#!/usr/bin/env python3


import os
import sys
##import utils.Logger as L
import threading, multiprocessing
import time

##from .Agent import Agent
sys.path.append("..")
from agent.Agent import Agent, build_agent, StoppableThreadEvenWhenSleeping
from common.models import AgentDeviceStatus, Command, get_or_create_unique_row_from_model


sys.path.append("../../..")
from device_controller.abstract_component.device_controller import DeviceController, DeviceCommand, DCCNotFoundException, UnimplementedGenericCmdException, UnknownNativeCmdException

##log = L.setupLogger("AgentXTaskLogger", "AgentX")



class AgentDevice(Agent):

    _current_device_cmd = None
    _current_device_cmd_thread = None

    # Default host and port of the device controller
    _device_ctrl = None
    _device_sim = None
    HOST, PORT = None, None
    _thread_device_simulator = None

    _agent_device_status = None

    # FOR TEST ONLY
    # Run this agent in simulator mode
    TEST_MODE = False
    # Run the assertion tests at the end
    TEST_WITH_FINAL_TEST = False
    #TEST_MAX_DURATION_SEC = None
    TEST_MAX_DURATION_SEC = 100
    # Who should I send commands to ?
    #TEST_COMMANDS_DEST = "myself"
    TEST_COMMANDS_DEST = "AgentB"
    # Scenario to be executed
    TEST_COMMANDS_LIST = [
        # Ask receiver to delete all its previous commands 
        "flush_commands",

        "go_active",

        # Because of this command, the receiver agent :
        # - will no more send any new command
        # - will only execute "generic" commands (and not the "specific" ones)
        "go_idle",

        # Not executed (skipped) because receiver agent is now "idle"
        #"specific0",

        # Because of this command, the receiver agent
        # will now be able to send new commands
        "go_active",

        # Executed because recipient agent is now "active"
        "specific1",
        # should abort previous command (specific1)
        "abort",

        # Executed completely because no abort
        "specific2",

        # fully executed, result is 7
        "eval 4+3",

        "go_idle",
        "exit",
    ]



    """
    =================================================================
        FUNCTIONS RUN INSIDE MAIN THREAD
    =================================================================
    """

    # @override
    #def __init__(self, name:str=None, config_filename=None, RUN_IN_THREAD=True, device_controller, host, port):
    #def __init__(self, name:str, config_filename, RUN_IN_THREAD, device_controller, host, port, device_simulator):
    ##def __init__(self, config_filename, RUN_IN_THREAD, device_controller:DeviceController, host, port, device_simulator):
    def __init__(self, config_filename, RUN_IN_THREAD, device_controller:DeviceController, host, port):
        ##if name is None: name = self.__class__.__name__
        #super().__init__(name, config_filename, RUN_IN_THREAD)
        super().__init__(config_filename, RUN_IN_THREAD)
        self.HOST, self.PORT = host, port
        self._device_ctrl = device_controller
        ##self._device_sim = device_simulator

        # Initialize the device table status
        # If table is empty, create a default 1st row
        ##self._agent_device_status = get_or_create_unique_row_from_model(AgentDeviceStatus)
        self._agent_device_status = AgentDeviceStatus.getStatusForAgent(self.name)
        """
        if not AgentDeviceTelescopeStatus.objects.exists():
            print("CREATE first row")
            self._agent_device_status = AgentDeviceTelescopeStatus.objects.create(id=1)
        # Get 1st row (will be updated at each iteration by routine_process() with current device status)
        print("GET first row")
        self._agent_device_status = AgentDeviceTelescopeStatus.objects.get(id=1)
        """

        # Initialize the device socket
        # Port local AK 8085 = redirigé sur l’IP du tele 192.168.0.12 sur port 11110
        ##HOST, PORT = "82.64.28.71", 11110
        #HOST, PORT = "localhost", 11110
        #self._device_ctrl = TelescopeControllerGEMINI(host, port, True)
        ##self._device_ctrl = device_controller(HOST, PORT, True)
        ##self._device_ctrl = device_controller(host, port, True)
        self._log.print("init done")


    # @override
    def init(self):

        super().init()
        # --- Set the mode according the startmode value
        ##agent_alias = self.__class__.__name__
        ##self.set_mode_from_config(agent_alias)

        # If in test and simulator mode ==> set my DC as connected to localhost (simulator server)
        if self.is_in_test_mode() and self.WITH_SIMULATOR:
            # START device SIMULATOR (in a thread) so that we can connect to it in place of the real device
            self.HOST = "localhost"
            '''
            self._thread_device_simulator = threading.Thread(target=self.device_simulator_run)
            self._thread_device_simulator.start()
            '''

        # Create instance of device controller (device client)
        # Ex: this can be the Gemini or the SBIG (...) DC
        self._device_ctrl = self._device_ctrl(self.HOST, self.PORT, True)

        # Device socket init
        # (optional) Only useful for TCP (does nothing for UDP)
        self._device_ctrl._connect_to_device()
        self._device_ctrl.print_available_cmds()

        # Telescope (long) init
        # TODO:


    def is_using_simulator(self):
        return self.WITH_SIMULATOR

    '''
    def device_simulator_run(self):
        #HOST, PORT = "localhost", 11110
        #with get_SocketServer_UDP_TCP(HOST, PORT, "UDP") as myserver:
        print("Starting device simulator on (host, port): ", self.HOST, self.PORT)
        self._device_sim.serve_forever(self.PORT)
        #with get_SocketServer_UDP_TCP(self.HOST, self.PORT, "UDP") as myserver: myserver.serve_forever()
        #''
        myserver = get_SocketServer_UDP_TCP(self.HOST, self.PORT, "UDP")
        myserver.serve_forever()
        #''
    '''

    '''
    # @override
    def load_config(self):
        super().load_config()
    '''

    '''
    # @override
    def update_survey(self):
        super().update_survey()
    '''

    '''
    # @override
    def get_next_command(self):
        return super().get_next_command()
    '''

    # @override
    def do_log(self):
        super().do_log()


    # @override parent class (Agent)
    def routine_process(self):
        self.print("ROUTINE PROCESS START: reading my dedicated device status information and storing it in DB)...")

        # Save current device status to DB
        #AgentDeviceTelescopeStatus.objects.create(radec=myradec)
        #if not self.is_running_specific_cmd():
        self._save_device_status()

        self.print("Status saved in DB")

        #time.sleep(3)
        self.print("ROUTINE PROCESS END")



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

    # @override superclass (Agent) method
    def is_device_level_cmd(self, cmd:Command):
        return self._device_ctrl.is_valid_cmd(DeviceCommand(cmd.full_name))

    def is_device_generic_but_UNIMPLEMENTED_cmd(self, cmd:Command):
        return self._device_ctrl.is_generic_but_UNIMPLEMENTED_cmd(DeviceCommand(cmd.full_name))

    def _is_running_device_cmd(self):
        #return (self._current_device_cmd_thread is not None) or self._current_device_cmd_thread.is_alive()
        #return (self._current_device_cmd_thread is None) or not self._current_device_cmd_thread.is_alive()
        return self._current_device_cmd_thread and self._current_device_cmd_thread.is_alive()

    # @override superclass (Agent) method
    def exec_device_cmd_if_possible(self, cmd:Command):

        self._set_status(self.STATUS_SPECIFIC_PROCESS)
        self.printd(f"Starting execution of a DEVICE cmd {cmd}")

        if self._is_idle():
            self.printd("I am IDLE ==> I mark the cmd SKIPPED and ignore it")
            cmd.set_result("Skipped because AgentDevice idle")
            cmd.set_as_skipped()
            return

        # TODO: changer ça car on devrait pouvoir executer N cmds en parallèle...
        if self._is_running_device_cmd():
            self.printd("There is still a thread executing a command ==> I cannot execute this new one now (I will try again to execute it at next iteration)")
            return

        # DC (DEVICE CONTROLLER) level command:
        if self.is_device_generic_but_UNIMPLEMENTED_cmd(cmd): raise UnimplementedGenericCmdException()
        # ==> the Agent sends (delegates) it to its dedicated DC, via a sub-thread or a process
        """
        Dans le cas du Majordome, cette methode doit lancer la prise d'une séquence.
        La sequence elle même va être une boucle. 
        Donc on peut voir une séquence comme un appel unique à une fonction qui va durer un certain
        temps (max 20 min par exemple) mais dans cette méthode
        il y a une boucle sur la prise des images. 
        """
        self.printd("Starting specific process...")
        self._current_device_cmd = cmd
        # Update read time to say that the command has been READ
        cmd.set_read_time()
        #self._current_thread = threading.Thread(target=self.exec_command)

        # Run in a thread
        if self.RUN_IN_THREAD:
            self.printd("(run cmd in a thread)")
            self._current_device_cmd_thread = StoppableThreadEvenWhenSleeping(target=self._thread_exec_device_cmd)
            #self._current_device_cmd_thread = StoppableThreadEvenWhenSleeping(target=self.exec_specific_cmd, args=(cmd,))
            #self._current_thread = threading.Thread(target=self.exec_command)
            #self._current_device_cmd_thread = StoppableThread(target=self.exec_specific_cmd, args=(cmd,))
            #self._current_device_cmd_thread = threading.Thread(target=self.exec_specific_cmd, args=(cmd,))
            #self._current_device_cmd_thread = thread_with_exception('thread test')

        # Run in a process
        else:
            self.printd("(run cmd in a process)")
            # close the database connection first, it will be re-opened in each process
            db.connections.close_all()
            self._current_device_cmd_thread = multiprocessing.Process(target=self._thread_exec_device_cmd) 
            #self._current_device_cmd_thread = multiprocessing.Process(target=self.exec_specific_cmd, args=(cmd,))

        self._current_device_cmd_thread.start()
        #self._current_device_cmd_thread = threading.Thread(target=self.exec_specific_cmd, args=(cmd,))
        #self._current_device_cmd_thread = thread_with_exception('thread test')
        #my_thread.join()
        #self.waitfor(self.subloop_waittime)
        self.printd("Ending specific process (thread has been launched)")


    def _save_device_status(self):
        self._agent_device_status.status = self.get_device_status()
        self._agent_device_status.save()


    # To be overriden by subclass
    def get_device_status(self):
        return 'Abstract status'


    # @override parent class (Agent)
    def _kill_running_device_cmd_if_exists(self, abort_cmd_sender):

        # AGENT level
        if not self._is_running_device_cmd():
            self.print("...No current device command thread to abort...")
        else:
            self.print(f"Killing command {self._current_device_cmd.name}")
            # Ask the thread to stop itself
            #self._current_device_cmd_thread.stop()
            #self._current_device_cmd_thread._stop()
            #self._current_device_cmd_thread.shutdown()
            #threading._shutdown()
            #self._current_device_cmd_thread.raise_exception()
            self._current_device_cmd.set_as_killed_by(abort_cmd_sender)
            self._current_device_cmd_thread.terminate()
            # Now, wait for the end of the thread
            if self.RUN_IN_THREAD:
                self._current_device_cmd_thread.join()
        self._current_device_cmd_thread = None
        #self._current_device_cmd.set_as_killed()
        self._current_device_cmd = None

        # DEVICE specific
        print("Close device socket")
        try:
            self._device_ctrl.close()
        except AttributeError as e:
            print("Erreur sur fermeture socket (TBC):", e)
        '''
        # Stop device simulator (only if used)
        if self.is_using_simulator():
            print("Stopping device simulator")
            self._device_sim.stop()
        '''


    """
    # @override
    def specific_process(self, cmd):
        cmd.set_read_time()
        cmd.set_as_running()
        res = self._device_ctrl.execute_cmd(cmd.name)
        cmd.set_result(str(res))
        print("result is", str(res))
        if res.ok: print("OK")
        cmd.set_as_processed()
        time.sleep(1)
    """




    """
    =================================================================
        FUNCTIONS RUN INSIDE A SUB-THREAD (OR A PROCESS) (thread_*())
    =================================================================
    """

    def tprint(self, *args, **kwargs):
        self.printd('(THREAD):', *args, *kwargs)

    def _thread_exec_device_cmd(self):
        assert self._current_device_cmd_thread is not None

        # thread execution setting up
        self._thread_exec_device_cmd_start()

        # Exit if I was asked to stop
        cmd = self._current_device_cmd
        if self.RUN_IN_THREAD and threading.current_thread().stopped():
            self.tprint(f">>>>> Thread (cmd {cmd.name}): I received the stop signal, so I stop (in error)")
            exit(1)

        if cmd.name == "do_eval":
            res = eval(cmd.args)

        else:
            try:
                res = self.exec_device_cmd(cmd)
            except (DCCNotFoundException, UnimplementedGenericCmdException, UnknownNativeCmdException) as e:
                self.tprint(f"EXCEPTION caught by {type(self).__name__} (from thread)", e)
                #raise
                cmd.set_result(e)
                cmd.set_as_killed_by(type(self).__name__)
                #time.sleep(2)
                self.tprint(">>>>> Thread: execution of command", cmd.name, "is now aborted")
                self._current_device_cmd = None
                self._current_device_cmd_thread.terminate()
                # (EP) ...NOT SURE THAT BELOW THIS LINE, SOMETHING WILL BE EXECUTED, because THIS current thread is being killed...
                '''
                # Now, wait for the end of the thread
                if self.RUN_IN_THREAD:
                    self._current_device_cmd_thread.join()
                '''
                self._current_device_cmd_thread = None
                #res = "ERROR"
                return

        cmd.set_result(res)

        '''
        # processing body (main)
        # Specific case of the EVAL command
        #if self._current_device_cmd.name.startswith("eval"):
        if self._current_device_cmd.name == "do_eval":
            self.thread_set_total_steps_number(1)
            self.thread_exec_device_cmd_step(1, self.cmd_step_eval)
            #return
        # to be overriden by subclasses
        else:
            self.thread_exec_specific_cmd_main()
        '''

        # thread execution tearing down
        self._thread_exec_device_cmd_end()
        '''
        except TimeoutError:
            pass
        '''

    #def exec_specific_cmd_start(self, cmd:Command):
    def _thread_exec_device_cmd_start(self):
        cmd = self._current_device_cmd
        """ specific command execution setting up """
        #cmd = self.get_current_device_cmd()
        self.printd(">>>>> Thread: starting execution of command", cmd.name)
        self.printd(">>>>> Thread: PID: %s, Process Name: %s, Thread Name: %s" % (
            os.getpid(),
            multiprocessing.current_process().name,
            threading.current_thread().name)
        )
        cmd.set_as_running()
        """
        if self.RUN_IN_THREAD:
            cmd.set_as_running()
        else:
            with transaction.atomic():
                cmd.set_as_running()
        """


    # Define your own command step(s) here
    def cmd_step(self, step:int):
        cmd = self._current_device_cmd
        """
        cmd.result = f"in step #{step}/{self._thread_total_steps_number}"
        cmd.save()
        """
        cmd.set_result(f"in step #{step}/{self._thread_total_steps_number}")

    def cmd_step_eval(self, step:int):
        cmd = self._current_device_cmd
        #cmd_args = self._current_device_cmd.full_name.split()[1]
        """
        cmd.result = f"in step #{step}/{self._thread_total_steps_number}"
        cmd.save()
        cmd.set_result(eval(cmd_args))
        """
        cmd.set_result(eval(cmd.args))



    # Default body of the specific processing
    # Should be overriden by subclass
    def OLD_thread_exec_device_cmd_main_OLD(self):
        """
        cmd = self._current_device_cmd
        self.printd("Doing nothing, just sleeping...")
        self.sleep(3)
        """

        # This is optional
        self.thread_set_total_steps_number(5)

        # HERE, write your own scenario

        # scenario OK
        self.thread_exec_device_cmd_step(1, self.cmd_step, 1)
        self.thread_exec_device_cmd_step(2, self.cmd_step, 3)
        self.thread_exec_device_cmd_step(3, self.cmd_step, 5)
        self.thread_exec_device_cmd_step(4, self.cmd_step, 10)
        self.thread_exec_device_cmd_step(5, self.cmd_step, 4)
        # ... as many as you need

        """ other scenario
        self.thread_exec_device_cmd_step(1, self.cmd_step1, 1)
        self.thread_exec_device_cmd_step(2, self.cmd_step2, 2)
        self.thread_exec_device_cmd_step(3, self.cmd_step1, 2)
        self.thread_exec_device_cmd_step(4, self.cmd_step3, 2)
        self.thread_exec_device_cmd_step(5, self.cmd_step1, 3)
        """


    def _thread_exec_device_cmd_end(self):
        """ specific command execution tearing down """
        cmd = self._current_device_cmd
        cmd.set_as_processed()
        """
        if self.RUN_IN_THREAD:
            cmd.set_as_processed()
        else:
            with transaction.atomic():
                cmd.set_as_processed()
        """
        self.printd(">>>>> Thread: ended execution of command", cmd.name)
        cmd = None
        # No more current thread
        #self._current_device_cmd_thread = None

    # Default body of a specific cmd step
    # Should be overriden by subclass
    def thread_exec_device_cmd_step(self, step:int, cmd_step_function, sleep_time:float=1.0):
        # Exit if I was asked to stop
        cmd = self._current_device_cmd
        if self.RUN_IN_THREAD and threading.current_thread().stopped():
            self.printd(f">>>>> Thread (cmd {cmd.name}): I received the stop signal, so I stop (in error)")
            exit(1)
        self.printd(f">>>>> Thread (cmd {cmd.name}): step #{step}/{self._thread_total_steps_number}")
        # call a specific function to be defined by subclass
        cmd_step_function(step)
        # Wait for a specific time (interruptible)
        self.sleep(sleep_time)

    '''
    def thread_stop_if_asked(self):
        assert self._current_device_cmd_thread is not None
        if self.RUN_IN_THREAD and threading.current_thread().stopped():
            self.printd("(Thread) I received the stop signal, so I stop (in error)")
            exit(1)
    '''

    def thread_set_total_steps_number(self, nbsteps):
        self._thread_total_steps_number = nbsteps

    # @override parent class (Agent)
    def sleep(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)


    # This method is also called DIRECTLY from routine_process().get_device_status() (NOT FROM A THREAD)
    # @override parent class (Agent)
    def exec_device_cmd(self, cmd:Command):
        #cmd = self._current_device_cmd
        self.tprint("*** DEVICE cmd name is", cmd.name)
        self.tprint("*** PASS IT TO DEVICE TYPE", cmd.device_type)
        try:
            res = self._device_ctrl.exec_cmd(cmd.full_name)
        except (DCCNotFoundException, UnimplementedGenericCmdException) as e:
            self.tprint(f"EXCEPTION caught by {type(self).__name__} (from AD)", e)
            raise
        self.tprint("result is", str(res))
        if res.ok: self.tprint("OK")
        time.sleep(1)
        return res

    # @override superclass (Agent) method
    def OLD_cmd_step_OLD(self, step:int):
        cmd = self._current_device_cmd
        print("cmd name is", cmd.name)
        #res = self._device_ctrl.execute_cmd(cmd.name_and_args)
        res = self._device_ctrl.exec_cmd(cmd.full_name)
        ##cmd.set_result(str(res))
        print("result is", str(res))
        if res.ok: print("OK")
        #cmd.set_as_processed()
        time.sleep(1)
        #cmd.set_result(f"in step #{step}/{self._thread_total_steps_number}")
        cmd.set_result(res)

    # @override
    def OLD_thread_exec_specific_cmd_main_OLD(self):
        # This is optional
        self.thread_set_total_steps_number(1)
        # HERE, write your own scenario
        self.thread_exec_device_cmd_step(1, self.cmd_step, 1)
        # ... as many as you need
        """ other scenario
        self.thread_exec_device_cmd_step(1, self.cmd_step1, 1)
        self.thread_exec_device_cmd_step(2, self.cmd_step2, 2)
        self.thread_exec_device_cmd_step(3, self.cmd_step1, 2)
        self.thread_exec_device_cmd_step(4, self.cmd_step3, 2)
        self.thread_exec_device_cmd_step(5, self.cmd_step1, 3)
        """

    '''
    # @override
    def exec_specific_cmd_end(self, cmd:Command, from_thread=True):
        super().exec_specific_cmd_end(cmd, from_thread)
    '''




"""
=================================================================
    MAIN FUNCTION
=================================================================
"""
if __name__ == "__main__":
    # with thread
    RUN_IN_THREAD=True
    # with process
    #RUN_IN_THREAD=False

    agent = build_agent(AgentDevice, RUN_IN_THREAD=RUN_IN_THREAD)
    '''
    TEST_MODE, WITH_SIM, configfile = extract_parameters()
    #agent = AgentX()
    agent = AgentDevice("AgentDevice", configfile, RUN_IN_THREAD)
    #agent.setSimulatorMode(TEST_MODE)
    agent.setTestMode(TEST_MODE)
    agent.setWithSimulator(WITH_SIM)
    print(agent)
    '''
    agent.run()