#!/usr/bin/env python3

VERSION = "0.5"

DEBUG=True
DEBUG=False

"""TODO:

- 1 log par agent + lastlog (30 dernières lignes)
- table agents_log avec log minimum pour affichage dans dashboard, et ordre chrono intéressant pour suivi activité : nom agent, timestamp, message
- 1 table par agent: agent_<agent-name>_vars : nom variable, value, desc

"""


"""
=================================================================
    SETUP FOR DJANGO
=================================================================
"""

import os
import sys

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 'src'"
sys.path.append("..")
sys.path.append("../..")
##sys.path.append("src")
print("Starting with this sys.path", sys.path)

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

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

django.setup()

print("DB2 used is:", djangosettings.DATABASES["default"]["NAME"])
print()


"""
=================================================================
    IMPORT PYTHON PACKAGES
=================================================================
"""

# --- GENERAL PURPOSE IMPORT ---
#from __future__ import absolute_import
import platform
import random
from threading import Thread
import threading, multiprocessing
import time
import utils.Logger as L
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 ---
from common.models import AgentSurvey, Command
from config.configpyros import ConfigPyros
#from dashboard.views import get_sunelev
#from devices.TelescopeRemoteControlDefault import TelescopeRemoteControlDefault
#from utils.JDManipulator import *


"""
=================================================================
    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)


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

class Agent:
    """
    Behavior of an agent:
    - Once a command has been sent to another agent :
        - It waits for the end of execution of the command and get its result
        - If command is timed out or has been skipped or killed, then same command will be re-executed at next iteration
        - Then only, it goes to next iteration
    """


    # 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
    MAX_DURATION_SEC = None
    #MAX_DURATION_SEC = 30
    
    # FOR TEST ONLY
    # Run this agent in simulator mode
    SIMULATOR_MODE = True
    # Run the assertion tests at the end
    SIMULATOR_WITH_TEST = False
    # Who should I send commands to ?
    SIMULATOR_COMMANDS_DEST = "myself"
    # Default scenario to be executed
    #SIMULATOR_COMMANDS = iter([
    SIMULATOR_COMMANDS_LIST = [
        "go_active",
        "go_idle",

        # specific0 not_executed_because_idle
        "specific0",

        "go_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 "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 "abort" command below
        "specific3",
    
        # These commands should not have the time to be processed
        # because the "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
        "abort",
    
        # These commands (except abort) won't be executed
        # because too many commands are already pending (above)
        "specific9",
        "abort",
        "go_active",
        "go_idle",
    
        # Should stop the agent even before the previous pending commands are executed
        "exit",
    
        # Because of the previous "exit" command,
        # these following commands should not be executed,
        # and not even be added to the database command table
        "go_active",
        "specific10"
    ]
    #SIMULATOR_COMMANDS = iter(SIMULATOR_COMMANDS_LIST)



    """
    How to run this agent exec_specific_cmd() method ?
    - True = inside a Thread (cannot be killed, must be asked to stop, and inadequate for computation)
    - False = inside a Process
    If thread, displays :
        >>>>> Thread: starting execution of command specific1
        >>>>> Thread: PID: 2695, Process Name: MainProcess, Thread Name: Thread-1
        ...
        >>>>> Thread: starting execution of command specific2
        >>>>> Thread: PID: 2695, Process Name: MainProcess, Thread Name: Thread-2
        ...
        >>>>> Thread: starting execution of command specific3
        >>>>> Thread: PID: 2695, Process Name: MainProcess, Thread Name: Thread-3
    If process, displays :
        >>>>> Thread: starting execution of command specific1
        >>>>> Thread: PID: 2687, Process Name: Process-1, Thread Name: MainThread
        ...
        >>>>> Thread: starting execution of command specific2
        >>>>> Thread: PID: 2689, Process Name: Process-2, Thread Name: MainThread
        ...
        >>>>> Thread: starting execution of command specific3
        >>>>> Thread: PID: 2690, Process Name: Process-3, Thread Name: MainThread
    """
    # with thread
    RUN_IN_THREAD = True
    # with process
    #RUN_IN_THREAD = False

    _thread_total_steps_number = 1

    # Run for real, otherwise just print messages without really doing anything
    FOR_REAL = True

    #COMMANDS_PEREMPTION_HOURS = 48
    #COMMANDS_PEREMPTION_HOURS = 60/60

    name = "Generic Agent"
    mainloop_waittime = 3
    subloop_waittime = 2
    status = None
    mode = None
    config = None

    # Statuses
    STATUS_LAUNCH = "LAUNCHED"
    STATUS_INIT = "INITIALIZING"
    STATUS_MAIN_LOOP = "IN_MAIN_LOOP"
    STATUS_GET_NEXT_COMMAND = "IN_GET_NEXT_COMMAND"
    STATUS_GENERAL_PROCESS = "IN_GENERAL_PROCESS"
    STATUS_ROUTINE_PROCESS = "IN_ROUTINE_PROCESS"
    STATUS_SPECIFIC_PROCESS = "IN_SPECIFIC_PROCESS"
    STATUS_EXIT = "EXITING"

    # Modes
    MODE_ACTIVE = "ACTIVE"
    MODE_IDLE = "IDLE"

    DEFAULT_CONFIG_FILE_NAME = "config_unit_simulunit1.xml"
    CONFIG_DIR = "config"

    # Current command to send
    cmdts = None

    _agent_survey = None
    _pending_commands = []
    _current_specific_cmd = None
    _current_specific_thread = None

    # Parameters from config file
    _computer_alias = ''
    _computer_description = ''
    _path_data = '../../config'

    _iter_num = 1

    def __init__(self, name:str="Agent", config_filename:str=None, RUN_IN_THREAD=True):
        self.name = name
        self.SIMULATOR_COMMANDS = iter(self.SIMULATOR_COMMANDS_LIST)
        if not self.SIMULATOR_MODE: self.MAX_DURATION_SEC=None 
        self.RUN_IN_THREAD = RUN_IN_THREAD
        self.set_status(self.STATUS_LAUNCH)
        self.set_idle()
        #self.set_mode(self.MODE_IDLE)
        if not config_filename:
            config_filename = self.DEFAULT_CONFIG_FILE_NAME

        self.printd(f"config_filename={config_filename}")
        # 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):
            tmp = os.path.abspath(self.CONFIG_DIR + os.sep + config_filename)
            config_filename = os.path.abspath(self.CONFIG_DIR + os.sep + config_filename).replace(os.sep+"src"+os.sep,os.sep).replace(os.sep+"agent"+os.sep,os.sep)
        self.printd("Config file used is", config_filename)
        #self.printd("current path", os.getcwd())
        #self.printd("this file path :", __file__)
        #self.printd("config file path is", config_filename)
        # Instantiate an object for configuration
        #self.printd("config file path is ", config_abs_filename)
        self.config = ConfigPyros(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())}")

        self.set_mode_from_config(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 not AgentSurvey.objects.filter(name=self.name).exists():
            self._agent_survey = AgentSurvey.objects.create(name=self.name, validity_duration_sec=60, mode=self.mode, status=self.status)
            self.printd("Agent survey is", self._agent_survey)
            #self._agent_survey = AgentSurvey(name=self.name, validity_duration_sec=60, mode=self.mode, status=self.status)
            #self._agent_survey.save()

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

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

    # Normal print
    def print(self, *args, **kwargs):
        if args:
            print(f"({self.name}): ", *args, **kwargs)
        else:
            print()

    # DEBUG print
    def printd(self, *args, **kwargs): 
        if DEBUG: self.print(*args, **kwargs)

    def sleep(self, nbsec:float=2.0):
        # thread
        if self._current_specific_thread and self.RUN_IN_THREAD:
            self._current_specific_thread.wait(nbsec)
        # process (or main thread)
        else:
            time.sleep(nbsec)

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

        start_time = time.time()

        self.FOR_REAL = FOR_REAL

        self.load_config()

        self.init()

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

        # SIMULATOR MODE ONLY : flush previous commands to be sure to restart clean
        if self.SIMULATOR_MODE:
            self.print("flush previous commands to be sure to start in clean state")
            Command.delete_pending_commands_for_agent(self.name)

        '''
        self.printd()
        self.printd(self)
        self.printd("FOR REAL ?", self.FOR_REAL)
        self.printd("DB3 used is:", djangosettings.DATABASES["default"]["NAME"])

        # 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
        '''

        # Main loop
        while True:

            # Wait a random number of sec before starting new iteration
            # (to let another agent having the chance to send a command before me)
            random_waiting_sec = random.randint(0,5)
            self.print(f"Waiting {random_waiting_sec} sec (random) before starting new iteration...")
            time.sleep(random_waiting_sec)

            try:

                self.print()
                self.print()
                #self.printd("-"*80)
                self.print("-"*20, f"MAIN LOOP ITERATION {self._iter_num} (START)", "-"*20)
                self.set_status(self.STATUS_MAIN_LOOP)
                self.show_mode_and_status()

                self.load_config()

                self.update_survey()

                #if self.SIMULATOR_MODE: self.simulator_send_next_command()

                self.printd("------START COMMMAND PROCESSING------")

                # Purge commandes (every N iterations, delete old commands)
                N=3
                if ((self._iter_num-1) % N) == 0:
                    self.print("Looking for old commands to purge...")
                    Command.purge_old_commands_for_agent(self.name)

                # Get next command to execute
                cmd = self.get_next_valid_command()
                #if cmd: cmd = self.general_process(cmd)

                # Process this (next) command (if exists)
                if cmd: cmd = self.command_process(cmd)

                # ROUTINE process
                self.routine_process()

                self.printd("------END COMMMAND PROCESSING------")

                #self.waitfor(self.mainloop_waittime)

                self.print("-"*20, "MAIN LOOP ITERATION (END)", "-"*20)
                #self.do_log(LOG_DEBUG, "Ending main loop iteration")

                self._iter_num += 1

                # Exit if max duration is reached
                if self.MAX_DURATION_SEC and (time.time()-start_time > self.MAX_DURATION_SEC):
                    self.print("Exit because of max duration set to ", self.MAX_DURATION_SEC, "s")
                    self.kill_running_specific_cmd_if_exists()
                    if self.SIMULATOR_MODE and self.SIMULATOR_WITH_TEST: self.simulator_test_results()
                    break

            except KeyboardInterrupt:
                # In case of CTRL-C, kill the current thread (process) before dying (in error)
                self.print("CTRL-C Interrupted, I kill the current thread (process) before exiting")
                self.kill_running_specific_cmd_if_exists()
                exit(1)



    # To be overriden by subclass
    def routine_process(self):
        """
        Routine processing.
        This is a command or set of commands that this agent sends regularly,
        (or just a regular processing)
        at each iteration
        """
        self.set_status(self.STATUS_ROUTINE_PROCESS)
        if not self.is_active():
            self.printd("I am IDLE, so I bypass the routine_process (do not send any new command)")
            return

        # TODO: normal code pour routine
        if not self.SIMULATOR_MODE: 
            return

        """
        SIMULATOR MODE ONLY
        """
        if self.cmdts is None:
            self.cmdts = self.simulator_get_next_command_to_send()
        else:
            # Previous cmd 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

        # No more command to send (from simulator), return
        if self.cmdts is None: return

        # 1) Send cmd (= set as pending and save)
        self.print(f"Send command", self.cmdts)
        #self.cmdts.set_as_pending()
        self.cmdts.send()
        cmdts_is_processed = False
        cmdts_res = None

        # 2) Wait for end of cmd execution
        #self.wait_for_execution_of_cmd(self.cmdts)
        while not cmdts_is_processed:
            self.print(f"Waiting for end of cmd '{self.cmdts.name}' execution...")
            self.cmdts.refresh_from_db()
            # timeout ?
            if self.cmdts.is_expired(): break
            # skipped or killed ?
            if self.cmdts.is_skipped() or self.cmdts.is_killed(): break
            if self.cmdts.is_executed(): 
                cmdts_res = self.cmdts.get_result()
                self.cmdts = None
                cmdts_is_processed = True
            time.sleep(1)

        # 3) Get cmd result
        if cmdts_is_processed:
            self.print(f"Cmd executed. Result is '{cmdts_res}'")
        else:
            self.printd("Command was not completed")


    """
    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 = Command.objects.filter(
            # only commands for me
            receiver = self.name,
            # only pending commands
            sender_deposit_time__lt = COMMAND_PEREMPTION_DATE_FROM_NOW,
        )
        ###
        old_commands = Command.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):
            self.printd(f"Now, waiting for {nbsec} seconds...")
            time.sleep(nbsec)

    def set_status(self, status:str):
        #self.print(f"[{status}] (switching from status {self.status})")
        self.print(f"[{status}]")
        self.status = status
        return False

    def set_mode(self, mode:str):
        #self.print(f"Switching from mode {self.mode} to mode {mode}")
        self.print(f"[NEW MODE {mode}]")
        self.mode = mode

    def is_active(self):
        return self.mode == self.MODE_ACTIVE

    def set_active(self):
        self.set_mode(self.MODE_ACTIVE)

    def set_idle(self):
        self.set_mode(self.MODE_IDLE)

    def show_mode_and_status(self):
        self.print(f"CURRENT MODE is {self.mode} (status is {self.status})")

    def die(self):
        self.set_status(self.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

    def set_mode_from_config(self, agent_alias):
        # --- Get the startmode of the AgentX
        modestr = self.config.get_paramvalue(agent_alias,'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


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

    def init(self):
        self.printd("Initializing...")
        self.set_status(self.STATUS_INIT)

    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)
        """
        self.printd("Loading the config file...")
        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'])
        #print(f"Unit {unit_alias} is the assembly of {assembled_aliases}")
        
        print("--------- Components of the unit -----------")
        print("Configuration file is {}".format(self.config.get_configfile()))            
        alias = self.config.get_aliases('unit')[0]
        namevalue = self.config.get_paramvalue(alias,'unit','description')
        print(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')
                print(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)
                        
        print("--------- Assembly of the unit -----------")
        print(f"Assembled mount aliases: {assembled_mount_aliases}")
        print(f"Assembled channel aliases: {assembled_channel_aliases}")
        
        # --- Get the home of the mount[0]
        mount_alias = assembled_mount_aliases[0]
        home = self.config.get_param(mount_alias,'MountPointing','home')
            
        print("------------------------------------------")
        hostname = socket.gethostname()
        self._computer_alias = ''
        unit_subtag = 'computer'
        aliases = self.config.get_aliases(unit_subtag)
        for alias in aliases:
            value = self.config.get_paramvalue(alias,'local','hostname')
            if value == hostname:
                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')
                self._path_data = value
                break
        print(f"hostname = {hostname}")
        print(f"path_data = {self._path_data}")
        print("------------------------------------------")

    def update_survey(self):
        self.printd("Updating the 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.mode
        self._agent_survey.status = self.status
        self._agent_survey.save()

    """
    def send_command(self, cmd_name):
        receiver_agent = self.name if self.SIMULATOR_COMMANDS_DEST=="myself" else self.SIMULATOR_COMMANDS_DEST
        Command.objects.create(sender=self.name, receiver=receiver_agent, name=cmd_name)
    """
    #def send_command(self, to_agent, cmd_type, cmd_name, cmd_args=None):
    def send_command(self, to_agent, cmd_name, cmd_args=None):
        """
        #ex: send_command(“AgentX”,”GENERIC”,”EVAL”,“3+4”)
        ex: send_command(“AgentX”,"EVAL”,“3+4”)
        """
        return Command.send_command(self.name, to_agent, cmd_name, cmd_args)

    def get_next_valid_command(self)->Command:
        """
        Return next VALID (not expired) command (read from the DB command table)
        which is relevant to this agent.
        Commands are read in chronological order
        """
        self.set_status(self.STATUS_GET_NEXT_COMMAND)
        #self.printd("Looking for new commands from the database ...")

        # 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 = Command.get_pending_and_running_commands_for_agent(self.name)
        commands = self._pending_commands
        if not commands.exists():
            self.printd("No new command to process")
            return None
        self.print("Current pending commands are (time ordered) :")
        Command.show_commands(commands)

        # 2) If there is a "exit" or "abort" command pending (even at the end of the list),
        # which is VALID (not expired),
        # then pass it straight away to general_process() for execution
        for cmd in commands:
            if cmd.name in ("exit", "abort", "flush_commands"): break
        if cmd.name in ("exit", "abort", "flush_commands") and not cmd.is_expired():
            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
            receiver = self.name,
            # only pending commands
            receiver_status_code = Command.CMD_STATUS_CODES.CMD_RUNNING,
        ).first()
        #if cmd_executing.exists():
        if cmd_executing:
        """
        cmd = commands[0]
        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)")
            self.printd(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:
            """
            self.printd(f"Thus, I will do nothing until this command execution is finished")
            # TODO: kill si superieur a MAX_EXEC_TIME
            return None

        # 4) Mark all expired commands as such
        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 pass it to general_process() for execution
        #self.printd(f"Got command {cmd.name} sent by agent {cmd.sender} at {cmd.sender_deposit_time}")
        self.print("***")
        self.print("*** Got", cmd)
        self.print("***")
        return cmd


    def command_process(self, cmd:Command)->Command:
                cmd = self.general_process(cmd)
                # Sub-level loop (only if ACTIVE)
                if cmd and self.is_active():
                    self.specific_process(cmd)


    def general_process(self, cmd:Command)->Command:

        self.set_status(self.STATUS_GENERAL_PROCESS)
        self.print(f"Starting processing of {cmd}")

        # Update read time to say that the command has been READ
        cmd.set_read_time()
        # Precondition: command cmd is valid (not expired), has already been read, is pending
        assert (not cmd.is_expired()) and cmd.is_pending() and cmd.is_read() 

        #self.printd(f"Starting general processing of command {cmd.name} sent by agent {cmd.sender} at {cmd.sender_deposit_time}")

        """
        # 2) If expired command, change its status to expired and return
        if cmd.is_expired():
            self.printd("This command is expired, so mark it as such, and ignore it")
            cmd.set_as_outofdate()
            return None
        """

        # If cmd is generic, execute it, change its status to executed, and return
        if cmd.is_generic():
            self.print("This command is generic, execute it...")
            self.exec_generic_cmd(cmd)
            # If cmd is "exit", kill myself (without any question, this is an order soldier !)
            # This "exit" should normally kill any current thread (to be checked...)
            if cmd.name == "exit":
                self.printd("(before exiting) Here are the current (still) pending commands (time ordered) :")
                commands = Command.get_pending_and_running_commands_for_agent(self.name)
                Command.show_commands(commands)
                #if self.SIMULATOR_MODE and self.SIMULATOR_WITH_TEST and self.SIMULATOR_COMMANDS_DEST == "myself": self.simulator_test_results()
                if self.SIMULATOR_MODE and self.SIMULATOR_WITH_TEST: self.simulator_test_results()
                exit(0)
            # Command is executed, so return None
            return None

        # cmd is not generic
        else:
            # cmd is not generic but, as I am idle, change its status to SKIPPED, ignore it, and return
            #if self.mode == self.MODE_IDLE:
            if not self.is_active():
                self.printd("This command is not generic but, as I am IDLE, I mark it SKIPPED and ignore it")
                cmd.set_as_skipped()
                return None

        # Je suis pas idle et cde pas générique: je la traite pas, elle sera traitée par core_process :
        # attendre que cette commande soit exécutée avant de passer à la commande suivante (situation “bloquante” normale)
        self.printd("This command is not generic and, as I am not IDLE, I pass it to the specific processing")
        self.printd("(then I will not execute any other new command until this command is EXECUTED)")
        return cmd


    def exec_generic_cmd(self, cmd:Command):
        self.printd("Starting execution of a Generic cmd...")
        cmd.set_as_running()

        # Executing command
        if cmd.name == "go_active": 
            self.set_active()
            cmd.set_result("I am now active")
            time.sleep(1)
        elif cmd.name == "go_idle": 
            self.set_idle()
            cmd.set_result("I am now idle")
            time.sleep(1)
        elif cmd.name in ("flush_commands"):
            self.print("flush_commands received: Delete all pending commands")
            Command.delete_pending_commands_for_agent(self.name)
        # If cmd is "abort" or "exit", kill any currently running thread
        elif cmd.name in ("abort", "exit"):
            #self.printd("Current pending commands are:")
            #Command.show_commands(self._pending_commands)
            self.print("Aborting current executing command if exists:")
            self.kill_running_specific_cmd_if_exists()
        else:
            name = cmd.name
            args = None
            if " " in name: name,args = name.split()
            if name == "eval":
                if args==None: raise(ValueError)
                cmd.set_result(eval(args))


        cmd.set_as_processed()
        self.printd("...Generic cmd has been executed")




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



    def specific_process(self, cmd:Command):
        """
        Sublevel Loop (only if ACTIVE)

        Dans le cas du Majordome, le specific_process() doit lancer
        la prise d'une séquence. La sequence elle même va être une
        boucle dans le specific_process. 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 la méthode
        specific_process il y a une boucle sur la prise des images. 
        """
        self.set_status(self.STATUS_SPECIFIC_PROCESS)
        assert self.is_active()
        self._current_specific_cmd = cmd
        self.printd("Starting specific process...")
        #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_specific_thread = StoppableThreadEvenWhenSleeping(target=self.thread_exec_specific_cmd)
            #self._current_specific_thread = StoppableThreadEvenWhenSleeping(target=self.exec_specific_cmd, args=(cmd,))
            #self._current_thread = threading.Thread(target=self.exec_command)
            #self._current_specific_thread = StoppableThread(target=self.exec_specific_cmd, args=(cmd,))
            #self._current_specific_thread = threading.Thread(target=self.exec_specific_cmd, args=(cmd,))
            #self._current_specific_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_specific_thread = multiprocessing.Process(target=self.thread_exec_specific_cmd) 
            #self._current_specific_thread = multiprocessing.Process(target=self.exec_specific_cmd, args=(cmd,)) 
        #self._current_specific_thread = threading.Thread(target=self.exec_specific_cmd, args=(cmd,))
        #self._current_specific_thread = thread_with_exception('thread test')
        self._current_specific_thread.start()
        #my_thread.join()
        #self.waitfor(self.subloop_waittime)
        self.printd("Ending specific process (thread has been launched)")


    def kill_running_specific_cmd_if_exists(self):
        if (self._current_specific_thread is None) or not self._current_specific_thread.is_alive():
            self.printd("...No current specific command thread to abort...")
        else:
            self.printd(f"Killing command {self._current_specific_cmd.name}")
            # Ask the thread to stop itself
            #self._current_specific_thread.stop()
            #self._current_specific_thread._stop()
            #self._current_specific_thread.shutdown()
            #threading._shutdown()
            #self._current_specific_thread.raise_exception()
            self._current_specific_cmd.set_as_killed()
            self._current_specific_thread.terminate()
            # Now, wait for the end of the thread
            if self.RUN_IN_THREAD:
                self._current_specific_thread.join()
        self._current_specific_thread = None
        #self._current_specific_cmd.set_as_killed()
        self._current_specific_cmd = None


    """
    =================================================================
        SIMULATOR DEDICATED FUNCTIONS
    =================================================================
    """

    def simulator_get_next_command_to_send(self)->Command:
        cmd_name = next(self.SIMULATOR_COMMANDS, None)
        #return cmd_name
        if cmd_name is None: return None
        receiver_agent = self.name if self.SIMULATOR_COMMANDS_DEST=="myself" else self.SIMULATOR_COMMANDS_DEST
        return Command(sender=self.name, receiver=receiver_agent, name=cmd_name)

    """
    def simulator_send_next_command(self):
        #self._current_test_cmd = "go_idle" if self._current_test_cmd=="go_active" else "go_active"
        #if self._nb_test_cmds == 4: self._current_test_cmd = "exit"
        cmd_name = next(self.SIMULATOR_COMMANDS, None)
        #self.printd("next cmd is ", cmd_name)
        if cmd_name is None: return
        #Command.objects.create(sender=self.name, receiver=self.name, name=cmd_name)
        receiver_agent = self.name if self.SIMULATOR_COMMANDS_DEST=="myself" else self.SIMULATOR_COMMANDS_DEST
        Command.objects.create(sender=self.name, receiver=receiver_agent, name=cmd_name)
        #time.sleep(1)
        #self._simulator_current_cmd_idx += 1
        #self._nb_test_cmds += 1
    """

    def simulator_test_results(self):
        commands = self.simulator_test_results_start()
        nb_asserted = self.simulator_test_results_main(commands)
        self.simulator_test_results_end(nb_asserted)

    def simulator_test_results_start(self):
        self.print("\n--- Testing if the commands I SENT had the awaited result")
        self.print("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)
        commands = Command.get_last_N_commands_sent_by_agent(self.name, len(self.SIMULATOR_COMMANDS_LIST))
        Command.show_commands(commands)
        assert commands[0].name == self.SIMULATOR_COMMANDS_LIST[0]
        assert commands[-1].name == self.SIMULATOR_COMMANDS_LIST[-1]
        return 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 ("abort"):
                assert cmd.is_executed()
                nb_asserted+=1
            if cmd.name in ("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 simulator_test_results_main(self, commands):
        nb_asserted = 0
        for cmd in commands:
            assert cmd.is_executed()
            nb_asserted+=1
        return nb_asserted

    def simulator_test_results_end(self, nb_asserted):
        nb_commands_to_send = len(self.SIMULATOR_COMMANDS_LIST)
        assert nb_asserted == nb_commands_to_send
        #self.print(f"************** Finished testing => result is ok ({nb_asserted} assertions) **************")
        printFullTerm(Colors.GREEN, f"************** Finished testing => result is ok ({nb_asserted} assertions) **************")




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

    def thread_exec_specific_cmd(self):
        assert self._current_specific_thread is not None
        # thread execution setting up
        self.thread_exec_specific_cmd_start()
        # processing body (main)
        self.thread_exec_specific_cmd_main()
        # thread execution tearing down
        self.thread_exec_specific_cmd_end()
        '''
        except TimeoutError:
            pass
        '''

    #def exec_specific_cmd_start(self, cmd:Command):
    def thread_exec_specific_cmd_start(self):
        cmd = self._current_specific_cmd
        """ specific command execution setting up """
        #cmd = self.get_current_specific_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_specific_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_specific_cmd
        cmd_args = self._current_specific_cmd.name.split()[1]
        """
        cmd.result = f"in step #{step}/{self._thread_total_steps_number}"
        cmd.save()
        """
        cmd.set_result(eval(cmd_args))


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

        # Specific case of the EVAL command
        if self._current_specific_cmd.name.startswith("eval"):
            self.thread_set_total_steps_number(1)
            self.thread_exec_specific_cmd_step(1, self.cmd_step_eval)
            return

        # This is optional
        self.thread_set_total_steps_number(5)

        # HERE, write your own scenario

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

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


    def thread_exec_specific_cmd_end(self):
        """ specific command execution tearing down """
        cmd = self._current_specific_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_specific_thread = None

    # Default body of a specific cmd step
    # Should be overriden by subclass
    def thread_exec_specific_cmd_step(self, step:int, cmd_step_function, sleep_time:float=1.0):
        # Exit if I was asked to stop
        cmd = self._current_specific_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_specific_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

    """
    ===================================
    OLD FUNCTIONS TO BE REMOVED
    ===================================

    def _plc_is_not_auto(self):
        if not self.plc_is_connected():
            return True
        # now, self.plc_status has been updated, so check it:
        return self.plc_status.plc_mode != "AUTO"


    def plc_is_auto(self):
        return not self._plc_is_not_auto()


    def plc_is_safe(self):
        if not self.plc_is_connected():
            return False
        # now, self.plc_status has been updated, so check it:
        return self.plc_status.is_safe


    def is_night(self):
        return get_sunelev() < -10
    """


"""
=================================================================
    MAIN FUNCTION
=================================================================
"""
if __name__ == "__main__":

    configfile = None

    # arg 1 : config file
    if len(sys.argv) == 2:
        configfile = sys.argv[1]

    agent = Agent("GenericAgent", configfile, RUN_IN_THREAD=True)
    print(agent)
    agent.run()