#!/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

import logging

from django.conf import settings as djangosettings

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

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

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

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

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

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

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

django.setup()

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


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

# --- GENERAL PURPOSE IMPORT ---
#from __future__ import absolute_import
##import utils.Logger as L
import platform
import random
import threading
#import multiprocessing
from threading import Thread
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 ---
# Many ways to import configuration settings:
##import config
import config.old_config as config_old
#from config import PYROS_ENV, ROOT_DIR, DOC_DIR
#from config import *

from common.models import AgentSurvey, AgentCmd, AgentLogs

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

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

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

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



"""
=================================================================
    GENERAL MODULE CONSTANT & FUNCTIONS DEFINITIONS
=================================================================
"""

#DEBUG_FILE = False

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

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


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

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

    # Default modes
    DEBUG_MODE = False
    WITH_SIMULATOR = False
    TEST_MODE = False

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

    # To be overriden by subclasses (empty by default, no agent specific command)
    AGENT_SPECIFIC_COMMANDS = [
        #"do_eval",
        #"set_state",
    ]

    # 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"

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

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

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

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

    _agent_survey = None
    _pending_commands = []

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

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

    _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, DEBUG_MODE=False):
    def __init__(self, config_filename:str=None, RUN_IN_THREAD=True):

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

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

        log.info("start Agent init")

        # SET CONFIG INSTANCE

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

        # - NEW CONFIG
        obs_config_file_path = os.environ["PATH_TO_OBSCONF_FILE"]
        path_to_obs_config_folder = os.environ["PATH_TO_OBSCONF_FOLDER"]
        unit = os.environ["unit_name"]
        oc = ConfigPyros(obs_config_file_path)
        log.info("start Agent init 2")
        self.set_config(oc, obs_config_file_path, path_to_obs_config_folder, unit)

        #self.name = name
        self.name = self.__class__.__name__
        

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

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

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

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

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

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

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

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

        log.info("end Agent init")



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

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

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

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






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

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

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

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



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

        log.info("in run()")
        #return

        # TEST MODE ONLY
        # IF in test mode but with REAL devices (no SIMULATOR), delete all dangerous commands from the test commands list scenario:
        if self.TEST_MODE:
            log.debug("\n!!! In TEST mode !!! => preparing to run a scenario of test commands")
            log.debug("- Current test commands list scenario is:\n" + self.TEST_COMMANDS_LIST)
            if not self.WITH_SIMULATOR:
                log.debug("\n!!! In TEST but no SIMULATOR mode (using REAL device) !!! => removing dangerous commands for real devices... :")
                TEST_COMMANDS_LIST_copy = self.TEST_COMMANDS_LIST.copy()
                for cmd in TEST_COMMANDS_LIST_copy:
                    cmd_key = cmd.split()[1]
                    if ("set_" in cmd_key) or ("do_start" in cmd_key) or cmd_key in ["do_init", "do_goto", "do_open", "do_close"]:
                        self.TEST_COMMANDS_LIST.remove(cmd)
                log.debug("- NEW test commands list scenario is:\n" + self.TEST_COMMANDS_LIST, '\n')

        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()
            log.debug("on est ici: " + os.getcwd())

            self._load_config()

            self.print_TEST_MODE()

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

            # Avoid blocking on false "running" commands
            # (old commands that stayed with "running" status when agent was killed)
            AgentCmd.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: # CTRL-C
                    # In case of CTRL-C, kill the current thread (process) before dying (in error)
                    log.info("CTRL-C Interrupted, I kill the current thread (process) before exiting (if exists)")
                    self._kill_running_device_cmd_if_exists("USER_CTRLC")
                    exit(1)

            if self.TEST_MODE and self.TEST_WITH_FINAL_TEST: self._TEST_test_results()
            #if self._DO_EXIT: exit(0)



    # DEVICE level
    def _kill_running_device_cmd_if_exists(self, abort_cmd_sender):
        pass


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

        self._main_loop_start(nb_iter)
        if not self._DO_MAIN_LOOP: return 

        self._load_config() # only if changed
        self.show_config()


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

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

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

        # Processing the next pending command if exists
        self._command_process_if_exists()

        # 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 COMMMANDS PROCESSING ======")

        #self.waitfor(self.mainloop_waittime)

        log.info("*"*20 + "MAIN LOOP ITERATION (END)" + "*"*20)
        #self.do_log(LOG_DEBUG, "Ending main loop iteration")

        self._iter_num += 1


    def _main_loop_start(self, nb_iter:int):

        for i in range(3): print()
        #self.printd("-"*80)
        log.info("*"*73)
        log.info("*"*20 + f"MAIN LOOP ITERATION {self._iter_num} (START)" + "*"*20)
        log.info("*"*73 + '\n')
        #self.print(f"Iteration {self._iter_num}")

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

        # 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)
        log.info(f"Waiting {random_waiting_sec} sec (random) before starting new iteration...")
        time.sleep(random_waiting_sec)

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

        self._set_status(self.STATUS_MAIN_LOOP)
        self.show_mode_and_status()



    def _command_process_if_exists(self):
        ''' Processing the next pending command if exists '''

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


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

        # Get next command and process it (if exists)
        cmd = self._get_next_valid_and_not_running_command()
        #self._set_status(self.STATUS_GENERAL_PROCESS)
        #if cmd: self.command_process(cmd)
        if cmd:
            log.info('-'*6)
            log.info('-'*6, "RECEIVED NEW COMMAND TO PROCESS:")
            log.info('-'*6, cmd)
            log.info('-'*6)            

            # CASE 1 - AGENT LEVEL command
            # => I process it directly without asking my DC
            # => Simple action, short execution time, so I execute it directly (in current main thread, not in parallel)
            if self.is_agent_level_cmd(cmd):
                log.info("(AGENT LEVEL CMD)")
                try:
                    self._exec_agent_cmd(cmd)
                except AttributeError as e:
                    #self.log_e(f"EXCEPTION: Agent level specific command '{cmd.name}' unknown (not implemented as a function) :", e)
                    #self.log_e("Thus => I ignore this command...")
                    log.e(f"EXCEPTION: Agent level specific command '{cmd.name}' unknown (not implemented as a function) :", e)
                    log.e("Thus => I ignore this command...")
                    cmd.set_result("ERROR: INVALID AGENT LEVEL SPECIFIC COMMAND")
                    cmd.set_as_pending()
                    cmd.set_as_skipped()

            # CASE 2 - DEVICE LEVEL command
            # => I delegate it to my DC
            # => Execute it only if I am active and no currently running another device level cmd
            # => Long execution time, so I will execute it in parallel (in a new thread or process)
            elif self.is_device_level_cmd(cmd):
                log.info("(DEVICE LEVEL CMD)")
                try:
                    self.exec_device_cmd_if_possible(cmd)
                except (UnimplementedGenericCmdException) as e:
                #except (UnknownGenericCmdException, UnimplementedGenericCmdException, UnknownNativeCmdException) as e:
                    log.e(f"EXCEPTION caught by {type(self).__name__} (from Agent mainloop) for command '{cmd.name}'", e)
                    log.e("Thus ==> ignore this command")
                    cmd.set_result(e)
                    #cmd.set_as_killed_by(type(self).__name__)
                    cmd.set_as_skipped()
                    #raise

            # CASE 3 - INVALID COMMAND
            else:
                #raise Exception("INVALID COMMAND: " + cmd.name)
                log.info("******************************************************")
                log.info("*************** ERROR: INVALID COMMAND ***************")
                log.info("******************************************************")
                log.info("Thus => I ignore this command...")
                cmd.set_result("ERROR: INVALID COMMAND")
                cmd.set_as_skipped()

        print()
        log.info("*"*10 + "NEXT COMMAND PROCESSING (END)" + "*"*10 + "\n")



    def print_TEST_MODE(self):
        if self.TEST_MODE:
            log.debug("[IN TEST MODE]")
            log.info("Flush previous commands to be sure to start in clean state")
            AgentCmd.delete_pending_commands_for_agent(self.name)
        else:
            log.debug("[IN NORMAL MODE]")
            self.TEST_MAX_DURATION_SEC=None 


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


    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
        """
        print()
        print()
        log.info("*"*10+ "ROUTINE PROCESSING (START)"+ "*"*10+ '\n')

        self._set_status(self.STATUS_ROUTINE_PROCESS)
        self.routine_process_body()
        print()
        log.info("*"*10 + "ROUTINE PROCESSING (END)"+ "*"*10)

    # To be overridden by subclasses
    def routine_process_body(self):
        if self.TEST_MODE: self._test_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 = AgentCmd.objects.filter(
            # only commands for me
            recipient = self.name,
            # only pending commands
            sender_deposit_time__lt = COMMAND_PEREMPTION_DATE_FROM_NOW,
        )
        ###
        old_commands = AgentCmd.get_old_commands_for_agent(self.name)
        if old_commands.exists():
            self.printd("Found old commands to delete:")
            for cmd in old_commands: self.printd(cmd)
            old_commands.delete()
    """

    def waitfor(self, nbsec):
            log.info(f"Now, waiting for {nbsec} seconds...")
            time.sleep(nbsec)

    def _set_status(self, status:str):
        #self.printd(f"[{status}] (switching from status {self.status})")
        log.debug(f"[{status}]")
        self.status = status
        return False

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

    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)
        log.info("in set active")

    def _set_idle(self):
        self._set_mode(self.MODE_IDLE)

    def show_mode_and_status(self):
        log.info(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


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

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


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

    def init(self):
        log.debug("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
        '''
        log.debug("Loading the config file...")

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


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

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

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

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

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

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

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


    #def update_survey(self):
    def _log_agent_status(self):
        """
        Save (update) this agent current mode and status in DB
        """
        "Updating the agent survey database table..."
        #self.printd("- fetching table line for agent", self.name)
        # only necessary when using process (not necessary with threads)
        #with transaction.atomic():
        #self._agent_survey = AgentSurvey.objects.get(name=self.name)
        self._agent_survey.mode = self.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
        AgentCmd.objects.create(sender=self.name, recipient=recipient_agent, name=cmd_name)
    """
    #def send_command(self, to_agent, cmd_type, cmd_name, cmd_args=None):
    def send_cmd_to(self, to_agent, cmd_name, cmd_args=None):
        """
        #ex: send_command(“AgentX”,”GENERIC”,”EVAL”,“3+4”)
        ex: send_command(“AgentX”,"EVAL”,“3+4”)
        """
        #return AgentCmd.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) -> AgentCmd:
        '''
        real_agent_name = self._get_real_agent_name(to_agent)
        real_cmd_name = cmd_name
        if '.' in real_agent_name:
            real_agent_name, component_name = real_agent_name.split('.')
            real_cmd_name = component_name+'.'+cmd_name
        return AgentCmd.create(self.name, real_agent_name, real_cmd_name, cmd_args)
        try:
            real_agent_name = self._get_real_agent_name(to_agent)
        except KeyError as e:
        '''
        real_agent_name = self._get_real_agent_name(to_agent)
        if not real_agent_name:
            log.e("UNKNOWN AgentDevice ALIAS", to_agent)
            #self.log_e("Exception raised", e)
            log.e(f"=> Thus, I do not send this command '{cmd_name}'")
            return None
        return AgentCmd.create(self.name, real_agent_name, cmd_name, cmd_args)
        '''
        return AgentCmd(
            sender=self.name,
            recipient=self._get_real_agent_name_for_alias(recipient_agent_alias_name),
            name=cmd_name
        )
        '''

    def _get_next_valid_and_not_running_command(self)->AgentCmd:
        """
        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)
        log.info("Looking for a new command to process (sent by another agent):")

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

        # 3) If first (oldest) command is currently running
        # (status CMD_RUNNING), then do nothing and return
        """
        cmd_executing = Command.objects.filter(
            # only commands for me
            recipient = self.name,
            # only pending commands
            recipient_status_code = Command.CMD_STATUS_CODES.CMD_RUNNING,
        ).first()
        #if cmd_executing.exists():
        if cmd_executing:
        """
        #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)")
            log.info(f"There is currently a running command ({cmd.name})")
            """
            # Check that this command is not expired
            if cmd.is_expired():
                self.printd("But this command is expired, so set its status to OUTOFDATE, and go on")
                cmd_executing.set_as_outofdate()
            else:
            """
            log.info(f"Thus, I won't execute any new command until this command execution is finished")
            # TODO: kill si superieur a MAX_EXEC_TIME
            return None

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

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

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



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

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

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

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

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

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

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




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

    def exec_cmd_from_its_name(self, cmd:AgentCmd):
        func = cmd.name
        if cmd.args:
            return getattr(self, func)(*cmd.args)
        else:
            return getattr(self, func)()

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

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

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

    def _is_agent_specific_cmd(self, cmd:AgentCmd):
        return cmd.name in self.AGENT_SPECIFIC_COMMANDS

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

    def is_in_test_mode(self):
        return self.TEST_MODE


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

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

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

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





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

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

    def _TEST_get_next_command_to_send(self)->AgentCmd:
        cmd_full_name = next(self.TEST_COMMANDS, None)
        #return cmd_name
        if cmd_full_name is None: return None
        if ' ' not in cmd_full_name: raise Exception('Command is malformed:', cmd_full_name)
        agent_recipient,cmd_name = cmd_full_name.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)
        cmd = self.create_cmd_for(agent_recipient, cmd_name)
        # If no cmd created (because of error, bad AgentDevice name), call again this method for next cmd
        if cmd is None: return self._TEST_get_next_command_to_send()
        return cmd

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

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

        log.info("(TEST mode) Trying to send a new command if possible...")
        # There is a current command being processed 
        # => check if next command is "do_abort"
        # => if so, instantly send a "do_abort" to abort previous command
        if self._cmdts is not None:
            log.info(f"Waiting for end execution of cmd '{self._cmdts.name}' (sent to {self._cmdts.recipient}) ...")
            # Update cmdts fields from DB
            self._cmdts.refresh_from_db()
            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._TEST_get_next_command_to_send()
                    if self._next_cmdts and self._next_cmdts.name == "do_abort":
                        # Wait a little to give a chance to agentB to start execution of current command,
                        # so that we can abort it then (otherwise it won't be aborted!!)
                        time.sleep(4)
                        self._cmdts = self._next_cmdts
                        self._next_cmdts = None
                        log.info("***")
                        #log.info(f"*** SEND ", self._cmdts)
                        log.info(f"***", self._cmdts)
                        log.info("***")
                        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():
                    log.info("Command was not completed")
                    # 2 possible scenarios:
                    # - (1) Send the SAME command again
                    '''
                    self.printd("Command was not completed, so I send it again")
                    # The command was not completed, so, make a copy of it and send it again
                    # For this, it is enough to set primary key to None,
                    # then the send() command below will save a NEW command
                    #self._cmdts = copy.copy(self._cmdts)
                    self._cmdts.id = None
                    SEND_A_NEW_COMMAND = True
                    '''
                    # - (2) Send next command
                    #self._cmdts = None
                # Execution was not complete => get result
                elif self._cmdts.is_executed():
                    cmdts_res = self._cmdts.get_result()
                    log.info(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._TEST_get_next_command_to_send()
            # No more command to send (from simulator) => return and EXIT
            if self._cmdts is None:
                self._DO_MAIN_LOOP = False
                return
            # Send cmd (= set as pending and save)
            log.info("***")
            #self.printd(f"*** SEND ", self._cmdts)
            log.info(f"*** NEW COMMAND TO SEND is:", self._cmdts)
            log.info("***")
            #self._cmdts.set_as_pending()
            # SEND
            self._cmdts.send()
            #cmdts_is_processed = False
            #cmdts_res = None

    def _TEST_test_results(self):
        if self.TEST_COMMANDS_LIST == [] : return
        nb_commands_to_send = len(self.TEST_COMMANDS_LIST)
        nb_commands_sent, commands = self._TEST_test_results_start()
        #nb_commands_to_send = len(self.TEST_COMMANDS_LIST)

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

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

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

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

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

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

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






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

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

#def build_agent(Agent_type:Agent, name="GenericAgent", RUN_IN_THREAD=True):
def build_agent(Agent_type:Agent, RUN_IN_THREAD=True):
    DEBUG_MODE, WITH_SIM, TEST_MODE, VERBOSE_MODE, configfile = extract_parameters()
    log.info("env is" + os.getenv("PYROS_DEBUG"))

    #print(logger)

    #agent = Agent("GenericAgent", configfile, RUN_IN_THREAD=True)
    #agent = Agent_type(configfile, RUN_IN_THREAD, DEBUG_MODE=DEBUG_MODE)
    agent = Agent_type(configfile, RUN_IN_THREAD)
    #agent = Agent_type(name, configfile, RUN_IN_THREAD)
    agent._set_with_simulator(WITH_SIM)
    agent._set_test_mode(TEST_MODE)
    #print(logger)
    #logg.info("agent built, return it")

    #agent._set_debug_mode(DEBUG_MODE)
    return agent


if __name__ == "__main__":

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

    agent = build_agent(Agent, RUN_IN_THREAD=RUN_IN_THREAD)

    agent.show_config()

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