CC = cmd
        #self._set_status(self.STATUS_GENERAL_PROCESS)
        #if cmd: self.command_process(cmd)
        
        # SIMU
        #cmd = "do_replan"
        #self.send_cmd_to("AgentScheduler", "do_replan")
        
        # No new command in the pending cmds queue => nothing to do
        ###if not cmd: return cmd

        log.info('-'*6)
        log.info('-'*6 + " RECEIVED NEW COMMAND TO PROCESS: ")
        log.info('-'*6 + str(cmd))
        '''
        if self.is_in_test_mode() and hasattr(self._cmdts,"expected_res"): 
            log.info(f"TTT (with expected result : " + str(self._cmdts.expected_res) + ')')
        '''
        log.info('-'*6)            

        ###cmd.set_read_time()

        if cmd.is_expired(): 
            cmd.set_as_expired()
            return


        # Misnamed command => CMD_INVALID
        if not AgentCmd.is_generic(cmd.name) and not self.is_native_device_command(cmd.name):
            cmd.set_as_invalid("Command misnamed, must start with do_, get_, or set_")
            return #cmd
        
        # CASE 1 - AGENT GENERAL command
        # (DO_RESTART, DO_EXIST, DO_ABORT, DO_ABORT_COMMAND, DO_FLUSH_COMMANDS, ...)
        # This processing can set DO_MAIN_LOOP and DO_RESTART_LOOP to False
        if self.is_agent_general_cmd(cmd):
            try:
                self.__process_agent_general_cmd(cmd)
            except (CmdExceptionUnimplemented, CmdExceptionBadArgs) :
                # cmd should not be set as "running"
                cmd.set_as_pending()
                # These exceptions are managed at higher level :
                raise
            return #cmd

        # CASE 2 - AGENT SPECIFIC command
        # => Simple action, short execution time, so I execute it directly (in current main thread, not in parallel)
        if self.is_agent_specific_cmd(cmd):
            #log.info("(AGENT LEVEL CMD)")
            if not self.IS_ATTENTIVE():
                cmd.set_as_skipped("Skipped because I am not ATTENTIVE")
                return #cmd
            try:
                self.__process_agent_specific_cmd(cmd)
                #self._exec_agent_cmd(cmd)
            #except AttributeError as e:
            except (CmdExceptionUnimplemented, CmdExceptionBadArgs) as e:
                # cmd should not be set as "running"
                #cmd.set_as_pending()
                # These exceptions are managed at higher level :
                raise
            return #cmd

        # CASE 3 - OTHER level command (DEVsICE level, only for AgentDevice)
        if self.is_device_level_cmd(cmd):
            self._process_device_level_cmd(cmd)
            return #cmd

        # CASE 4 - INVALID COMMAND
        #raise Exception("INVALID COMMAND: " + cmd.name)
        log.warning("******************************************************")
        log.warning("*************** ERROR: INVALID COMMAND (UNKNOWN) ***************")
        log.warning("******************************************************")
        #log.warning("Thus => I ignore this command...")
        #cmd.set_result("ERROR: INVALID COMMAND")
        ##cmd.set_as_skipped("ERROR: INVALID AGENT COMMAND")
        ##self._cleanup_before_exit()
        ##raise UnknownCmdException(cmd.name)
        #cmd.set_as_invalid()
        ##return cmd
        raise CmdExceptionUnknown(cmd)
        
        #print()
        #log.info("*"*10 + " NEXT COMMAND PROCESSING (END) " + "*"*10 + "\n")







    def purge_old_commands_sent_to_me(self):
        AgentCmd.purge_old_commands_sent_to_agent(self.name)


    def __routine_process_before(self):
        """
        Routine processing BEFORE processing received commands.

        IMPORTANT : 
            this processing must be as SHORT as possible,
            so that the agent can quickly read its received commands and process them

        This is a command or set of processings that this agent does or commands that it sends regularly,
        at each iteration
        """
        self.__ROUTINE_PROCESS_BEFORE_IS_RUNNING = True
        print()
        print()
        log.info("*"*10+ " ROUTINE BEFORE (START) "+ "*"*10+ '\n')

        self.__set_and_log_status(self.AGT_STATUS.IN_ROUTINE_BEF)
        self._routine_process_before_body()

        print()
        log.info("*"*10 + " ROUTINE BEFORE (END) "+ "*"*10)
        self.__ROUTINE_PROCESS_BEFORE_IS_RUNNING = False


    def __routine_process_after(self):
        """
        Routine processing AFTER processing received commands.

        This processing can be longer than the "before" one above,
        as the agent has already processed its received commands,
        but not too long anyway, otherwise it will take too long before the next iteration starts...

        This is a command or set of processings that this agent does or commands that it sends regularly,
        at each iteration
        """
        self.__ROUTINE_PROCESS_AFTER_IS_RUNNING = True
        print()
        print()
        log.info("*"*10+ " ROUTINE AFTER (START) "+ "*"*10+ '\n')

        self.__set_and_log_status(self.AGT_STATUS.IN_ROUTINE_AFT)
        self._routine_process_after_body()

        print()
        log.info("*"*10 + " ROUTINE AFTER (END) "+ "*"*10 + '\n')
        self.__ROUTINE_PROCESS_AFTER_IS_RUNNING = False


    # To be overridden by subclasses
    def _routine_process_before_body(self):
        pass

    # To be overridden by subclasses
    def _routine_process_after_body(self):
        #if self.TEST_MODE: self._TEST_test_routine_process()
        pass

    # To be overriden by AgentDevice
    def is_native_device_command(self, cmd_name:str):
        return False

    """
    def purge_commands(self):
        ###
        Delete commands (which I am recipient of) older than COMMANDS_PEREMPTION_HOURS (like 48h)
        ATTENTION !!! EXCEPT the RUNNING command !!!

        NB: datetime.utcnow() is equivalent to datetime.now(timezone.utc)
        ###

        self.printd("Looking for old commands to purge...")
        ###
        COMMAND_PEREMPTION_DATE_FROM_NOW = datetime.utcnow() - timedelta(hours = self.COMMANDS_PEREMPTION_HOURS)
        #self.printd("peremption date", COMMAND_PEREMPTION_DATE_FROM_NOW)
        old_commands = AgentCmd.objects.filter(
            # only commands for me
            recipient = self.name,
            # only pending commands
            sender_deposit_time__lt = COMMAND_PEREMPTION_DATE_FROM_NOW,
        )
        ###
        old_commands = AgentCmd.get_old_commands_for_agent(self.name)
        if old_commands.exists():
            self.printd("Found old commands to delete:")
            for cmd in old_commands: self.printd(cmd)
            old_commands.delete()
    """

    def waitfor(self, nbsec:float=2.0):
        '''
        # thread
        if self._current_device_cmd_thread and self.RUN_IN_THREAD:
            self._current_device_cmd_thread.wait(nbsec)
        # process (or main thread)
        else:
            time.sleep(nbsec)
        '''
        log.info(f"Now, waiting for {nbsec} second(s)...")
        time.sleep(nbsec)

    def sleep(self, nbsec):
        self.waitfor(nbsec)


    def get_specific_cmds(self)->str:
        specific_commands = ""
        # For each command
        for command_tuple in self._AGENT_SPECIFIC_COMMANDS:

            cmd_name = command_tuple[0]
            #print(cmd_name)
            specific_commands += cmd_name
            
            # 1) Error case 1 - Badly named command (not get, set, do) (implemented or not)
            if not AgentCmd.is_generic(cmd_name):
                specific_commands += '(I);'
                continue

            # 2) Error case 2 - Well named command (get, set, do) but not yet implemented
            try:
                f = getattr(self, cmd_name)
            # Exception if exists an unimplemented command
            except AttributeError:
                # Tag this command as UNIMPLEMENTED (U) => 'cmd_name(U)'
                #raise CmdExceptionUnimplemented(cmd_name) from None
                specific_commands += '(U);'
                # next cmd
                continue

            # 3) Normal case : well named command and implemented
            specific_commands += "("
            args = signature(f)
            #specific_commands += str(args)
            #print(specific_commands)
            #print(args.parameters)
            for arg in args.parameters.values():
                arg_type = arg.annotation.__name__ if isinstance(arg.annotation,type) else str(arg.annotation)
                specific_commands += arg.name+":"+arg_type+","
                #print("name, annot:", arg.name, arg.annotation)
                #print("annot.nam   e:", arg.annotation.__name__)
                #print(type(arg.annotation))
            '''
            for arg in args.parameters:
                print(arg)
                arg = args.parameters[arg]
                #print(arg)
                #print("name, annot:", arg.name, arg.annotation)
                #print("annot.name:", arg.annotation.__name__)
                #print(type(arg.annotation))
                arg_type = arg.annotation.__name__ if isinstance(arg.annotation,type) else str(arg.annotation)
                specific_commands += arg.name+":"+arg_type+","
            '''
            # specific_commands += str(args)
            if args.parameters: specific_commands = specific_commands[:-1]
            specific_commands += ")"
            specific_commands += ";"

        if specific_commands: specific_commands = specific_commands[0:-1]
        #print(specific_commands)
        return specific_commands

    #
    # MODE & STATUS
    #

    def get_state(self):
        return f"MODE is {self.__get_mode()} ; STATUS is {self.get_status()} ; ITERATION #{self.__iter_num}"

    def show_state(self):
        log.info(self.get_state())
        #log.info(f"CURRENT MODE is {self.__mode} (status is {self.__status})")
        #log.info(f"CURRENT MODE is {self.__get_mode()} (status is {self.get_status()})")

    #
    # - STATUS MANAGEMENT
    #

    # - GET
    def get_status(self):
        return self.__status

    # - SET

    # Private because automatic, must not be changed, depends only on the step the Agent is currently running, used only by Agent (superclass)
    def __set_status(self, status:str):
        #self.printd(f"[{status}] (switching from status {self.__status})")
        log.debug(f"[{status}]")
        self.__status = status
        return False

    # Private because automatic, must not be changed, used only by Agent (superclass)
    def __set_and_log_status(self, status:str):
        self.__set_status(status)
        self.__log_agent_state()


    #
    # - MODE MANAGEMENT
    #

    # - GET
    def __get_mode(self):
        return self.__mode
    # Test mode
    def IS_MODE_IDLE(self): return self.__get_mode() == AgentSurvey.MODE_CHOICES.IDLE
    def IS_MODE_ROUTINE(self): return self.__get_mode() == AgentSurvey.MODE_CHOICES.ROUTINE
    def IS_MODE_ATTENTIVE(self): return self.__get_mode() == AgentSurvey.MODE_CHOICES.ATTENTIVE
    # @deprecated
    def IS_IDLE(self): return self.IS_MODE_IDLE()
    # @deprecated
    def IS_ROUTINE(self): return self.IS_MODE_ROUTINE()
    # @deprecated
    def IS_ATTENTIVE(self): return self.IS_MODE_ATTENTIVE()

    # - SET
    def __set_mode(self, mode:str):
        #self.printd(f"Switching from mode {self.__mode} to mode {mode}")
        log.info(f"[NEW MODE {mode}]")
        self.__mode = mode

    # Public method because can be called from outside like this : agent.set_mode_idle()
    def set_mode_idle(self):
        self.__set_mode(AgentSurvey.MODE_CHOICES.IDLE)
    # @deprecated
    def set_idle(self):
        self.set_mode_idle()
    
    # Public method because can be called from outside like this : agent.set_mode_routine()
    def set_mode_routine(self):
        self.__set_mode(AgentSurvey.MODE_CHOICES.ROUTINE)
    # @deprecated
    def set_routine(self):
        self.set_mode_routine()

    # Public method because can be called from outside like this : agent.set_mode_attentive()
    def set_mode_attentive(self):
        #self._set_mode(AgentSurvey.MODE_ATTENTIVE)
        self.__set_mode(AgentSurvey.MODE_CHOICES.ATTENTIVE)
    # @deprecated
    def set_attentive(self):
        self.set_mode_attentive()



    '''
    def die(self):
        self._set_status(AgentSurvey.STATUS_EXIT)
    '''

    """
    suspend/resume
    """
    def suspend(self):
        """
        TODO:
        Mode IDLE (doit rester à l'écoute d'un resume, 
        et doit continuer à alimenter les tables pour informer de son état via tables agents_logs, 
        et lire table agents_command pour reprendre via resume, 
        et update la table agents_survey pour donner son status "idle"
        """
        self._set_idle()
        return True

    def resume(self):
        """
        Quit suspend() mode
        """
        self._set_active()
        return True


    '''
    (EP) moved to AgentDevice
    def _set_agent_device_aliases_from_config(self, agent_alias):
        for a in self._my_client_agents_aliases:
            # TODO: activer
            ##self._my_client_agents[a] = self.config.get_paramvalue(a,'general','real_agent_device_name')
            pass
    '''

    # new config (obsconfig)
    def _set_mode_from_config(self, agent_name):
        # all agent are active ? 
    
        #mode = self.MODE_ACTIVE
        #mode = self.MODE_ATTENTIVE
        self.set_mode_attentive()
        return True
    # old config
    # def _set_mode_from_config(self, agent_name):
    #     # --- Get the startmode of the AgentX
    #     modestr = self.config.get_paramvalue(agent_name,'general','startmode')
    #     if self.config.get_last_errno() != self.config.NO_ERROR:
    #         raise Exception(f"error {str(self.config.get_last_errno())}: {str(self.config.get_last_errmsg())}")        
    #     if (modestr == None):
    #         return True
    #     # --- Set the mode according the startmode value
    #     mode = self.MODE_IDLE
    #     if modestr.upper() == 'RUN':
    #         mode = self.MODE_ACTIVE
    #     self._set_mode(mode)
    #     return True


    def set_delay(self, delay_nb_sec:int):
        self.__DELAY_NB_SEC = delay_nb_sec

    """
    =======================================================================================
     Generic methods that may be specialized (overriden) by subclasses (except if private)
    =======================================================================================
    """

    def __init(self):
        #log.debug("*** Initializing... ***")
        log.info("*"*10+ " INITIALIZING... "+ "*"*10+ '\n')
        self.__set_and_log_status(self.AGT_STATUS.INITIALIZING)
        self._init()

    # To be overridden by subclasses
    def _init(self):
        pass


    def __reload_config_if_changed(self):
        self.__load_config()

    def __load_config(self):
        """
        TODO:
        only si date fichier xml changée => en RAM, un objet Config avec méthodes d'accès, appelle le parser de AK (classe Config.py indépendante)
        """
        '''
        # 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]
        except Exception as e:
            # except Config.ObjectDoesNotExist:
            self.printd("Config read (or write) exception", str(e))
            return -1
        '''
        log.debug("Loading the config file...")

        # - NEW CONFIG
        self.get_config().load(self.get_config_env()[0])


        # - OLD CONFIG
        # self.config.load()
        # if self.config.get_last_errno() != self.config.NO_ERROR:
        #     raise Exception(f"error {str(self.config.get_last_errno())}: {str(self.config.get_last_errmsg())}")
        # if not self.config.is_config_contents_changed():
        #     return

        # === display informations
        # --- Get the assembly aliases of the unit
        # assembled_mount_aliases = []
        # assembled_channel_aliases = []
        # assembled_aliases = []
        # unit_alias = self.config.get_aliases('unit')[0]
        # params = self.config.get_params(unit_alias)
        # for param in params:
        #     if param['section']=="assembly" and param['key']=="alias":
        #         assembled_aliases.append(param['value'])
        #self.printd(f"Unit {unit_alias} is the assembly of {assembled_aliases}")

        # log.debug("--------- Components of the unit -----------")
        # log.debug("Configuration file is {}".format(self.config.get_configfile()))            
        # alias = self.config.get_aliases('unit')[0]
        # namevalue = self.config.get_paramvalue(alias,'unit','description')
        # log.debug(f"Unit alias is {alias}. Description is {namevalue}:")
        # unit_subtags = self.config.get_unit_subtags()
        # for unit_subtag in unit_subtags:
        #     aliases = self.config.get_aliases(unit_subtag)
        #     for alias in aliases:
        #         namevalue = self.config.get_paramvalue(alias,unit_subtag,'description')
        #         log.debug(f"- {unit_subtag} alias is {alias}. Description is {namevalue}")
        #         # --- fill the list of mount and channel assembled
        #         if alias in assembled_aliases:
        #             if unit_subtag=="mount":
        #                 assembled_mount_aliases.append(alias)
        #             elif unit_subtag=="channel":
        #                 assembled_channel_aliases.append(alias)

        # log.debug("--------- Assembly of the unit -----------")
        # log.debug(f"Assembled mount aliases: {assembled_mount_aliases}")
        # log.debug(f"Assembled channel aliases: {assembled_channel_aliases}")

        # --- Get the home of the mount[0]
        # mount_alias = assembled_mount_aliases[0]
        # home = self.config.get_paramvalue(mount_alias,'MountPointing','home')

        # log.debug("------------------------------------------")
        # hostname = socket.gethostname()
        # self._computer_alias = ''
        # unit_subtag = 'computer'
        # aliases = self.config.get_aliases(unit_subtag)
        # for alias in aliases:
        #     log.debug("alias" + alias)
        #     value = self.config.get_paramvalue(alias,'local','hostname')
        #     log.debug("value" + value)
        #     if value == hostname:
        #         log.debug("value" + value)
        #         self._computer_alias = alias
        #         value = self.config.get_paramvalue(alias,unit_subtag,'description')
        #         self._computer_description = value
        #         value = self.config.get_paramvalue(alias,'path','data')
        #         # Overrides default value
        #         self._path_data = value
        #         break
        # log.debug(f"hostname = {hostname}")
        # log.debug(f"path_data = {self._path_data}")
        # log.debug(f"home = {home}")
        # log.debug("------------------------------------------")

        # --- update the log parameters
        ##self.log.path_data = self._path_data
        ##print("new self.log.path_data is", self.log.path_data)
        ##self.log.set_global_path_data(self._path_data)
        ##self.printd("new self.log.global_path_data is", self.log.get_global_path_data())
        ##self.log.home = home


    #def update_survey(self):
    def __log_agent_state(self):
        """
        Save (update) this agent current mode, status, and #iteration in DB
        """
        "Updating the agent survey database table..."
        #self.printd("- fetching table line for agent", self.name)
        # only necessary when using process (not necessary with threads)
        #with transaction.atomic():
        #self._agent_survey = AgentSurvey.objects.get(name=self.name)
        self.__agent_survey.mode = self.__get_mode()
        self.__agent_survey.status = self.get_status()
        self.__agent_survey.iteration = self.__iter_num
        self.__agent_survey.save()
        #self._agent_survey.save(update_fields=["mode", "status"])


    """
    def send_command(self, cmd_name):
        recipient_agent = self.name if self.TEST_COMMANDS_DEST=="myself" else self.TEST_COMMANDS_DEST
        AgentCmd.objects.create(sender=self.name, recipient=recipient_agent, name=cmd_name)
    """
    #def send_command(self, to_agent, cmd_type, cmd_name, cmd_args=None):
    #def send_cmd_to(self, to_agent:str, cmd_name:str, cmd_args:str=None, validity:int=None, timeout:int=None):
    def send_cmd_to(self, to_agent:str, cmd_name:str, cmd_args:str=None, validity:int=None) -> AgentCmd:
        """
        #ex: send_command(“AgentX”,”GENERIC”,”EVAL”,“3+4”)
        ex: send_command(“AgentX”,"EVAL”,“3+4”)
        """
        #return AgentCmd.send_cmd_from_to(self.name, self._get_real_agent_name_for_alias(to_agent), cmd_name, cmd_args)
        #cmd = self.create_cmd_for(to_agent, cmd_name, cmd_args, validity, timeout).send()
        cmd = self.create_cmd_for(to_agent, cmd_name, cmd_args, validity)
        cmd.send()
        return cmd

    def create_cmd_for(self, to_agent:str, cmd_name:str, cmd_args:str=None, validity:int=None) -> AgentCmd:

        '''
        real_agent_name = self._get_real_agent_name(to_agent)
        real_cmd_name = cmd_name
        if '.' in real_agent_name:
            real_agent_name, component_name = real_agent_name.split('.')
            real_cmd_name = component_name+'.'+cmd_name
        return AgentCmd.create(self.name, real_agent_name, real_cmd_name, cmd_args)
        try:
            real_agent_name = self._get_real_agent_name(to_agent)
        except KeyError as e:
        '''
        return AgentCmd.create(self.name, to_agent, cmd_name, cmd_args, validity)
        '''
        real_agent_name = self._get_real_agent_name(to_agent)
        if not real_agent_name:
            return AgentCmd.create(self.name, to_agent, cmd_name, cmd_args)
        #     log.e("UNKNOWN AgentDevice ALIAS", to_agent)
        #     #self.log_e("Exception raised", e)
        #     log.e(f"=> Thus, I do not send this command '{cmd_name}'")
        #     return None
        return AgentCmd.create(self.name, real_agent_name, cmd_name, cmd_args)
        '''
        '''
        return AgentCmd(
            sender=self.name,
            recipient=self._get_real_agent_name_for_alias(recipient_agent_alias_name),
            name=cmd_name
        )
        '''

    def __get_next_received_command(self) -> Union[AgentCmd,None]:
        """
        Return next pending command
        SENT to this agent (and NOT RUNNING ?)
        (read from the DB command table)
        Commands are read in chronological order
        OLD version was :
            Return still VALID (not expired) command 
        """
        self.__set_and_log_status(self.AGT_STATUS.IN_GET_NEXT_CMD)
        log.info("Looking for a new received command to process (sent by another agent):")

        # 1) Get all pending commands for me (return if None)
        # Not sure this is necessary to do it in a transaction, 
        # but there might be a risk
        # that a command status is modified while we are reading...
        with transaction.atomic():
            self.__pending_commands = AgentCmd.get_pending_and_running_commands_for_agent(self.name)
        commands = self.__pending_commands
        if not commands.exists():
            log.info("<None>")
            return None
        
        "Current pending (or running) commands (time ordered):"
        AgentCmd.show_commands(commands)

        # 2) GET first command in the list (the oldest one)
        #cmd = commands[0]
        next_cmd = commands.first()

        # 3) If PRIORITY cmd exists, use it instead of first command above
        # - SKIP any (priority) STOP style command if sent before my start, 
        # and 
        # - GET a PRIORITY command if exists in the list (even at the very end ; must be still valid and not yet running)
        for cmd in commands:
            #if cmd.name in ("do_exit", "do_abort", "do_flush_commands"): break
            #if cmd.name in ("do_exit", "do_abort"): break
            if cmd.is_agent_general_priority_cmd(): 
                if cmd.name in ("do_stop","do_restart") and self.__cmd_was_sent_before_my_start(cmd):
                    cmd.set_as_skipped("Cmd stop/restart was sent before agent start => skip it")
                    #return None
                    continue
                # if prio cmd already running, wait for it to finish (return None)
                elif cmd.is_running():
                    return None
                '''
                elif cmd.is_expired():
                    cmd.set_as_expired()
                    return None
                '''
                # Replace next_cmd with this priority cmd
                next_cmd = cmd
                break
                #return cmd
        '''
        #if cmd.name in ("do_exit", "do_abort", "do_flush_commands"):
        if cmd.name in ("do_exit", "do_abort"):
            if cmd.is_running():
                return None
            if cmd.is_expired():
                cmd.set_as_outofdate()
                return None
            return cmd
        '''

        # 3) If first (oldest) command is currently running
        # (status CMD_RUNNING), then do nothing and return
        """
        cmd_executing = Command.objects.filter(
            # only commands for me
            recipient = self.name,
            # only pending commands
            recipient_status_code = Command.CMD_STATUS_CODES.CMD_RUNNING,
        ).first()
        #if cmd_executing.exists():
        if cmd_executing:
        """

        '''
        if cmd.is_expired(): cmd.set_as_expired()
        '''        
        #return cmd
        #return None
        
        '''
        if cmd.is_running():
            #self.printd(f"There is currently a running command ({cmd_executing.first().name}), so I do nothing (wait for end of execution)")
            log.info(f"There is currently a running command ({cmd.name})")
            #"""
            # Check that this command is not expired
            if cmd.is_expired():
                self.printd("But this command is expired, so set its status to OUTOFDATE, and go on")
                cmd_executing.set_as_outofdate()
            else:
            #"""
            log.info(f"Thus, I won't execute any new command until this command execution is finished")
            # TODO: kill si superieur a MAX_EXEC_TIME
            return None
        '''

        '''
        # 4) Tag all expired commands
        for cmd in commands:
            if cmd.is_expired(): cmd.set_as_outofdate()
            # break at 1st "valid" command (not expired)
            else: break

        # 5) If no more commands to process, return None
        if cmd.is_expired(): return None
        '''

        # 6) Current cmd must now be a valid (not expired) and PENDING one,
        # so return it for execution
        #self.printd(f"Got command {cmd.name} sent by agent {cmd.sender} at {cmd.sender_deposit_time}")
        #self.printd(f"Starting processing of this command")
        next_cmd.set_read_time()
        return next_cmd


    '''
    #def _exec_agent_general_cmd(self, cmd:Command):
    def _exec_agent_cmd(self, cmd:AgentCmd):

        #self.print(f"Starting execution of an AGENT LEVEL cmd {cmd}...")
        log.info(f"Starting execution of an AGENT LEVEL cmd...")

        # Update read time to say that the command has been READ
        cmd.set_read_time()
        cmd.set_as_running()

        # SPECIFIC command (only related to me, not to any agent)
        if self._is_agent_specific_cmd(cmd):
            log.info("(Agent level SPECIFIC cmd)")
            # Execute method self."cmd.name"()
            # This can raise an exception (caught by this method caller)
            self.exec_cmd_from_its_name(cmd)
            #''
            try:
            except AttributeError as e:
                self.printd(f"EXCEPTION: Agent level specific command '{cmd.name}' unknown (not implemented as a function) :", e)
                self.printd("Thus => I ignore this command...")
                cmd.set_result("ERROR: INVALID AGENT LEVEL SPECIFIC COMMAND")
                cmd.set_as_pending()
                cmd.set_as_skipped()
                return
            #''
            cmd.set_result("Agent level SPECIFIC cmd done")
            cmd.set_as_processed()
            log.info("...Agent level SPECIFIC cmd has been executed")
            return

        # GENERAL command (related to any agent)
        log.info("(Agent level GENERAL CMD)")
        _,cmd_name,cmd_args = cmd.get_full_name_parts()
        #cmd_name, cmd_args = cmd.tokenize()
        #if cmd.name == "set_state:active":
        #elif cmd.name == "set_state:idle":
        if cmd_name == "set_state":
            if not cmd_args: raise ValueError()
            state = cmd_args[0]
            if state == "active": self._set_active()
            if state == "idle": self._set_idle()
            cmd.set_result("I am now " + state)
            #time.sleep(1)
            self.waitfor(1)
        elif cmd_name in ("do_flush_commands"):
            "flush_commands received: Delete all pending commands"
            AgentCmd.delete_pending_commands_for_agent(self.name)
            cmd.set_result('DONE')
        elif cmd_name in ("do_abort", "do_exit", "do_restart_init"):
            #self.printd("Current pending commands are:")
            #Command.show_commands(self._pending_commands)
            log.info("Aborting current executing command if exists:")
            #self._kill_running_device_cmd_if_exists(cmd.sender)
            self.do_things_before_exit(cmd.sender)
            if cmd_name == "do_restart_init":
                log.info("restart_init received: Restarting from init()")
                self._DO_RESTART=True
            elif cmd.name == "do_exit":
                self._DO_EXIT=True
            cmd.set_result('SHOULD BE DONE NOW')
        else:
            #''
            name = cmd.name
            args = None
            if " " in name: name,args = name.split()
            if name == "do_eval":
                if args==None: raise(ValueError)
                cmd.set_result(eval(args))
            #''
            if cmd_name == "do_eval":
                if not cmd_args: raise ValueError()
                cmd.set_result(eval(cmd_args))

        cmd.set_as_processed()
        log.info("...Agent level GENERAL cmd has been executed")

        # If cmd is "do_exit", kill myself (without any question, this is an order soldier !)
        # This "do_exit" should normally kill any current thread (to be checked...)
        if cmd.name == "do_exit":
            log.info("Before exiting, Here are (if exists) the current (still) pending commands (time ordered) :")
            commands = AgentCmd.get_pending_and_running_commands_for_agent(self.name)
            AgentCmd.show_commands(commands, True)
            #if self.TEST_MODE and self.TEST_WITH_FINAL_TEST and self.TEST_COMMANDS_DEST == "myself": self.simulator_test_results()
            if self.TEST_MODE and self.TEST_WITH_FINAL_TEST: 
                self._TEST_test_results()
            #self._DO_EXIT=True
            #exit(0)
    '''


    # DEV mode only
    # Make agent sleep as soon as a command has started running
    # so that we can see this command in the "current command" column of agent web pages
    # To be overriden by subclass
    def _sleep_as_soon_as_running(self):
        # Example :
        # self.sleep(4)
        # by default, no sleeping after started running (only for DEV MODE)
        pass


    def __process_agent_general_cmd(self, cmd:AgentCmd):
        # GENERAL command (related to any agent)

        #self.print(f"Starting execution of an AGENT LEVEL cmd {cmd}...")
        log.info(f"Starting execution of an AGENT GENERAL cmd...")

        # Update read time to say that the command has been READ
        #cmd.set_read_time()
        cmd.set_as_running()
        self._sleep_as_soon_as_running()

        log.info("(Agent level GENERAL CMD)")
        cmd_name,cmd_args = cmd.name_and_args
        #cmd_name, cmd_args = cmd.tokenize()
        #if cmd.name == "set_state:active":
        #elif cmd.name == "set_state:idle":
        
        # Default result (null)
        result = None
        
        #
        # - 1) PRIORITY commands
        #

        # 1.a) not disturbing commands

        if cmd_name == "get_specific_cmds":
            result = self.get_specific_cmds()
            '''
            # CmdUnimplementedException if one specific command (in the list) is unknown
            try:
                result = self.get_specific_cmds()
            except CmdExceptionUnimplemented as e:
                # raise CmdUnimplementedException("get_specific_cmds.unknown_cmd_name")
                #cmd.set_as_exec_error("EXCEPTION - One specific cmd is unimplemented: "+e.cmd_name)
                raise CmdExceptionExecError(cmd, "EXCEPTION - One specific cmd is unimplemented => "+e.cmd_name) from None
            '''

        #elif cmd_name in ("do_flush_commands"):
        elif cmd_name == "do_flush_commands":
            "flush_commands received: Delete all pending commands"
            self.do_flush_commands()
            #cmd.set_result('DONE')
            result = "FLUSH DONE"

        elif cmd_name == "do_exec_commands":
            pass

        # 1.b) partially disturbing commands

        elif cmd_name == "do_stop_current":
            what = 'both' if not cmd.args else cmd.args[0]
            result = self.do_stop_current(what)

        # 1.c) really disturbing commands (STOP command type)
        if cmd_name in ("do_stop", 
                        "do_restart",
                        #@ deprecated
                        "do_abort", "do_exit", 
                        ):
            #self.printd("Current pending commands are:")
            #Command.show_commands(self._pending_commands)
            log.info("Stopping or Restarting...")
            #self._kill_running_device_cmd_if_exists(cmd.sender)
            '''
            self.do_things_before_exit(cmd.sender)
            if cmd_name == "do_restart_init":
                log.info("restart_init received: Restarting from init()")
                self._DO_RESTART=True
            elif cmd.name == "do_exit":
                self._DO_EXIT=True
            cmd.set_result('SHOULD BE DONE NOW')        
            '''
            #result = "RESTARTING" if cmd_name == "do_restart_loop" else "STOPPING"
            if cmd_name == "do_exit":
                cmd.full_name = "do_stop asap"
            elif cmd_name == "do_abort":
                cmd.full_name = "do_stop now"
            when = 'asap' if not cmd.args else cmd.args[0]
            result = self.do_stop_or_restart(False if cmd_name=='do_stop' else True,  when)



        #
        # - 2) NO priority commands
        #

        elif cmd_name == "get_state":
            result = self.get_state()

        elif cmd_name == "get_mode":
            result = "MODE is " + self.__get_mode()

        elif cmd_name == "set_mode":
            #if not cmd_args: raise ValueError()
            if not cmd_args: raise CmdExceptionBadArgs(cmd)
            mode = cmd_args[0]
            if mode == "IDLE": self.set_idle()
            elif mode == "ROUTINE": self.set_routine()
            elif mode == "ATTENTIVE": self.set_attentive()
            else: raise CmdExceptionBadArgs(cmd)
            #cmd.set_result("I am now " + state)
            result = "MODE is " + mode
            #time.sleep(1)
            #self.waitfor(1)
 
        elif cmd_name == "do_eval": 
            #if not cmd_args: raise ValueError()
            if not cmd_args: raise CmdExceptionBadArgs(cmd)
            #cmd.set_result(eval(cmd_args)) 
            #result = eval(cmd_args)
            result = self.do_eval(cmd_args[0])


        cmd.set_as_processed(result)
        log.info("...Agent level GENERAL cmd has been executed")

        '''
        # If cmd is "do_exit", kill myself (without any question, this is an order soldier !)
        # This "do_exit" should normally kill any current thread (to be checked...)
        if cmd.name == "do_exit":
            log.info("Before exiting, Here are (if exists) the current (still) pending commands (time ordered) :")
            commands = AgentCmd.get_pending_and_running_commands_for_agent(self.name)
            AgentCmd.show_commands(commands, True)
            #if self.TEST_MODE and self.TEST_WITH_FINAL_TEST and self.TEST_COMMANDS_DEST == "myself": self.simulator_test_results()
            if self.TEST_MODE and self.TEST_WITH_FINAL_TEST: 
                self._TEST_test_results()
            #self._DO_EXIT=True
            #exit(0)
        '''




    def __process_agent_specific_cmd(self, cmd:AgentCmd):

        #self.print(f"Starting execution of an AGENT LEVEL cmd {cmd}...")
        log.info(f"Starting execution of an AGENT level SPECIFIC cmd...")

        # Update read time to say that the command has been READ
        #cmd.set_read_time(False)
        ##cmd.set_as_running()

        log.info("(Agent SPECIFIC cmd)")
        # Execute method self."cmd.name"()
        # This can raise an exception (caught by this method caller)
        try:
            res = self.__exec_cmd_from_its_name(cmd)
        except (CmdExceptionUnimplemented, CmdExceptionBadArgs) as e:
            ##cmd.set_as_pending()
            # These exceptions are managed at higher level :
            raise
        '''
        except AttributeError as e:
            self.printd(f"EXCEPTION: Agent level specific command '{cmd.name}' unknown (not implemented as a function) :", e)
            self.printd("Thus => I ignore this command...")
            cmd.set_result("ERROR: INVALID AGENT LEVEL SPECIFIC COMMAND")
            cmd.set_as_pending()
            cmd.set_as_skipped()
            return
        '''
        #cmd.set_result("Agent level SPECIFIC cmd done")
        #res = res if res else "Agent SPECIFIC cmd done"
        cmd.set_as_processed(res)
        log.info("...Agent SPECIFIC cmd has been executed")




    '''
    def do_log(self):
        #""
        log à 2 endroits ou 1 seul
        - in file
        - in db
        #""
        self.printd("Logging data...")
    '''

    def __exec_cmd_from_its_name(self, cmd:AgentCmd)->Any:
        #print(dir(self))
        '''
        for method in dir(self):
            if callable(getattr(self, method)):
                m = getattr(self, method)
                print(method, ' => ', signature(m))
        '''
        #print("***************")
        #print(self.get_specific_cmds())
        #print("***************")

        methods_list = [method for method in dir(self) if callable(getattr(self, method))]
        #print(methodsList)
        func = cmd.name
        if func not in methods_list: raise CmdExceptionUnimplemented(cmd)
        ##f = getattr(self, func)
        ###print(func, ' => ', signature(f))

        #for arg in cmd.args: print(arg)
        #print(cmd.args)
        #print(*cmd.args)
        '''
        try:
            if not cmd.args:
                # equivalent to calling self.func()
                return getattr(self, func)()
            else:
                args = []
                # Convert all args to their real type
                for arg in cmd.args:
                    #print(arg)
                    #try:
                    # Evaluate arg only if it is not a word (letters)
                    if not arg[0].isalpha():
                        arg = ast.literal_eval(arg)
                    #except ValueError as e: newarg = arg
                    args.append(arg)
                #print(args)
                # equivalent to calling self.func(*cmd.args)
                return getattr(self, func)(*args)
        '''
        args = []
        print(cmd.args)
        # Convert all args to their real type
        for arg in cmd.args:
            #print(arg)
            #try:
            # Evaluate arg only if it is not a word (letters) :
            # - a word like "toto" is not evaluated => stays as is (=str)
            # Are evaluated :
            # - an int or float
            # - a (tuple)
            # - a [list]
            # - ...
            #print('********', arg, " :")
            if not arg[0].isalpha():
                arg = ast.literal_eval(arg)
                #print("evaluated to", type(arg), arg)
            #except ValueError as e: newarg = arg
            args.append(arg)
        
        cmd.set_as_running()
        self._sleep_as_soon_as_running()

        try:
            # equivalent to calling self.func(*cmd.args)
            return getattr(self, func)(*args)
        except (TypeError, AttributeError, ValueError) as e:
            # set back to PENDING because this command should never has been RUNNING
            cmd.set_as_pending()
            #raise e
            # "from None" pour ne pas afficher l'exception AttributeError (car interne)
            raise CmdExceptionBadArgs(cmd) from None
            #print("I know this specific command but it is not yet implemented : ", func)
            ##tb = sys.exc_info()[2]
            ##raise AgentCmdUnimplementedException(cmd).with_traceback(tb)
            ##raise AgentCmdUnimplementedException(cmd).with_traceback(None)


    def is_agent_level_cmd(self, cmd:AgentCmd):
        return self.is_agent_general_cmd(cmd) or self.is_agent_specific_cmd(cmd)

    def is_agent_general_cmd(self, cmd:AgentCmd):
        return cmd.is_agent_general_cmd()



    '''
    def _exec_agent_cmd(self, cmd:Command):
        # AGENT "GENERAL LEVEL" command
        # => I process it directly without asking my DC
        # => Simple action, short execution time, so I execute it directly (in current main thread, not in parallel)
        if cmd.is_agent_level_general_cmd():
            self.printd("********** -- AGENT LEVEL GENERAL CMD *********")
            self._exec_agent_general_cmd(cmd)

        # AGENT "SPECIFIC LEVEL" command
        # => I process it directly without asking my DC
        # => Simple action, short execution time, so I execute it directly (in current main thread, not in parallel)
        #elif self._is_agent_level_specific_cmd(cmd):
        else:
            self.printd("********** -- AGENT LEVEL SPECIFIC CMD *********")
            self._exec_agent_specific_cmd(cmd)
    '''

    def is_agent_specific_cmd(self, cmd:AgentCmd):
        #return cmd.name in self.AGENT_SPECIFIC_COMMANDS
        #return (cmd.name,) in self.AGENT_SPECIFIC_COMMANDS
        for (cmd_name,_,_) in self._AGENT_SPECIFIC_COMMANDS:
            if cmd.name == cmd_name : return True

    '''
    def _exec_agent_specific_cmd(self, cmd:Command):
        # Execute method self."cmd.name"()
        self.exec_cmd_from_its_name(cmd)
    '''

    def is_in_test_mode(self):
        return self.TEST_MODE



    ###
    # ================================================================================================
    #   AGENT GENERAL FUNCTIONS
    # ================================================================================================
    ###

    def do_eval(self, eval_str:str):
        return eval(eval_str)

    def do_flush_commands(self):
        AgentCmd.delete_pending_commands_for_agent(self.name)

    def do_exec_command(self, what:str):
        # - Temporaly stop execution of new commands (let them accumulate)
        if what == "stop": pass
        # - Resume execution of commands (accumulated since "do_stop_exec_cmd")
        if what == "resume": pass
        # NOT PRIO
        if what == "noprio": pass
        # Bad arg
        raise CmdExceptionBadArgs(self.CC)

    # Stop currently running cmd or routine
    def do_stop_current(self, what:str):
        if what == "cmd": 
            self.__do_stop_current_cmd_if_exists()
        if what == "routine": 
            self.__do_stop_current_routine_before_if_exists()
            self.__do_stop_current_routine_after_if_exists()
        if what == "both":
            self.__do_stop_current_cmd_if_exists()
            self.__do_stop_current_routine_before_if_exists()
            self.__do_stop_current_routine_after_if_exists()
        # Bad arg
        raise CmdExceptionBadArgs(self.CC)
    #FIXME: TODO
    def __do_stop_current_cmd_if_exists(self):
        if self.__CC_prev and self.__CC_prev.is_running():
            log.info("Aborting current running command if exists...")
            pass

    #FIXME: TODO
    def __do_stop_current_routine_before_if_exists(self):
        if self.__ROUTINE_PROCESS_BEFORE_IS_RUNNING:
            log.info("Aborting current routine BEFORE process if exists...")
            pass
    #FIXME: TODO
    def __do_stop_current_routine_after_if_exists(self):
        if self.__ROUTINE_PROCESS_AFTER_IS_RUNNING:
            log.info("Aborting current routine AFTER process if exists...")
            pass



    def do_exit(self): self.do_stop("asap");
    def do_abort(self): self.do_stop("now");
    # Stop agent asap or now
    def do_stop(self, when:str='asap'): self.do_stop_or_restart(False, when)
    def do_restart(self, when:str='asap'): self.do_stop_or_restart(True, when)
    def do_stop_or_restart(self, restart:bool=False, when:str='asap'):
        if when not in ('asap','now','noprio'): raise CmdExceptionBadArgs(self.CC)
        # NOT PRIO
        '''
        if when == "noprio":
            pass
        '''
        # log last agent mode & status
        self.__set_and_log_status(self.AGT_STATUS.RESTARTING if restart else self.AGT_STATUS.EXITING)
        #self._log_agent_state()
        # Exit main loop
        self.DO_MAIN_LOOP = False
        # PRIO
        if when == 'asap':
            self.__cleanup_before_exit()
        elif when == 'now':
            self.__abort_current_running_cmd_if_exists()
            self.__abort_current_routine_process_if_exists()
        
        if restart:
            self.DO_RESTART_LOOP = True

        # cmd result
        return ('RESTARTING ' if restart else 'STOPPING ') + when




    ###
    # ================================================================================================
    #   AGENT SPECIFIC COMMANDS (functions)
    #   (here just to serve as examples)
    # ================================================================================================
    ###

    #def do_specific1(self, arg1:int, arg2:int=2, arg3:int=3) -> int:
    #def do_specific1(self, arg1:int, arg2:int=2, arg3:float=3.1, arg4:list=[1,2,3]) -> float:

    def do_specific1(self, 
            arg1:int, 
            arg2:int, 
            arg3:float=3.1, 
            arg4:str='toto', 
            arg5:Tuple[int,str,int]=(1,'toto',3),
            #arg5:Tuple[int,int,int]=(1,2,3),
            arg6:List[int]=[]
        ) -> float:
        '''
        arg1 = int(arg1)
        arg2 = int(arg2)
        arg3 = float(arg3)
        arg5 = ast.literal_eval(arg5)
        print(arg5[1])
        arg6 = ast.literal_eval(arg6)
        '''
        #print(arg4)
        res = arg1 + arg2 + arg3 + arg5[0] + arg5[2]
        if arg6: res += arg6[0]
        return res

    # Undefined specific cmd
    #def set_specific2(self, arg1:str, arg2:int): pass

    def do_specific3(self):
        pass


    ###
    # ================================================================================================
    #   DEVICE SPECIFIC FUNCTIONS (abstract for Agent, overriden and implemented by AgentDevice)
    # ================================================================================================
    ###

    # To be overriden by subclass (AgentDevice...)
    # @abstract
    def is_device_level_cmd(self, cmd):
        return False

    '''
    # to be overriden by subclass (AgentDevice)
    # @abstract
    def exec_device_cmd_if_possible(self, cmd:AgentCmd):
        pass

    # TO BE OVERRIDEN by subclass (AgentDevice)
    # @abstract
    def exec_device_cmd(self, cmd:AgentCmd):
        #self.exec_cmd_from_its_name(cmd)
        pass
    '''


    def __cmd_was_sent_before_my_start(self, cmd:AgentCmd):
        return cmd.s_deposit_time < self.__UP_SINCE



    """
    =================================================================
        TEST DEDICATED FUNCTIONS
    =================================================================
    """

    def _set_debug_mode(self, mode:bool):
        self.DEBUG_MODE=mode
    
    def _set_with_simulator(self, mode:bool):
        self.WITH_SIMULATOR=mode
    
    def _set_test_mode(self, mode:bool):
        self.TEST_MODE = mode
        if self.TEST_MODE: log.info("in TEST MODE")


    def __TEST_setup_TEST_MODE(self):
        #if self.TEST_MODE:
        log.debug("[IN TEST MODE]")
        log.info("(TEST mode only) Flush all pending commands to be sure to start in clean state")
        AgentCmd.delete_pending_commands_for_agent(self.name)
        self.set_delay(2)

        '''
        else:
            log.debug("[IN NORMAL MODE]")
            self.TEST_MAX_DURATION_SEC=None 
        '''

    def __TEST_get_next_command_to_send(self)->AgentCmd:
        #cmd_full_name, validity, res_expected, after_status = next(self.TEST_COMMANDS, (None,None,None,None))
        DO_IT = False
        while not DO_IT:
            DO_IT, cmd_full_name, validity, expected_res, expected_status = next(self.TEST_COMMANDS, (False,None,None,None,None))
            print(DO_IT, cmd_full_name)
        #print(expected_final_status)
        #print(cmd_full_name, res_expected)
        #return cmd_name
        if cmd_full_name is None: return None
        # Remove excessive spaces => already done in AgentCmd.create()
        cmd_full_name = re.sub(r"\s+", " ", cmd_full_name).strip()
        if ' ' not in cmd_full_name: raise Exception('Command is malformed:', cmd_full_name)
        agent_recipient, cmd_name_and_args = cmd_full_name.split(' ', 1)
        if agent_recipient == 'self': agent_recipient = self.name
        cmd_name, cmd_args = cmd_name_and_args, None
        if ' ' in cmd_name_and_args: cmd_name,cmd_args = cmd_name_and_args.split(' ', 1)
        cmd = self.create_cmd_for(agent_recipient, cmd_name, cmd_args, validity)
        cmd.expected_res = expected_res
        cmd.expected_status = expected_status
        # If no cmd created (because of error, bad AgentDevice name), call again this method for next cmd
        #if cmd is None: return self._TEST_get_next_command_to_send()
        return cmd

    """
    def simulator_send_next_command(self):
        #self._current_test_cmd = "set_state:idle" if self._current_test_cmd=="set_state:active" else "set_state:active"
        #if self._nb_test_cmds == 4: self._current_test_cmd = "do_exit"
        cmd_name = next(self.TEST_COMMANDS, None)
        #self.printd("next cmd is ", cmd_name)
        if cmd_name is None: return
        #Command.objects.create(sender=self.name, recipient=self.name, name=cmd_name)
        recipient_agent = self.name if self.TEST_COMMANDS_DEST=="myself" else self.TEST_COMMANDS_DEST
        Command.objects.create(sender=self.name, recipient=recipient_agent, name=cmd_name)
        #time.sleep(1)
        #self._TEST_current_cmd_idx += 1
        #self._nb_test_cmds += 1
    """


    def __TEST_send_next_test_cmd(self):
        """
        TEST MODE ONLY

        Send next command from scenario defined in TEST_COMMANDS_LIST
        (even if current command running)
        """
        #self._cmdts.refresh_from_db()

        #if not self.is_in_test_mode(): return

        log.info("(TEST mode) Trying to send a new command if possible...")
        
        cmdts = self.__TEST_get_next_command_to_send()
        # No more command to send (from simulator) => return and EXIT
        if cmdts is None:
            self.DO_MAIN_LOOP = False
            return

        log.info("TTT")
        log.info(f"TTT NEW COMMAND TO SEND is: " + str(cmdts))
        if hasattr(cmdts,"expected_res") : 
            log.info(f"TTT (with expected final status & result : " 
                + "'" + str(cmdts.expected_status) 
                + "' & '" + str(cmdts.expected_res)
                + "')")
        log.info("TTT")

        # SEND
        cmdts.send()
        log.info(f"TTT NEW COMMAND SENT")



    # A VIRER
    def __TEST_send_next_test_cmd_ORIG(self):
        """
        TEST MODE ONLY

        Send next command from scenario defined in TEST_COMMANDS_LIST
        (only if previous command finished)
        """

        #if not self.is_in_test_mode(): return

        log.info("(TEST mode) Trying to send a new command if possible...")
        
        # There is a current command being processed 
        # => check if next command is "do_abort"
        # => if so, instantly send a "do_abort" to abort previous command
        ##if self._cmdts is not None:
        if self._cmdts is not None:
            log.info(f"Waiting for end execution of cmd '{self._cmdts.name}' (sent to {self._cmdts.recipient}) ...")
            # Update cmdts fields from DB
            self._cmdts.refresh_from_db()

            # Current cmd is pending or running            
            if self._cmdts.is_pending() or self._cmdts.is_running():
                pass
                '''
                FIXME: a reactiver ? en mieux (traitement d'une priority cmd)
                if self._next_cmdts is None:
                    # If next command is "do_abort" then abort becomes the new current command (to be sent)
                    self._next_cmdts = self.__TEST_get_next_command_to_send()
                    if self._next_cmdts and self._next_cmdts.name == "do_abort":
                        # Wait a little to give a chance to agentB to start execution of current command,
                        # so that we can abort it then (otherwise it won't be aborted!!)
                        #time.sleep(4)
                        self.waitfor(4)
                        self._cmdts = self._next_cmdts
                        self._next_cmdts = None
                        log.info("TTT")
                        #log.info(f"T** SEND ", self._cmdts)
                        log.info(f"TTT" + str(self._cmdts))
                        log.info("TTT")
                        self._cmdts.send()
                '''

            # Current cmd is finished
            else:
                
                # Execution was not completed
                #if self._cmdts.is_expired() or self._cmdts.is_skipped() or self._cmdts.is_killed():
                ##if self._cmdts.is_skipped() or self._cmdts.is_killed():
                if self._cmdts.is_finished_with_error():
                    log.info("Command was not completed")
                    # 2 possible scenarios:
                    # - (1) Send the SAME command again
                    '''
                    self.printd("Command was not completed, so I send it again")
                    # The command was not completed, so, make a copy of it and send it again
                    # For this, it is enough to set primary key to None,
                    # then the send() command below will save a NEW command
                    #self._cmdts = copy.copy(self._cmdts)
                    self._cmdts.id = None
                    SEND_A_NEW_COMMAND = True
                    '''
                    # - (2) Send next command
                    #self._cmdts = None
                
                # Execution was completeted OK => get result
                elif self._cmdts.is_executed():
                    log.info(f"Cmd executed. Result is '{self._cmdts.get_result()}'")
                    #cmdts_is_processed = True
                    ''' Optimisation possible pour gagner une iteration:
                    self._cmdts = self.simulator_get_next_command_to_send()
                    # No more command to send (from simulator) => return
                    if self._cmdts is None: return
                    SEND_A_NEW_COMMAND = True
                    '''

                # Set cmdts to None so that a new command will be sent at next iteration
                self._cmdts = None

        # No currently running command => get a new command and SEND it
        if self._cmdts is None:
            if self._next_cmdts is not None:
                self._cmdts = self._next_cmdts
                self._next_cmdts = None
            else:
                self._cmdts = self.__TEST_get_next_command_to_send()
            # No more command to send (from simulator) => return and EXIT
            if self.cmdts is None:
                self.DO_MAIN_LOOP = False
                return
            # Send cmd (= set as pending and save)
            log.info("TTT")
            #self.printd(f"*** SEND ", self._cmdts)
            log.info(f"TTT NEW COMMAND TO SEND is: " + str(self._cmdts))
            if hasattr(self._cmdts,"expected_res") : 
                log.info(f"TTT (with expected final status & result : " 
                    + "'" + str(self._cmdts.expected_status) 
                    + "' & '" + str(self._cmdts.expected_res)
                    + "')")
            log.info("TTT")
            #self._cmdts.set_as_pending()
            # SEND
            self._cmdts.send()
            log.info(f"TTT NEW COMMAND SENT")
            #cmdts_is_processed = False
            #cmdts_res = None


    def _TEST_get_sent_test_command_num(self, cmd_searched_num:int)->Tuple:
        ''' Return (really sent) test command which has number num '''
        #print("num", cmd_num)
        i=1
        cmd_num=0
        while cmd_num <= cmd_searched_num:
            # Format : (DO_IT, "self cmd_name cmd_args", timeout, "expected_result", expected_status),
            cmd = self._TEST_COMMANDS_LIST[i-1]
            #print(cmd)
            DO_IT, cmd_name, _, _, _ = cmd
            if DO_IT:
                cmd_num+=1
                if cmd_num == cmd_searched_num: 
                    cmd_name = re.sub(r"\s+", " ", cmd_name).strip().split(' ')[1]
                    #print(cmd_name, self.CC.name)
                    assert cmd_name == self.CC.name
                    break
            i+=1
        return cmd


    #def __TEST_check_current_cmd_res_and_status(self, cmd:AgentCmd):
    def __TEST_check_current_cmd_res_and_status(self):
        cmd = self.CC
        
        #if not self.is_in_test_mode(): return
        #if not (self.CC and self.CC.is_finished()): return 

        # Only check TEST commands (not checking commands sent by others, like via the web interface...)
        #print("*** TEST ***", self.name)
        if cmd.sender != self.name: return

        log.debug("TTT CHECK TTT")

        # number of the current test command (finished)
        self.__test_cmd_received_num+=1
        #print("test cmd num", self.__test_cmd_received_num, "for current cmd", cmd)
        # Format : (DO_IT, "self cmd_name cmd_args", timeout, "expected_result", expected_status),
        _, _, _, test_cmd_sent_expected_res, test_cmd_sent_expected_status = self._TEST_get_sent_test_command_num(self.__test_cmd_received_num)
        #if hasattr(self._cmdts,'expected_res'): 
        ##if cmd.is_executed() and self._cmdts.expected_res: 
        #if cmd.is_finished() and self._cmdts.expected_res is not None: 
        if test_cmd_sent_expected_res is not None: 
            actual=str(cmd.result)
            expected=test_cmd_sent_expected_res
            log.debug(actual)
            log.debug(expected)
            #print(actual, ' <= vs =>', expected)
            assert actual==expected, f"Cmd result (='{actual}') is not as expected (='{expected}')"
        
        #if hasattr(self._cmdts,'expected_status'): 
        if test_cmd_sent_expected_status is not None: 
            #assert(cmd.state == self._cmdts.expected_status) 
            actual=cmd.state
            expected=test_cmd_sent_expected_status
            #print(actual, ' <= vs =>', expected)
            assert actual==expected, f"Cmd status (='{actual}') is not as expected (='{expected}')"

            
    def __TEST_test_results(self):
        #if not (self.TEST_MODE and self.TEST_WITH_FINAL_TEST): return
        if self._TEST_COMMANDS_LIST == []: return

        nb_commands_to_send = len(self._TEST_COMMANDS_LIST)
        nb_commands_sent, commands = self.__TEST_test_results_start()
        #nb_commands_to_send = len(self.TEST_COMMANDS_LIST)

        # General (default) test
        #self.printd(commands[0].name, "compared to", self.TEST_COMMANDS_LIST[0].split()[1])
        assert commands[0].name == self._TEST_COMMANDS_LIST[0].split()[1]
        last_cmd = commands[-1]
        assert last_cmd.name == self._TEST_COMMANDS_LIST[-1].split()[1]
        assert last_cmd.name == "do_exit"
        assert last_cmd.is_executed()
        ##assert last_cmd.get_result() == "SHOULD BE DONE NOW"

        nb_asserted = 0
        nb_agent_general = 0
        nb_unknown = 0
        nb_unimplemented = 0
        for cmd in commands:
            ##assert cmd.is_executed() or cmd.is_killed() or cmd.is_skipped()
            assert cmd.is_finished()
            nb_asserted += 1
            if cmd.is_agent_general_cmd():
                nb_agent_general += 1
            if cmd.name == "do_unknown":
                assert cmd.is_skipped()
                #assert "UnimplementedGenericCmdException" in cmd.get_result()
                assert "INVALID COMMAND" in cmd.get_result()
                nb_unknown += 1
            #if cmd.name in ["do_unimplemented", "do_unknown"]:
            if cmd.name == "do_unimplemented":
                assert cmd.is_skipped()
                assert "UnimplementedGenericCmdException" in cmd.get_result()
                nb_unimplemented += 1
        assert nb_asserted == nb_commands_sent
        log.info(f"{nb_commands_to_send} cmds I had to send <==> {nb_asserted} cmds executed (or killed), {nb_commands_to_send-nb_commands_sent} cmd ignored")
        log.info("Among executed commands:")
        log.info(f"- {nb_agent_general} AGENT general command(s)")
        log.info(f"- {nb_unimplemented} unimplemented command(s) => UnimplementedGenericCmdException raised then command was skipped")
        log.info(f"- {nb_unknown} unknown command(s) => skipped")


        # Can be overriden by subclass (AgentDevice)
        self._TEST_test_results_other(commands)
        '''
        (EP) moved to AgentDevice
        # Now test that any "AD get_xx" following a "AD set_xx value" command has result = value
        for i,cmd_set in enumerate(commands):
            if cmd_set.name.startswith('set_'):
                commands_after = commands[i+1:]
                for cmd_get in commands_after:
                    if cmd_get.name.startswith('get_') and cmd_get.name[4:]==cmd_set.name[4:] and cmd_get.device_type==cmd_set.device_type:
                        log.info("cmd_get.result == cmd_set.args ?" + str(cmd_get.result) + ' ' + str(cmd_set.args))
                        assert cmd_get.get_result() == ','.join(cmd_set.args), "A get_xx command did not gave the expected result as set by a previous set_xx command"
                        break
        '''

        # Specific (detailed) test (to be overriden by subclass)
        nb_asserted2 = self._TEST_test_results_main(commands)
        self.__TEST_test_results_end(nb_asserted)

    def __TEST_prepare(self):
        if not self.is_in_test_mode(): return
        log.debug("\n!!! In TEST mode !!! => preparing to run a scenario of test commands")
        log.debug("- Current test commands list scenario is:\n" + str(self._TEST_COMMANDS_LIST))
        if not self.WITH_SIMULATOR:
            log.debug("\n!!! In TEST but no SIMULATOR mode (using REAL device) !!! => removing dangerous commands for real devices... :")
            TEST_COMMANDS_LIST_copy = self._TEST_COMMANDS_LIST.copy()
            for cmd in TEST_COMMANDS_LIST_copy:
                cmd_key = cmd.split()[1]
                if ("set_" in cmd_key) or ("do_start" in cmd_key) or cmd_key in ["do_init", "do_goto", "do_open", "do_close"]:
                    self._TEST_COMMANDS_LIST.remove(cmd)
            log.debug("- NEW test commands list scenario is:\n" + self._TEST_COMMANDS_LIST, '\n')

    # Can be overriden by subclass (AgentDevice)
    def _TEST_test_results_other(self, commands):
        pass

    def __TEST_test_results_start(self):
        print()
        log.info("--- Testing if the commands I SENT had the awaited result")
        log.info("Here are the last commands I sent:")
        #commands = list(Command.get_last_N_commands_for_agent(self.name, 16))
        #commands = Command.get_last_N_commands_sent_to_agent(self.name, 16)
        nb_commands = len(self._TEST_COMMANDS_LIST)
        if "ad_unknown get_dec" in self._TEST_COMMANDS_LIST: nb_commands -= 1
        commands = AgentCmd.get_last_N_commands_sent_by_agent(self.name, nb_commands)
        AgentCmd.show_commands(commands)
        return nb_commands, commands
        """ OLD SCENARIO
        nb_asserted = 0
        for cmd in commands:
            if cmd.name == "specific0":
                assert cmd.is_skipped()
                nb_asserted+=1
            if cmd.name == "specific1":
                assert cmd.result == "in step #5/5"
                assert cmd.is_executed()
                nb_asserted+=1
            if cmd.name in ("specific2","specific3"):
                assert cmd.is_killed()
                nb_asserted+=1
            if cmd.name in ("specific4", "specific5", "specific6", "specific7", "specific8"):
                assert cmd.is_pending()
                nb_asserted+=1
            # 2 cmds abort
            if cmd.name in ("do_abort"):
                assert cmd.is_executed()
                nb_asserted+=1
            if cmd.name in ("do_exit"):
                assert cmd.is_executed()
                nb_asserted+=1
        assert nb_asserted == 12
        self.printd("--- Finished testing => result is ok")
        """

    # To be overriden by subclass
    def _TEST_test_results_main(self, commands):
        return 0
        '''
        nb_asserted = 0
        self.printd("from simulator_test_results_main", commands)
        for cmd in commands:
            assert cmd.is_executed()
            nb_asserted+=1
        return nb_asserted
        '''

    def __TEST_test_results_end(self, nb_asserted):
        #nb_commands_to_send = len(self.TEST_COMMANDS_LIST)
        #self.printd(nb_asserted, "vs", nb_commands_to_send)
        #assert nb_asserted == nb_commands_to_send
        #self.printd(f"************** Finished testing => result is ok ({nb_asserted} assertions) **************")
        printFullTerm(Colors.GREEN, f"TTTTTTTTTTTT Finished testing => result is ok ({nb_asserted} assertions) TTTTTTTTTTTT")






"""
=================================================================
    MAIN
=================================================================
"""

import argparse
def __extract_parameters():
    """ Usage: Agent.py [-t] [configfile] """
    # arg 1 : -t
    # arg 2 : configfile

    DEBUG_MODE = False
    TEST_MODE = False
    WITH_SIM = False
    VERBOSE_MODE = False
    configfile = None
    log.debug("args:" + str(sys.argv))
    for arg in sys.argv[1:] :
        if arg == "-t": TEST_MODE = True
        elif arg == "-s": WITH_SIM = True
        elif arg == "-d": DEBUG_MODE = True
        elif arg == "-v": VERBOSE_MODE = True
        #else: configfile = arg
    '''
    if len(sys.argv) > 1:
        if sys.argv[1] == "-t": 
            TEST_MODE = True
            if len(sys.argv) == 3:
                configfile = sys.argv[2]
        else:
            configfile = sys.argv[1]
    '''
    #return DEBUG_MODE, WITH_SIM, TEST_MODE, VERBOSE_MODE, configfile
    return DEBUG_MODE, TEST_MODE, VERBOSE_MODE

#def build_agent(Agent_type:Agent, name="GenericAgent", RUN_IN_THREAD=True):
#def build_agent(Agent_type:Agent, RUN_IN_THREAD=True):
def build_agent(Agent_type:Agent,param_constr=None) -> Agent : 
    #DEBUG_MODE, WITH_SIM, TEST_MODE, VERBOSE_MODE, configfile = extract_parameters()
    DEBUG_MODE, TEST_MODE, VERBOSE_MODE = __extract_parameters()
    log.debug("debug mode is" + os.getenv("PYROS_DEBUG"))

    #print(logger)
    
        
    #agent = Agent("GenericAgent", configfile, RUN_IN_THREAD=True)
    #agent = Agent_type(configfile, RUN_IN_THREAD, DEBUG_MODE=DEBUG_MODE)
    #agent = Agent_type(RUN_IN_THREAD)
    if param_constr:
        if "AgentSST" in str(Agent_type):
            agent = Agent_type(agent=param_constr.get("agent"),simulated_computer=param_constr.get("computer"))
    else:
        agent = Agent_type()
    if agent.name == "AgentSST":
        # args are passed two times: first in AgentSST script and then to build_agent function, we need to setup again argparse in order to argparse to allow arguments
        parser = argparse.ArgumentParser(description='Start a agentSST.')
        parser.add_argument("--computer",dest="computer",help='Launch agent with simulated computer hostname',action="store")
        parser.add_argument("--agent",dest="agent",help='Launch an specific agent ',action="store")
        parser.add_argument("-t", action="store_true" )
        
        # parser.add_argument("-d", action="store_true" )
        # parser.add_argument("-s", action="store_true" )
        # parser.add_argument("-v", action="store_true" )
        # args = parser.parse_args()
        # if args.computer:
        #     agent.set_computer(args.computer)
    # AgentSP isn't in a config, so to avoid that WITH_SIM returns an error it's a special case
    if agent.name == "AgentSP":
        agent._set_with_simulator(False)
        agent._set_test_mode(TEST_MODE)
        return agent
    #agent = Agent_type(name, configfile, RUN_IN_THREAD)
    # Get the information of the agent name (name of class) within obsconfig and get the "is_real" attribute
    if agent.name in agent.get_config().get_agents(agent.unit).keys():
        if agent.get_config().get_agent_information(agent.unit,agent.name).get("is_real"):
            WITH_SIM = not agent.get_config().get_agent_information(agent.unit,agent.name)["is_real"]
        else: 
            WITH_SIM = True
    else:   
        WITH_SIM = True
    agent._set_with_simulator(WITH_SIM)
    agent._set_test_mode(TEST_MODE)
    #print(logger)
    #logg.info("agent built, return it")

    #agent._set_debug_mode(DEBUG_MODE)
    return agent


if __name__ == "__main__":

    '''
    # with thread
    RUN_IN_THREAD=True
    # with process
    #RUN_IN_THREAD=False
    '''

    #agent = build_agent(Agent, RUN_IN_THREAD=RUN_IN_THREAD)
    agent = build_agent(Agent)

    agent.show_config()

    #agent = build_agent(Agent, name="GenericAgent", RUN_IN_THREAD=RUN_IN_THREAD)
    '''
    TEST_MODE, WITH_SIM, configfile = extract_parameters()
    agent = Agent("GenericAgent", configfile, RUN_IN_THREAD=True)
    #agent.setSimulatorMode(TEST_MODE)
    agent.setTestMode(TEST_MODE)
    agent.setWithSimulator(WITH_SIM)
    self.printd(agent)
    '''
    agent.run()