#!/usr/bin/env python3

"""Socket Client Telescope (abstract) implementation

To be used as a base class (interface) for any concrete socket client telescope class
"""


# Standard library imports
#from enum import Enum
import copy
import functools
import logging
import pprint
import socket
import sys
import threading
import time

# Third party imports


# Local application imports

#sys.path.append("../../..")
sys.path.append("../../../..")
#import src.core.pyros_django.utils.celme as celme
import src.core.celme as celme

#sys.path.append('../..')
#from src.client.socket_client_abstract import UnknownNativeCmdException, SocketClientAbstract
##from src_socket.client.socket_client_abstract import *
##from src_device.client.client_channel import *
sys.path.append("../..")
from device_controller.logs import *
from device_controller.channels.client_channel_socket import ClientChannelSocket
from device_controller.channels.client_channel_serial import ClientChannelSerial
from device_controller.channels.client_channel_usb import ClientChannelUSB




# Execute also "set" and "do" commands
GET_ONLY=False
# Execute only "get" commands
#GET_ONLY=True

# Default timeouts
TIMEOUT_SEND = 10
TIMEOUT_RECEIVE = 10


'''
class c(Enum):

    # GET, SET
    DEC = 'DEC'
    RA = 'RA'
    RA_DEC = 'RA_DEC'
    
    # DO
    PARK = 'PARK'
    WARM_START = 'WARM_START'
'''

# DECORATOR
def generic_cmd(func):
    #def wrapper_generic_cmd(*args, **kwargs):
    @functools.wraps(func)
    def wrapper_generic_cmd(self, values_to_set=None):
        #print("func name is", func.__name__)
        return self.exec_generic_cmd(func.__name__, values_to_set)
    return wrapper_generic_cmd


class DeviceCommand:

    full_name:str = ''
    name = None
    args = None
    # Device component type
    devtype = None

    def __init__(self, cmd_full_name:str, dev_comp_type:str=None, cmd_args:str=None):
        self.full_name = cmd_full_name
        self.name = cmd_full_name
        self.devtype = dev_comp_type
        self.args = cmd_args
        if self.is_generic():
            dev_comp_type,cmd_name,cmd_args = self.get_full_name_parts()
            self.name = cmd_name
            if dev_comp_type: self.devtype = dev_comp_type
            if cmd_args: self.args = cmd_args

    def __str__(self):
        return (f"Commmand '{self.full_name}'")

    def is_generic(self):
        '''
        cmd_name = self.full_name
        if '.' in self.full_name:
            cmd_name = self.full_name.split('.')[1]
        '''
        cmd_name = self.full_name[self.full_name.find('.')+1:]
        return cmd_name.startswith('do_') or cmd_name.startswith('get_') or cmd_name.startswith('set_')


    '''
    @classmethod
    def is_generic_cmd_name(cls, cmd_name:str):
        if '.' in cmd_name:
            cmd_name = cmd_name.split('.')[1]
        return cmd_name.startswith('do_') or cmd_name.startswith('get_') or cmd_name.startswith('set_')

    def is_generic(self):
        #return type(self).is_generic_cmd_name(self.full_name)
        return self.is_generic_cmd_name(self.full_name)
        #return DeviceCommand.is_generic_cmd_name(self.full_name)
        #return self.name.startswith('do_') or self.name.startswith('get_') or self.name.startswith('set_')
    '''

    @property
    def name_and_args(self):
        cmd_name_and_args = self.full_name
        if '.' in cmd_name_and_args:
            cmd_name_and_args = cmd_name_and_args.split('.')[1]
        return cmd_name_and_args

    def get_full_name_parts(self):
        cmd_name = self.full_name
        devtype = None
        cmd_args = None
        if '.' in cmd_name:
            devtype, cmd_name = cmd_name.split('.')
        if ' ' in cmd_name:
            cmd_name, *cmd_args = cmd_name.split(' ')
        return devtype, cmd_name, cmd_args






class GenericResult:
    ''' Usage:
        res = execute(command)
        print("result is", res)
        if res.ko: raise UnexpectedReturnCode()
        if res.ok:
            ...
    '''
    # By default, bad result
    ok = True
    ko = False

    def __init__(self, native_result:str, ok=True):
        self.txt = native_result
        self.ok = ok
        self.ko = not ok
    def __str__(self):
        return self.txt
    '''
    def __repr__(self):
        return self.txt
    def __get__(self, instance, owner):
        return self.b
    def __set__(self, instance, value):
        self.b = value
    '''


'''
    **************************
      EXCEPTIONS DEFINITION
    **************************
    See https://docs.python.org/3/tutorial/errors.html
'''


class DCCNotFoundException(Exception):
    ''' Raised when a specific DCC is not available '''
    pass


class UnknownNativeCmdException(Exception):
    ''' Raised when a NATIVE cmd is not recognized by the controller '''
    pass
    '''
    def __init__(self,*args,**kwargs):
        super().__init__(self,*args,**kwargs)
    '''

class UnknownGenericCmdException(Exception):
    pass

class UnimplementedGenericCmdException(Exception):
    ''' Raised when a GENERIC cmd has no implementation in the controller (no native cmd available for the generic cmd) '''
    def __str__(self):
        #return f"({type(self).__name__}): Generic command '{self.args[0]}' has no implementation in the controller"
        return f"({type(self).__name__}): Device Generic command has no implementation in the controller"


class UnknownGenericCmdArgException(Exception):
    ''' Raised when a GENERIC cmd argument is not recognized by the controller (no native cmd available for the generic cmd) '''
    def __init__(self, name, arg):
        self.name = name
        self.arg = arg
    def __str__(self):
        return f"The argument '{self.arg}' does not exist for generic cmd {self.name}"


class UnexpectedCommandReturnCode(Exception):
    pass


class TimeoutException(Exception):
    pass


class Gen2NatCmds:
    # To be set by constructor
    GEN2NAT_CMDS = {}

    def __init__(self, cmds:dict):
        self.GEN2NAT_CMDS = cmds

    def __str__(self)->str: return str(self.GEN2NAT_CMDS)
    def get(self, cmd:str=None): 
        #if cmd: return self.GEN2NAT_CMDS.get(cmd)
        #return self.GEN2NAT_CMDS
        if cmd is None: return self.GEN2NAT_CMDS
        # 1) search in my MAIN commands
        native_infos = self.GEN2NAT_CMDS.get(cmd)
        print("native infos:", native_infos)
        # native_cmd can be None, [], or [infos]
        if native_infos is not None: return native_infos
        #print(self.GEN2NAT_CMDS)
        '''
        # 2) search in each DCC commands
        # !! BAD !! because general dict is not complete for each dcc (especially, does not contain macro-commands, like get_radec, ...)
        # So, better not to use this
        for key in self.GEN2NAT_CMDS.keys():
            if isinstance(self.GEN2NAT_CMDS[key], dict):
                native_infos = self.GEN2NAT_CMDS[key].get(cmd)
                print('key is', key, 'native cmd is', native_infos)
                if native_infos is not None: return native_infos
        '''
        # Native infos not found
        return None
    #def update(self, newdict:dict): self.GEN2NAT_CMDS = { **self.GEN2NAT_CMDS, **newdict }
    def get_native_infos_for_generic_cmd(self, cmd:str)->str: return self.get(cmd)
    def get_native_cmd_for_generic(self, cmd:str)->str:
        val = self.get_native_infos_for_generic_cmd(cmd)
        if not val: return None
        return val[0]
    def get_simulated_answer_for_generic_cmd(self, cmd:str)->str:
        val = self.get(cmd)
        if not val: return None
        # no answer available
        if len(val) == 1: return None
        return val[1]
    def get_simulated_answer_for_native_cmd(self, cmd:str)->str:
        for val in self.GEN2NAT_CMDS.values():
            if cmd in val:
                # no answer available
                if len(val) == 1: return None
                # return 1st answer available
                return val[1]
        return None
    def is_valid_native_cmd(self, cmd:str)->bool:
        # 1) search in my MAIN commands
        if cmd in self.GEN2NAT_CMDS.values(): return True
        # 2) search in each DCC commands
        for key in self.GEN2NAT_CMDS.keys():
            if isinstance(self.GEN2NAT_CMDS[key], dict):
                if cmd in self.GEN2NAT_CMDS[key].values(): return True
        return False
    def print_available_cmds(self):
        #print("All commands are:", self._gen2nat_cmds.keys())
        print("\nAvailable commands:")
        print("=======================")
        # 1) print general commands
        self.print_available_cmds_for_dcc("General")
        # 2) print commands for each DCC:
        for key in self.GEN2NAT_CMDS.keys():
            if isinstance(self.GEN2NAT_CMDS[key], dict):
                self.print_available_cmds_for_dcc(key)
    def print_available_cmds_for_dcc(self, dcc_key):
        d = self.GEN2NAT_CMDS if dcc_key=="General" else self.GEN2NAT_CMDS[dcc_key]
        print(f"\n{dcc_key} commands are:")
        print("- GET commands:")
        #print (list(cmd.replace('_',' ') for cmd in self._gen2nat_cmds.keys() if cmd.startswith('get_')))
        print (list(cmd for cmd in d.keys() if cmd.startswith('get_')))
        print("- SET commands:")
        print (list(cmd for cmd in d.keys() if cmd.startswith('set_')))
        print("- DO commands:")
        print (list(cmd for cmd in d.keys() if cmd.startswith('do_')))





#TODO: remove ClientChannelAbstract, and set instead a ClientChannel
#class DeviceController(SocketClientAbstract):
##class DeviceController(ClientChannel):
class DeviceController():

    DEBUG = False

    _device_simulator = None
    _thread_device_simulator = None

    _device_host = "localhost"
    _device_port = None

    # List of device controller (dc) components (by default, None)
    _my_dc_components = []

    # ClientChannel used by the device controller (to be set during __init__ via set_client_channel())
    _my_channel = None

    # @abstract (to be overriden)
    _cmd_device_concrete = {}
    _cmd_device_abstract = {}
    ##_cmd = {
    GEN2NAT_CMDS = {

        # General format:
        #'cmd_generic_name': ['cmd_native_name', 'default_simulator_answer', 'native_answer1', 'native_answer2', ...],

        # GET-SET commands:
        'get_timezone': [],
        'set_timezone': [],
        'get_date': [],
        'set_date': [],
        'get_time': [],
        'set_time': [],

        # for test only
        'dc_only':[],

        # DO commands:
        'do_init': ['do_init'],
        'do_park': [],
    }


    class Protocol:

        # By default, do nothing
        @classmethod
        def formated_cmd(cls, cmd:str, value:str=None)->str:
            return cmd

        # Encapsulate useful data to be ready for sending
        # By default, do nothing
        #def encapsulate_data_to_send(self, data:str):
        @classmethod
        def encap(cls, data:str):
            print("*** Default encap ***")
            ##return data
            return "stamp", data
        '''
        #@deprecated
        def format_data_to_send(self, data:str):
            return self.encapsulate_data_to_send(data)
        '''

        # Extract useful data from received raw data    
        # By default, do nothing
        #def uncap_received_data(self, data:str):
        @classmethod
        #def uncap(cls, dcc_name:str, data:str):
        def uncap(cls, dcc_name:str, stamp:str, data:str):
            #return data_received.decode()
            print(f"*** Default uncap (from {dcc_name})***")
            return data
        '''
        def unformat_received_data(self, data:str):
            return self.uncap_received_data(data)
        '''

        '''
        def encapsulate_data_to_send(self, command:str):
            return self._my_channel.encapsulate_data_to_send(command)
        def uncap_received_data(self, data_received:str):
            return self._my_channel.uncap_received_data(data_received)
        '''

    # WRAPPER methods
    def formated_cmd(self, cmd:str, value:str=None)->str:
        ##return self._protoc.formated_cmd(self, cmd, value)
        return self._protoc.formated_cmd(cmd, value)
    def encap(self, data:str):
        ##self.Protoc.encap(self)
        ##return self._protoc.encap(self, data)
        return self._protoc.encap(data)
    ##def uncap(self, data:str):
    def uncap(self, stamp:str, data:str):
        ##self.Protoc.encap(self)
        #return self._protoc.uncap(self, data)
        ##return self._protoc.uncap(type(self).__name__, data)
        return self._protoc.uncap(type(self).__name__, stamp, data)


    ##def __init__(self, device_host:str="localhost", device_port:int=11110, PROTOCOL:str="TCP", buffer_size=1024, DEBUG=False):
    def __init__(self, device_host:str="localhost", device_port:int=11110, channel="TCP", buffer_size=1024, protoc=None, gen2nat_cmds={}, device_sim=None, DEBUG=False):
        '''
        :param device_host: server IP or hostname
        :param device_port: server port
        :param channel: "SOCKET-TCP", "SOCKET-UDP", "SERIAL", "USB", or instance of Channel
        '''

        self.stamp_current = None

        self.DEBUG = DEBUG
        set_logger(DEBUG)
        log_d("Logger configured")

        # Set host (IP) and port
        #print("IN DeviceController")
        self._device_host = device_host
        self._device_port = device_port

        # Set Protocol
        self._protoc = protoc if protoc else self.Protoc

        # Set Commands
        # overwrite abstract _cmd dictionary with subclass native _cmd_native dictionary:
        # Merge my commands dictionary with the one passed by subclass
        # _gen2nat_cmds = GEN2NAT_CMDS + gen2nat_cmds
        #print("(dc1) MY COMMANDS ARE (before merge):", self.GEN2NAT_CMDS)
        #print("(dc3) GIVEN CMDS (before merge):", gen2nat_cmds)
        #self._gen2nat_cmds = copy.deepcopy(self.GEN2NAT_CMDS)
        #self._gen2nat_cmds.update(gen2nat_cmds)
        ##self._gen2nat_cmds = { **self.GEN2NAT_CMDS, **gen2nat_cmds }
        self._gen2nat_cmds = { **DeviceController.GEN2NAT_CMDS, **gen2nat_cmds }
        print(self, "MY COMMANDS ARE (after merge):", self._gen2nat_cmds)
        #self.Gen2NatCmds.update(gen2nat_cmds)
        #self._gen2nat_cmds = self.Gen2NatCmds
        #self._gen2nat_cmds = {**self._gen2nat_cmds, **self._gen2nat_cmds_native}
        ##self._gen2nat_cmds = {**self._gen2nat_cmds, **self._gen2nat_cmds_device_abstract, **self._gen2nat_cmds_device_concrete}
        self._my_cmds = Gen2NatCmds(self._gen2nat_cmds)

        # Set Channel and Simulator
        if not isinstance(channel, str):
            self._my_channel = channel
            self._device_simulator = None
        else:
            if channel.startswith("SOCKET"): 
                self._my_channel:ClientChannel = ClientChannelSocket(device_host, device_port, channel, buffer_size, DEBUG)
            elif channel == "SERIAL": 
                self._my_channel:ClientChannel = ClientChannelSerial(device_host, device_port, buffer_size, DEBUG)
            elif channel == "USB": 
                self._my_channel:ClientChannel = ClientChannelUSB(device_host, device_port, buffer_size, DEBUG)
            else: raise Exception("Unknown Channel", channel)
            # If LOCALHOST, launch the device SIMULATOR
            if device_host=="localhost":
                if not device_sim: raise Exception("No simulator class available") 
                ##self._device_simulator = device_sim(protoc, gen2nat_cmds)
                self._device_simulator = device_sim
                self._device_simulator.set_protoc_and_cmds(protoc, self._my_cmds)
                print("SIMU IS", device_sim, self._device_simulator)
                self._thread_device_simulator = threading.Thread(target=self.device_simulator_run)
                self._thread_device_simulator.start()



    # Set my list of dc components
    def set_dc_components(self, dc_components:list): self._my_dc_components = dc_components


    # So that we can use this with the "with" statement (context manager)
    def __enter__(self):
        return self
    def __exit__(self, type, value, traceback):
        self._my_channel.__exit__(type, value, traceback)

    '''
    def set_logger(self, DEBUG):
        self._my_channel.set_logger(DEBUG)
    '''

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

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

    def device_simulator_run(self):
        #HOST, PORT = "localhost", 11110
        #with get_SocketServer_UDP_TCP(HOST, PORT, "UDP") as myserver:
        print("\n******************************")
        print("******* (DC) Starting device simulator on (host:port): ", self._device_host+':'+str(self._device_port))
        print("******************************\n")
        self._device_simulator.serve_forever(self._device_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()
        '''


    def _connect_to_device(self):
        self._my_channel._connect_to_server()

    def get_celme_longitude(self, longitude):
        return celme.Angle(longitude).sexagesimal("d:+0180.0")
    def get_celme_latitude(self, latitude):
        return celme.Angle(latitude).sexagesimal("d:+090.0")

    #@override ClientChannel send_data
    def send_data(self, data:str):
        ##data_encapsulated = self.format_data_to_send(data)
        self.stamp_current, data_encapsulated = self.encap(data)
        self._my_channel.send_data(data_encapsulated)
        '''
        The chosen way to send data is this:
        # - :GD#
        b'00030000:GD#\x00'
        
        Another way to send data (which also works), is it better ?
        # - :GD#
        ###tsock.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x3A\x47\x44\x23\x00', (HOST, PORT))
        # - :GR#
        ###tsock.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x3A\x47\x52\x23\x00', (HOST, PORT))
        # - ACK 06 OK !!! :
        tsock.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x00\x06\x00\x00', (HOST, PORT))
        
        Which one is the best method ?
        '''
        #log_d("NATIVE Command to send is "+repr(data))
        ##encapsulated_data = self.encapsulate_data_to_send(data)
        #print("before _send", encapsulated_data)
        #print("before _send", repr(encapsulated_data))
        ##self._send_data(encapsulated_data)
        ##self._my_channel.send_data(encapsulated_data)
        #log_i(f'Sent: {encapsulated_data}')
    '''
    def _send_data(self, data):
        self._my_channel._send_data(data)
    '''

    #@override ClientChannel receive_data
    def receive_data(self)->str:
        ##data_received_bytes = self._receive_data()
        data_received = self._my_channel.receive_data()
        #log_d("Received (all data): {}".format(data_received))
        #log_d("data in bytes: "+str(bytes(data_received, "utf-8")))
        ##data = self.unformat_received_data(data_received)
        data = self.uncap(self.stamp_current, data_received)
        print(f"(dc) ({self}) RECEIVED (useful data): {data}")
        log_i(f"(dc) ({self}) RECEIVED (useful data): {data}")
        return data
    '''
    def _receive_data(self):
        return self._my_channel._receive_data()
    '''



    def get_utc_date(self):
        return celme.Date("now").iso(0)
        #return celme.Date("now").ymdhms()


    def close(self):
        self._my_channel.close()
        # Stop device simulator (only if used)
        if self._device_host=="localhost":
            print("Stopping device simulator")
            self._device_simulator.stop()


    '''
    def is_generic_cmd(self, raw_input_cmd:str) -> bool:
        print("raw_input_cmd is", raw_input_cmd)
        # Using Google documentation format (https://www.sphinx-doc.org/en/master/usage/extensions/example_google.html#example-google) 
        #"" Is this a generic command ?

        Args:
            raw_input_cmd: a command in string format (like 'set_state active' or 'get_ra' or 'set_ra 20:00:00' or 'set_radec 20:00:00 90:00:00" or 'do_park'...)

        Returns:
            either False or (cmd, [args]) with cmd like "get_ra" and [args] like ['20:00:00', '90:00:00']

        #""
        #return cmd.startswith('get_') or cmd.startswith('set_') or cmd.startswith('do_')
        #cmds = ['get ', 'get_', 'set ', 'set_', 'do ', 'do_']
        #''
        seps = (" ", "_")
        #cmds = list(x+y for x in cmd for y in sep)
        for cmd in cmds:
            for sep in seps:
                generic_cmd = cmd+sep
                if raw_input_cmd.startswith(generic_cmd):
                    # Is there value(s) passed ?
                    if len(raw_input_cmd) > len(generic_cmd):
                        values = raw_input_cmd[len(generic_cmd):]
                        values = values.split(' ')
                    # return cmd like "get_ra", [and values]
                    return generic_cmd.replace(' ','_'), values
        return False, False
        #''
        ##cmds = ("get","set","do")

        #''
        # ex: "set radec" => "set_radec"
        raw_input_cmd = raw_input_cmd.strip()
        cmd_splitted = raw_input_cmd.split(' ')
        if len(cmd_splitted) == 1: return False,False
        generic_cmd = cmd_splitted[0] + '_' + cmd_splitted[1]
        #''
        # Ex: "set_radec 15 30", "do_init", "get_radec", "set_state active", "do_goto_radec 15 45"...
        tokens = raw_input_cmd.split(' ')
        generic_cmd = tokens[0]

        # Check this generic command exists    
        #if (generic_cmd not in self._gen2nat_cmds.keys()): return False,False
        if generic_cmd not in self._gen2nat_cmds: return False,False
        # Is there value(s) passed ?
        ###if len(cmd_splitted) > 2: values_to_set = cmd_splitted[2:]
        args = tokens[1:] if len(tokens)>1 else None
        # ex: return "set_radec", ["20:00:00", "90:00:00"]
        return generic_cmd, args
    '''


    def has_dc_component_for_type(self, dc_component_type:str):
        for dcc in self._my_dc_components:
            print(dc_component_type, "in ??????", type(dcc).__name__)
            #if dc_component_type in dcct.__class__.__name__:
            if dc_component_type in type(dcc).__name__: return True
        return False

    #res = self.getDeviceControllerForType(cmd.device_type).execute_cmd(cmd.full_name)
    def get_dc_component_for_type(self, dc_component_type:str): #->DeviceController:
        # By default, return myself (as a DeviceController component)
        # ex1: None
        # ex2: "Telescope" (is in "AgentDeviceTelescopeGemini")
        #if dc_component_type is None or dc_component_type in self.__class__.__name__ : return self
        if dc_component_type is None or dc_component_type in type(self).__name__ : return self
        #for dcc in type(self).mro():
        #for dcc in type(self).__bases__ :
        print("components are", self._my_dc_components)
        print("1st component is", self._my_dc_components[0])
        for dcc in self._my_dc_components:
            print(dc_component_type, "in ??????", type(dcc).__name__)
            #if dc_component_type in dcct.__class__.__name__:
            if dc_component_type in type(dcc).__name__:
                return dcc
        raise DCCNotFoundException("DEVICE CONTROLLER COMPONENT NOT FOUND: "+dc_component_type)

    def is_valid_cmd(self, cmd:DeviceCommand):
        print("cmd.name is", cmd.name)
        print(cmd)
        print("generic ?", cmd.is_generic())
        print("is valid generic ?", self.is_valid_generic_cmd(cmd))
        return (
            ( cmd.is_generic() and self.is_valid_generic_cmd(cmd) ) 
            or
            self.is_valid_native_cmd(cmd)
        )

    def is_generic_but_UNIMPLEMENTED_cmd(self, cmd:DeviceCommand):
        return cmd.is_generic() and not self.is_implemented_generic_cmd(cmd)

    # WRAPPER methods
    def has_generic_command(self, generic_cmd:DeviceCommand):
        #return self._my_cmds.get(cmd.name) is not None
        return generic_cmd.name in self._my_cmds.get()
    def has_native_cmd_for_generic(self, generic_cmd:DeviceCommand):
        return self._my_cmds.get_native_infos_for_generic_cmd(generic_cmd.name) not in [None, []]

    # check if generic cmd exists
    def is_valid_generic_cmd(self, cmd:DeviceCommand):
        #print("_my_cmds", self._my_cmds)
        # 1) If a DCC given, return search result in this DCC commands
        if cmd.devtype:
            if not self.has_dc_component_for_type(cmd.devtype): return False
            return self.get_dc_component_for_type(cmd.devtype).has_generic_command(cmd)
        # 2) Search in my general commands
        if self.has_generic_command(cmd): return True
        # 3) Search in all my DCCs
        for dcc in self._my_dc_components:
            if dcc.has_generic_command(cmd): return True
        # 4) not found
        return False
        '''
        ##if not cmd.devtype: return self._my_cmds.get(cmd.name) is not None
        if not cmd.devtype: return self.has_generic_command(cmd)
        if not self.has_dc_component_for_type(cmd.devtype): return False
        ##return self.get_dc_component_for_type(cmd.devtype)._my_cmds.get(cmd.name) is not None
        return self.get_dc_component_for_type(cmd.devtype).has_generic_command(cmd)
        '''

    # check if generic cmd exists and is implemented as a native cmd (in dictionary)
    def is_implemented_generic_cmd(self, cmd:DeviceCommand):
        print("is implemented generic ?")
        print("cmd.devtype", cmd.devtype)
        #print("_my_cmds", self._my_cmds)
        #return self._my_cmds.get_native_infos_for_generic_cmd(cmd.name) not in [None, []]
        # 1) If a DCC given, return search result in this DCC commands
        if cmd.devtype:
            print("1")
            if not self.has_dc_component_for_type(cmd.devtype): return False
            print("1.2")
            return self.get_dc_component_for_type(cmd.devtype).has_native_cmd_for_generic(cmd)
        # 2) Search in my general commands
        if self.has_native_cmd_for_generic(cmd): 
            print("2")
            return True
        # 3) Search in all my DCCs
        for dcc in self._my_dc_components:
            print("3")
            if dcc.has_native_cmd_for_generic(cmd): return True
        # 4) not found
        return False
        '''
        ##if not cmd.devtype: return self._my_cmds.get_native_infos_for_generic_cmd(cmd.name) not in [None, []]
        if not cmd.devtype: return self.has_native_cmd_for_generic(cmd)
        if not self.has_dc_component_for_type(cmd.devtype): return False
        ##return self.get_dc_component_for_type(cmd.devtype)._my_cmds.get(cmd.name) not in [None, []]
        return self.get_dc_component_for_type(cmd.devtype).has_native_cmd_for_generic(cmd)
        '''

    def is_valid_native_cmd(self, native_cmd:DeviceCommand):
        return self._my_cmds.is_valid_native_cmd(native_cmd.name)

    def get_dcc_and_native_cmd_for_generic(self, generic_cmd:str):
        #if generic_cmd not in self._gen2nat_cmds.keys(): raise UnknownNativeCmdException()
        # Is it a general command for the (general) controller ?
        '''
        if generic_cmd in self._gen2nat_cmds:
            return self, self._gen2nat_cmds[generic_cmd]
        '''
        # 1) Search in my MAIN commands
        nc_infos = self._my_cmds.get_native_infos_for_generic_cmd(generic_cmd)
        if nc_infos: return self, nc_infos

        # 2) Search in each DCC commands
        # Is it a command for one of my dcc ?
        '''
        # Bad because general dict is not complete for each dcc (especially, does not contain macro-commands, like get_radec, ...)
        for key in self._gen2nat_cmds.keys():
            if isinstance(self._gen2nat_cmds[key], dict):
                # dcc = key
                if generic_cmd in self._gen2nat_cmds[key]:
                    return key, self._gen2nat_cmds[key][generic_cmd]
        '''
        for dcc in self._my_dc_components:
            _, native_cmd_infos = dcc.get_dcc_and_native_cmd_for_generic(generic_cmd)
            if native_cmd_infos: return dcc, native_cmd_infos
        # Native command not found
        return None, None

    '''
    This method is either called 
    - DIRECTLY from AgentDevice.routine_process().get_device_status() (NO THREAD)
    or
    - FROM A THREAD from AgentDevice._thread_exec_specific_cmd().exec_specific_cmd()
    '''
    #def execute_cmd(self, cmd:DeviceCommand)->GenericResult:
    def exec_cmd(self, raw_input_cmd:str)->GenericResult:
        '''
        :param raw_input_cmd:
        '''

        #generic_cmd, args = self.is_generic_cmd(raw_input_cmd)
        cmd = DeviceCommand(raw_input_cmd)
        self.tprint("cmd is", cmd, raw_input_cmd)

        # GENERIC command (pyros grammar)
        #if generic_cmd is not False:
        if cmd.is_generic():
            self.tprint("GENERIC COMMAND")
            if not self.is_valid_generic_cmd(cmd): raise UnknownGenericCmdException(cmd.name)
            #return self.exec_generic_cmd(generic_cmd, args)
            try:
                res = self.exec_generic_cmd(cmd.name, cmd.args, cmd.devtype)
            except (UnimplementedGenericCmdException, DCCNotFoundException) as e:
                self.tprint(f"EXCEPTION caught by {type(self).__name__} (from DC)", e)
                raise
            return res

        # NATIVE command
        '''
        if cmd.startswith('get_'):
            #generic_cmd,_ = request[4:].split('(')
            generic_cmd = cmd[4:]
            if (generic_cmd not in self._gen2nat_cmds_getset.keys()) and (generic_cmd not in self._gen2nat_cmds_do.keys()):
                #eval(request)
                return self.get_radec()
            print("cmd is", generic_cmd)
            return self._get(generic_cmd)
        return
        '''
        # NATIVE command
        self.tprint("NATIVE COMMAND")
        if not self.is_valid_native_cmd(cmd): raise UnknownNativeCmdException(cmd.name)
        #res_native = self.exec_native_cmd(raw_input_cmd)
        try:
            res_native = self.exec_native_cmd(cmd.name_and_args)
        except UnknownNativeCmdException as e:
            self.tprint(f"EXCEPTION caught by {type(self).__name__} (from DC)", e)
            raise
        return GenericResult(res_native)


    #def exec_native_cmd(self, request:str, awaited_res_if_ok=None)->GenericResult:
    def exec_native_cmd(self, native_cmd:str) -> str:
        """ Execute a native command

        Args:
            native_cmd: a native command

        Returns:
            the command result

        """
        self.tprint("NATIVE Command to send is "+ repr(native_cmd))
        #self.send_request(native_cmd)
        self.send_native_cmd(native_cmd)
        native_res = self.receive_data()
        return native_res
        '''
        ok = True if not awaited_res_if_ok else (native_res == awaited_res_if_ok)
        return GenericResult(native_res, ok)
        '''


    '''
    def exec_native_cmd_OLD(self, request:str)->str:
        self.send_request(request)
        native_res = self.receive_data()
        return native_res
    '''


    def execute_unformated_native_cmd(self, request:str) -> str:
        request = self.formated_cmd(request)
        #return self.exec_native_cmd_OLD(request)
        return self.exec_native_cmd(request)


    def send_native_cmd(self, native_cmd:str)->str:
        return self.send_data(native_cmd)


    #@deprecated
    def send_request(self, request:str)->str:
        return self.send_native_cmd(request)


    # wrapper methods
    def print_available_cmds(self): self._my_cmds.print_available_cmds()
    def print_available_cmds_for_dcc(self, dcc_key): self._my_cmds.print_available_cmds_for_dcc(dcc_key)

    '''
    def print_available_commands(self):
        #print("All commands are:", self._gen2nat_cmds.keys())
        print("\nAvailable commands:")
        print("=======================")
        # 1) print general commands
        self.print_available_commands_for_dcc("General")
        # 2) print commands for each DCC:
        for key in self._gen2nat_cmds.keys():
            if isinstance(self._gen2nat_cmds[key], dict):
                self.print_available_commands_for_dcc(key)

    def print_available_commands_for_dcc(self, dcc_key):
        d = self._gen2nat_cmds if dcc_key=="General" else self._gen2nat_cmds[dcc_key]
        print(f"\n{dcc_key} commands are:")
        print("- GET commands:")
        #print (list(cmd.replace('_',' ') for cmd in self._gen2nat_cmds.keys() if cmd.startswith('get_')))
        print (list(cmd for cmd in d.keys() if cmd.startswith('get_')))
        print("- SET commands:")
        print (list(cmd for cmd in d.keys() if cmd.startswith('set_')))
        print("- DO commands:")
        print (list(cmd for cmd in d.keys() if cmd.startswith('do_')))

    def available_commands(self):
        return list(self._gen2nat_cmds.keys())
    '''

    #def run_func(self, func, arg=None):
    def run_func(self, func, *args):
        #print("args", args)
        if args: 
            return getattr(self, func)(*args)
        else:
            return getattr(self, func)()





    #def exec_generic_cmd(self, generic_cmd:DeviceCommand)->str:
    def exec_generic_cmd(self, generic_cmd:str, values_to_set:str=None, dcc_type:str=None)->str:
        ''' Execute a generic command

        :param generic_cmd: str like "get_ra" or "set_ra" or "do_park"...
        :param value: only for a "set_" cmd
        '''
        self.tprint("(DC):exec_generic_cmd() from", self)
        # If generic_cmd is for a specific device component (dc), pass it to this dc (instead of me)
        self.tprint("(DC):dc_component_type is: ", dcc_type)
        ####if dc_component_type and dc_component_type not in self.__class__.__name__ :
        if dcc_type:

            # Get the dcc in charge of this command
            try:
                dcc = self.get_dc_component_for_type(dcc_type)
                self.tprint("*** EXECUTÉ PAR COMPONENT", dcc)
            except DCCNotFoundException as e:
                self.tprint(f"EXCEPTION caught by {type(self).__name__} (from dcc)", e)
                raise
            #return (DCC)(self.exec_generic_cmd(generic_cmd, values_to_set, None))

            # Delegate cmd execution to the dcc
            try:
                return dcc.exec_generic_cmd(generic_cmd, values_to_set, None)
            except UnimplementedGenericCmdException as e:
                self.tprint(f"EXCEPTION caught by {type(self).__name__} (from dcc)", e)
                raise
                # not executed ?
                return None

        #log_d("\n\nGENERIC Command to send is "+generic_cmd)
        self.tprint("\n\n(DC): GENERIC Command to execute is ", generic_cmd)
        ##print("(DC): My ("+type(self).__name__+") commands are:", self._gen2nat_cmds)
        #print("(DC): My ("+type(self).__name__+") commands are:", self._my_cmds.get())
        #print("(DC): My ("+type(self).__name__+") commands are:", self._my_cmds.get())
        self.tprint("(DC): My ("+type(self).__name__+") commands are:")
        pprint.pprint(self._my_cmds.get())

        dcc, native_cmd_infos = self.get_dcc_and_native_cmd_for_generic(generic_cmd)
        self.tprint("native_cmd_infos", native_cmd_infos)
        # Command is not implemented
        if not native_cmd_infos: raise UnimplementedGenericCmdException(generic_cmd)
        # Command is one of my dcc's, so pass it the command for exec
        if dcc != self:
            #dcc = self.get_dc_component_for_type(dcc_type)
            return dcc.exec_generic_cmd(generic_cmd, values_to_set, None)

        # Get corresponding native command:
        native_cmd = native_cmd_infos[0]
        if not native_cmd: raise UnimplementedGenericCmdException(generic_cmd)

        # MACRO-COMMAND (ex: native_cmd == "do_goto", "do_init", "get_radec")
        if native_cmd == generic_cmd:
            self.tprint("MACRO-COMMAND")
            #print("cmd,val", native_cmd, values_to_set)
            #res:GenericResult = self.run_func(native_cmd, *values_to_set)
            if values_to_set:
                self.tprint("with args")
                res = self.run_func(native_cmd, *values_to_set)
                #res = getattr(self, native_cmd)(values_to_set)
            else:
                res = self.run_func(native_cmd)
                #res = getattr(self, native_cmd)()
            #if res is None: res = 'ok'
            # res should be a GenericResult
            if not isinstance(res, GenericResult): raise Exception("Should be a GenericResult", res)
            return res

        # NATIVE COMMAND (ex: native_cmd == "GR")
        native_cmd = self.formated_cmd(native_cmd, values_to_set)
        awaited_res_if_ok = None
        if len(native_cmd_infos) > 1: awaited_res_if_ok = native_cmd_infos[1]
        #native_res = self.exec_native_cmd(self.formated_cmd(native_cmd,value), awaited_res_ok)
        native_res = self.exec_native_cmd(native_cmd)
        ok = True if not awaited_res_if_ok else (native_res == awaited_res_if_ok)
        return GenericResult(native_res, ok)



    '''
    ****************************
    ****************************
    GENERIC TELESCOPE COMMANDS (abstract methods)
    ****************************
    ****************************
    '''



    '''
    ****************************
     GENERIC GET & SET commands 
    **************************** 
    '''
    

    @generic_cmd
    def get_timezone(self): pass
    #def get_timezone(self):    return self.exec_generic_cmd('get_timezone')
    @generic_cmd
    def set_timezone(self, hh): pass
    #def set_timezone(self, hh):    return self.exec_generic_cmd('set_timezone', hh)
    
    @generic_cmd
    def get_date(self): pass
    @generic_cmd
    def set_date(self, mmddyy): pass
    
    @generic_cmd
    def get_time(self): pass
    @generic_cmd
    def set_time(self, hhmmss): pass
    


    '''
    ****************************
     GENERIC DO commands 
    **************************** 
    '''

    # @abstract
    #def do_INIT(self):              return self._do("INIT")

    ''' do_PARK() (p103)
    - STARTUP position = CWD
        - :hC#
        - position required for a Cold or Warm Start, pointing to the celestial pole of the given hemisphere (north or south), 
        with the counterweight pointing downwards (CWD position). From L4, V1.0 up
    - HOME position parking => par defaut, c'est CWD, mais ca peut etre different
        - :hP#
        - defaults to the celestial pole visible at the given hemisphere (north or south) and can be set by the user
    '''
    # @abstract
    def do_PARK(self): pass
    #def do_PARK(self):              return self._do("PARK")

    # @abstract
    def do_start(self): pass
    def do_stop(self): pass
    
    # @abstract MACRO
    def do_init(self): raise UnimplementedGenericCmdException
        
    

        

# TODO: empecher de creer une instance de cette classe abstraite
# Avec ABC ?

'''
if __name__ == "__main__":
    
    #HOST, PORT = "localhost", 9999
    #HOST, PORT = "localhost", 20001
    HOST, PORT = "localhost", 11110

    # Classic usage:
    #tsock = SocketClient_UDP_TCP(HOST, PORT, "UDP")
    # More elegant usage, using "with":
    with SocketClient_ABSTRACT(HOST, PORT, "UDP") as tsock:
        
        # 0) CONNECT to server (only for TCP, does nothing for UDP)
        tsock._connect_to_server()
        
        while True:
            
            # 1) SEND REQUEST data to server
            # saisie de la requête au clavier et suppression des espaces des 2 côtés
            data = input("REQUEST TO SERVER [ex: ':GD#' (Get Dec), ':GR#' (Get RA)']: ").strip()
            # test d'arrêt
            if data=="": break
            #data_to_send = bytes(data + "\n", "utf-8")
            tsock.send_data(data)
            #mysock.sendto("%s" % data, (HOST, PORT))
            #print("Sent: {}".format(data))
    
            # 2) RECEIVE REPLY data from server
            data_received = tsock.receive_data()
            #reponse, adr = mysock.recvfrom(buf)
            #print("Received: {}".format(data_received))
            #print("Useful data received: {}".format(data_useful))
            print('\n')

        #tsock.close()
'''