#!/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

    (see https://docs.djangoproject.com/en/dev/topics/settings)
    (see also https://docs.djangoproject.com/en/dev/ref/settings)
=================================================================
"""

import os
from pathlib import Path
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 'dashboard'"
## sys.path.append("..")
py_pwd = os.path.normpath(os.getcwd() + "/..")
if (py_pwd not in os.sys.path):
    (os.sys.path).append(py_pwd)
# To avoid a "ModuleNotFoundError: No module named 'src'"
## sys.path.append("../../../..")
py_pwd = os.path.normpath(os.getcwd() + "/../../../..")
if (py_pwd not in os.sys.path):
    (os.sys.path).append(py_pwd)
##sys.path.append("src")
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.core.pyros_django.pyros.settings")
os.environ.setdefault("DJANGO_SETTINGS_MODULE", "src.core.pyros_django.pyros.settings")
# os.environ['SECRET_KEY'] = 'abc'
# os.environ['ENVIRONMENT'] = 'production'
import django

django.setup()

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


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

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

from agent.logpyros import LogPyros

"""
=================================================================
    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:
    """

    See Agent_activity_diag.pu for PlantUML activity diagram

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

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

    # Maximum duration of this agent (only for SIMULATION mode)
    # If set to None, it will never exit except if asked (or CTRL-C)
    # If set to 20, it will exit after 20s
    TEST_MAX_DURATION_SEC = None
    #TEST_MAX_DURATION_SEC = 30

    # FOR TEST ONLY
    # Run this agent in simulator mode
    TEST_MODE = True
    WITH_SIMULATOR = False
    # Run the assertion tests at the end
    TEST_WITH_FINAL_TEST = False
    # Who should I send commands to ?
    TEST_COMMANDS_DEST = "myself"
    # Default scenario to be executed
    #TEST_COMMANDS = iter([
    TEST_COMMANDS_LIST = [
        "set_state:active",
        "set_state:idle",

        # specific0 not_executed_because_idle
        "specific0",

        "set_state:active",

        # specific1 executed_because_not_idle, should complete ok
        "specific1",

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



    """
    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

    #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"

    PYROS_DJANGO_BASE_DIR = Path("src/core/pyros_django") # pathlib
    DEFAULT_CONFIG_FILE_NAME = "config_unit_simulunit1.xml"
    CONFIG_DIR_NAME = "config"

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

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

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

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

    _iter_num = None

    # Log object
    _log = None

    #def __init__(self, name:str="Agent", config_filename:str=None, RUN_IN_THREAD=True):
    def __init__(self, config_filename:str=None, RUN_IN_THREAD=True):
        #self.name = name
        self.name = self.__class__.__name__
        self._log = LogPyros(self.name,AgentLogs)
        self._log.debug_level = DEBUG

        # New way with PathLib
        my_parent_abs_dir = Path(__file__).resolve().parent
        #TODO: on doit pouvoir faire mieux avec pathlib (sans utiliser str())
        self._path_data = str( Path( str(my_parent_abs_dir).split(str(self.PYROS_DJANGO_BASE_DIR))[0] ) / self.CONFIG_DIR_NAME )
        #self._set_mode(self.MODE_IDLE)
        if not config_filename:
            config_filename = self.DEFAULT_CONFIG_FILE_NAME

        # If config file name is RELATIVE (i.e. without path, just the file name)
        # => give it an absolute path (and remove "src/agent/" from it)
        if config_filename == os.path.basename(config_filename):
            # Build abs path including current agent dir
            config_filename = os.path.abspath(self.CONFIG_DIR_NAME + os.sep + config_filename)
            # Remove "src/agent_name/" from abs dir :
            # (1) Remove "src/core/pyros_django/"
            config_filename = config_filename.replace(str(self.PYROS_DJANGO_BASE_DIR)+os.sep, os.sep)
            # (2) Remove "agent_name/"
            #TODO: bidouille, faire plus propre
            config_filename = config_filename.replace(os.sep+"agent"+os.sep, os.sep)
            config_filename = config_filename.replace(os.sep+"monitoring"+os.sep, os.sep)
        config_filename = os.path.normpath(config_filename)            
        self.printd(f"Config file used is={config_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())}")

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

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

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

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

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

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

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

    def printdb(self, *args, **kwargs): 
        self._log.db( *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 _get_real_agent_name_for_alias(self, agent_alias_name:str):
        #print("key is", agent_alias_name)
        if not self._my_client_agents: return agent_alias_name
        return self._my_client_agents[agent_alias_name]



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

        self._DO_EXIT = False
        self._DO_RESTART = True

        # Will loop again only if _DO_RESTART is True
        while self._DO_RESTART:
            self._DO_RESTART = False
            self.start_time = time.time()
            self.printd("on est ici: ", os.getcwd())

            self._load_config()

            self.print_TEST_MODE()

            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)

            self._iter_num = 1
            self._DO_MAIN_LOOP = True
            # Main loop
            while self._DO_MAIN_LOOP:
                try:
                    self._main_loop(nb_iter,FOR_REAL)
                    if not self._DO_MAIN_LOOP: 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 (if exists)")
                    self._kill_running_specific_cmd_if_exists("USER_CTRLC")
                    exit(1)
            #if self._DO_EXIT: exit(0)


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

        # Bad number of iterations, so exit
        if nb_iter is not None:
            if nb_iter <= 0:
                self._DO_MAIN_LOOP = False 
                return
            # Number of iterations asked is reached, so exit
            if self._iter_num > nb_iter:
                print(f"Exit because number of iterations asked ({nb_iter}) has been reached") 
                self._DO_MAIN_LOOP = False 
                return

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

        # Wait a random number of sec before starting 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)

        self._load_config() # only if changed

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

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

        # Purge commandes (every N iterations, delete old commands)
        N=5
        if ((self._iter_num-1) % N) == 0:
            self.print("Looking for old commands to purge...")
            #Command.purge_old_commands_for_agent(self.name)
            self._purge_old_commands_sent_to_me()

        # ROUTINE process
        # To be overriden by subclass
        self.routine_process()
        #self.printd("I am IDLE, so I bypass the routine_process (do not send any new command)")

        # Get next command and process it (if exists)
        cmd = self._get_next_valid_and_not_running_command()
        #if cmd: self.command_process(cmd)
        if cmd:

            # GENERAL cmd (agent level) : 
            # execute it always and in current main thread (not in parallel)
            if cmd.is_general():
                self._exec_general_cmd(cmd)

            # SPECIFIC cmd (agent specific or device level) :
            # execute it (only if active and no currently running specific cmd)
            # in parallel (in a thread or a process)
            else:
                self._exec_specific_cmd_if_possible(cmd)

        # if restart, exit this loop to restart from beginning
        if self._DO_RESTART or self._DO_EXIT:
            self._DO_MAIN_LOOP = False
            return

        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")

        # (Test only) Exit if max duration is reached
        if self.TEST_MAX_DURATION_SEC and (time.time()-self.start_time > self.TEST_MAX_DURATION_SEC):
            self.print("Exit because of max duration set to ", self.TEST_MAX_DURATION_SEC, "s")
            self._kill_running_specific_cmd_if_exists(self.name)
            if self.TEST_MODE and self.TEST_WITH_FINAL_TEST: self.simulator_test_results()
            self._DO_MAIN_LOOP = False
            return

        self._iter_num += 1


    def print_TEST_MODE(self):
        if self.TEST_MODE:
            self._log.print("[IN SIMULATOR MODE]")
            self.print("flush previous commands to be sure to start in clean state")
            Command.delete_pending_commands_for_agent(self.name)
        else:
            self._log.print("[IN NORMAL MODE]")
            self.TEST_MAX_DURATION_SEC=None 


    def _purge_old_commands_sent_to_me(self):
        Command.purge_old_commands_sent_to_agent(self.name)


    # 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 self.TEST_MODE: self._simulator_routine_process()


    """
    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
            recipient = 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 _is_idle(self):
        return not self._is_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)
        """
        '''
        # 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
        '''
        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}")

        self.print("--------- Components of the unit -----------")
        self.print("Configuration file is {}".format(self.config.get_configfile()))            
        alias = self.config.get_aliases('unit')[0]
        namevalue = self.config.get_paramvalue(alias,'unit','description')
        self.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')
                self.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)

        self.print("--------- Assembly of the unit -----------")
        self.print(f"Assembled mount aliases: {assembled_mount_aliases}")
        self.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_paramvalue(mount_alias,'MountPointing','home')

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

        # --- update the log parameters
        self._log.path_data = self._path_data
        self._log.home = home


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


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

    def create_cmd_for(self, to_agent, cmd_name, cmd_args=None):
        return Command.create(self.name, self._get_real_agent_name_for_alias(to_agent), cmd_name, cmd_args)
        '''
        return Command(
            sender=self.name,
            recipient=self._get_real_agent_name_for_alias(recipient_agent_alias_name),
            name=cmd_name
        )
        '''

    def _get_next_valid_and_not_running_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 "do_exit" or "do_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 ("do_exit", "do_abort", "do_flush_commands"): break
            if cmd.name in ("do_exit", "do_abort", "do_flush_commands"): break
        if cmd.name in ("do_exit", "do_abort", "do_flush_commands"):
            if cmd.is_running():
                return None
            if cmd.is_expired():
                cmd.set_as_outofdate()
                return None
            return cmd

        # 3) If first (oldest) command is currently running
        # (status CMD_RUNNING), then do nothing and return
        """
        cmd_executing = Command.objects.filter(
            # only commands for me
            recipient = self.name,
            # only pending commands
            recipient_status_code = Command.CMD_STATUS_CODES.CMD_RUNNING,
        ).first()
        #if cmd_executing.exists():
        if cmd_executing:
        """
        #cmd = commands[0]
        cmd = commands.first()
        if cmd.is_expired():
            cmd.set_as_outofdate()
            return None
        if cmd.is_running():
            #self.printd(f"There is currently a running command ({cmd_executing.first().name}), so I do nothing (wait for end of execution)")
            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 won't execute any new command until this command execution is finished")
            # TODO: kill si superieur a MAX_EXEC_TIME
            return None

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

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

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


    def _exec_general_cmd(self, cmd:Command):

        self.printd(f"Starting execution of a GENERIC cmd {cmd}")

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

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

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

        # If cmd is "do_exit", kill myself (without any question, this is an order soldier !)
        # This "do_exit" should normally kill any current thread (to be checked...)
        if cmd.name == "do_exit":
            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.TEST_MODE and self.TEST_WITH_FINAL_TEST and self.TEST_COMMANDS_DEST == "myself": self.simulator_test_results()
            if self.TEST_MODE and self.TEST_WITH_FINAL_TEST: self._simulator_test_results()
            #self._DO_EXIT=True
            #exit(0)




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


    def _exec_specific_cmd_if_possible(self, cmd:Command):

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

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

        if self._is_running_specific_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

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


    def _is_running_specific_cmd(self):
        #return (self._current_specific_thread is not None) or self._current_specific_thread.is_alive()
        #return (self._current_specific_thread is None) or not self._current_specific_thread.is_alive()
        return self._current_specific_thread and self._current_specific_thread.is_alive()

    def is_in_test_mode(self):
        return self.TEST_MODE

    def _kill_running_specific_cmd_if_exists(self, abort_cmd_sender):
        if not self._is_running_specific_cmd():
            self.print("...No current specific command thread to abort...")
        else:
            self.print(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_by(abort_cmd_sender)
            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 setSimulatorMode(self, mode):
    def _set_test_mode(self, mode):
        self.TEST_MODE=mode
    def _set_with_simulator(self, mode):
        self.WITH_SIMULATOR=mode

    def _simulator_get_next_command_to_send(self)->Command:
        cmd = next(self.TEST_COMMANDS, None)
        #return cmd_name
        if cmd is None: return None
        agent_recipient,cmd_name = cmd.split(' ', 1)
        ##recipient_agent = self.name if self.TEST_COMMANDS_DEST=="myself" else self.TEST_COMMANDS_DEST
        #return Command(sender=self.name, recipient=recipient_agent, name=cmd_name)
        return self.create_cmd_for(agent_recipient, cmd_name)

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

    def _simulator_routine_process(self):
        """
        SIMULATOR MODE ONLY
        """

        # There is a current command being processed 
        # => check if next command is "do_abort"
        # => if so, instantly send an "do_abort" to abort previous command
        if self._cmdts is not None:
            self.print(f"Waiting for end execution of cmd '{self._cmdts.name}' (sent to {self._cmdts.recipient}) ...")
            # Update cmdts fields from DB
            self._cmdts.refresh_from_db()
            if self._cmdts.is_pending() or self._cmdts.is_running():
                if self._next_cmdts is None:
                    # If next command is "do_abort" then abort becomes the new current command (to be sent)
                    self._next_cmdts = self._simulator_get_next_command_to_send()
                    if self._next_cmdts and self._next_cmdts.name == "do_abort":
                        # Wait a little to give a chance to agentB to start execution of current command,
                        # so that we can abort it then (otherwise it won't be aborted!!)
                        time.sleep(4)
                        self._cmdts = self._next_cmdts
                        self._next_cmdts = None
                        self.print("***")
                        #self.print(f"*** SEND ", self._cmdts)
                        self.print(f"***", self._cmdts)
                        self.print("***")
                        self._cmdts.send()

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

        # No currently running command => get a new command and SEND it
        if self._cmdts is None:
            if self._next_cmdts is not None:
                self._cmdts = self._next_cmdts
                self._next_cmdts = None
            else:
                self._cmdts = self._simulator_get_next_command_to_send()
            # No more command to send (from simulator) => return
            if self._cmdts is None: return
            # Send cmd (= set as pending and save)
            self.print("***")
            #self.print(f"*** SEND ", self._cmdts)
            self.print(f"***", self._cmdts)
            self.print("***")
            #self._cmdts.set_as_pending()
            # SEND
            self._cmdts.send()
            #cmdts_is_processed = False
            #cmdts_res = None

    def _simulator_test_results(self):
        if self.TEST_COMMANDS_LIST == [] : return
        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.TEST_COMMANDS_LIST))
        Command.show_commands(commands)
        assert commands[0].name == self.TEST_COMMANDS_LIST[0]
        assert commands[-1].name == self.TEST_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 ("do_abort"):
                assert cmd.is_executed()
                nb_asserted+=1
            if cmd.name in ("do_exit"):
                assert cmd.is_executed()
                nb_asserted+=1
        assert nb_asserted == 12
        self.printd("--- Finished testing => result is ok")
        """

    # To be overriden by subclass
    def _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.TEST_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)
        # 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
        # to be overriden by subclasses
        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)
        """

        # 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
=================================================================
"""

def extract_parameters():
    """ Usage: Agent.py [-t] [configfile] """
    # arg 1 : -t
    # arg 2 : configfile
    TEST_MODE = False
    WITH_SIM = False
    configfile = None
    print("args:", sys.argv)
    for arg in sys.argv[1:] :
        if arg == "-t": TEST_MODE = True
        elif arg == "-s": WITH_SIM = True
        else: configfile = arg
    '''
    if len(sys.argv) > 1:
        if sys.argv[1] == "-t": 
            TEST_MODE = True
            if len(sys.argv) == 3:
                configfile = sys.argv[2]
        else:
            configfile = sys.argv[1]
    '''
    return TEST_MODE, WITH_SIM, configfile

#def build_agent(Agent_type:Agent, name="GenericAgent", RUN_IN_THREAD=True):
def build_agent(Agent_type:Agent, RUN_IN_THREAD=True):
    TEST_MODE, WITH_SIM, configfile = extract_parameters()
    #agent = Agent("GenericAgent", configfile, RUN_IN_THREAD=True)
    agent = Agent_type(configfile, RUN_IN_THREAD)
    #agent = Agent_type(name, configfile, RUN_IN_THREAD)
    #agent.setSimulatorMode(TEST_MODE)
    agent._set_test_mode(TEST_MODE)
    agent._set_with_simulator(WITH_SIM)
    return agent


if __name__ == "__main__":

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

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