#!/usr/bin/env python

import sys
import os
import time
import _thread
import ast
import configparser
import datetime
from canard import can, messaging
from canard.hw import socketcan
from canard.file import jsondb
from canard.utils import queue
from influxdb import InfluxDBClient
from influxdb import SeriesHelper
from apscheduler.schedulers.background import BackgroundScheduler
import PID
from pytz import timezone
import logging
import signal

import network
import network_interface
from message import HydroBotMessage
import module

#TODO
#fix temperature offsets
#add periodic output refresh
#add output cleanup on shutdown

# load config file
config = configparser.ConfigParser(allow_no_value = True)
config.read("hydrobot.conf")

# set up logger
logger = logging.getLogger('hydrobot')
log_level = config.get("system", "log_level")
levels = {"CRITICAL" : 50, "ERROR" : 40, "WARNING" : 30, "INFO" : 20, "DEBUG" : 10, "NOTSET" : 0}
logger.setLevel(levels[log_level])

fh = logging.FileHandler('hydrobot.log')
fh.setLevel(logging.INFO)
formatter = logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
fh.setFormatter(formatter)
logger.addHandler(fh)



logger.info("Starting HydroBot!")
    
class MySeriesHelper(SeriesHelper):
    
    # Meta class stores time series helper configuration.
    class Meta:
        # The client should be an instance of InfluxDBClient.
        #client = myclient
        # The series name must be a string. Add dependent fields/tags in curly brackets.
        series_name = '{measurement}'
        # Defines all the fields in this time series.
        fields = ['value']
        # Defines all the tags for the series.
        tags = ['measurement']
        # Defines the number of data points to store prior to writing on the wire.
        bulk_size = 5
        # autocommit must be set to True when using bulk_size
        autocommit = True


class Database:
    
    def __init__(self):
        host = config.get("database", "host")
        port = config.get("database", "port")
        username = config.get("database", "username")
        password = config.get("database", "password")
        database = config.get("database", "database")
        self.name = config.get("system", "name")
        try:
            self.client = InfluxDBClient(host, port, username, password, database)
            MySeriesHelper.Meta.client = self.client
            MySeriesHelper.Meta.series_name = self.name + '.{measurement}'
        except:
            logger.error("Could not connect to database")
        
        # To manually submit data points which are not yet written, call commit:
        #MySeriesHelper.commit()

    def log_data(self, msgdb, message):
        try:
            if message == msgdb.AirSense:
                MySeriesHelper(measurement='air_temp', value=(float)(message.Temperature.value))
                MySeriesHelper(measurement='air_humidity', value=(float)(message.Humidity.value))
                MySeriesHelper(measurement='air_pressure', value=(float)(message.Pressure.value))
            if message == msgdb.RelayDriveIn:
                MySeriesHelper(measurement='water_flow_rate', value=(float)(message.FlowRate.value))
                MySeriesHelper(measurement='input_1', value=(float)(message.Input1.value))
                MySeriesHelper(measurement='input_2', value=(float)(message.Input2.value))
                MySeriesHelper(measurement='input_3', value=(float)(message.Input3.value))
                MySeriesHelper(measurement='input_4', value=(float)(message.Input4.value))
            if message == msgdb.WaterSense:
                MySeriesHelper(measurement='water_level', value=(float)(message.PercentFull.value))
                MySeriesHelper(measurement='water_temp', value=(float)(message.Temperature.value))
        except:
            logger.error("Could not connect to database")

class CanBus:
    
    def __init__(self, database, interface):
         
        # Bring up CAN interface (maybe do this in a systemd service file)
        # Passing random arguments to sudo is super dangerous
        os.system("sudo ip link set " + interface + " up type can bitrate 500000")

        self.database = database
        self.dev = socketcan.SocketCanDev(interface)
        self.queue = queue.CanQueue(self.dev)

        parser = jsondb.JsonDbParser()
        self.msgdb = parser.parse('hydrobot_can.json')
        
        self.temp_msg = self.msgdb.AirSense
        self.relay_msg = self.msgdb.RelayDriveIn
        self.relay_send_msg = self.msgdb.RelayDriveOut
        
    def start(self):
        self.queue.start()
        _thread.start_new_thread(self.process_can, ())

    def process_can(self):
        while True:
            frame = self.queue.recv()
            if frame != None:
                message = self.msgdb.decode(frame)
                if message:
                    logger.debug("Received CAN message! ID: " + hex(message.id))
                    self.database.log_data(self.msgdb, message)
                
    def send_can(self):
        self.relay_send_msg.Nothing.value = 0
        if self.relay_send_msg.Output1.value == 0:
            self.relay_send_msg.Output1.value = 1
        else:
            self.relay_send_msg.Output1.value = 0
        self.relay_send_msg.Output2.value = 1
        self.relay_send_msg.Output3.value = 1
        self.relay_send_msg.Output4.value = 1
        logger.debug("Send CAN message! ID: " + hex(self.relay_send_msg.id) + " Data: " + str(self.relay_send_msg.data))
        self.queue.send(self.relay_send_msg.encode())
        
    def set_output(self, module, output, state):
        logger.info("Output! " + module + " " + output + " " + str(state))
        msg = self.msgdb.lookup_message(module)
        msg.lookup_signal(output).value = state
        self.queue.send(msg.encode())
        
        if msg.lookup_signal(output) == msg.Output1:
            try:
                MySeriesHelper(measurement='output_1', value=state)
            except:
                logger.error("Could not connect to database")
        if msg.lookup_signal(output) == msg.Output2:
            try:
                MySeriesHelper(measurement='output_2', value=state)
            except:
                logger.error("Could not connect to database")
        if msg.lookup_signal(output) == msg.Output3:
            try:
                MySeriesHelper(measurement='output_3', value=state)
            except:
                logger.error("Could not connect to database")
        if msg.lookup_signal(output) == msg.Output4:
            try:
                MySeriesHelper(measurement='output_4', value=state)
            except:
                logger.error("Could not connect to database")
        
        
class Scheduler:
    
    def __init__(self, canbus):
        self.canbus = canbus
        self.apscheduler = BackgroundScheduler()
        self.apscheduler.configure(timezone=timezone('US/Eastern'))
        
    def start(self):
        self.apscheduler.start()
        
        for section in config.sections():
            if "timer" in section:
                items = config.items(section)
                for item in items:
                    if item[0] == 'trigger':
                        trigger = item[1]
                    if item[0] == 'module':
                        module = item[1]
                    if item[0] == 'output':
                        output = item[1]
                    if item[0] == 'on_time':
                        on_time = ast.literal_eval(item[1])
                    if item[0] == 'off_time':
                        off_time = ast.literal_eval(item[1])
                    if item[0] == 'on_duration':
                        on_duration = ast.literal_eval(item[1])
                    if item[0] == 'off_duration':
                        off_duration = ast.literal_eval(item[1])
                if trigger == 'cron':
                    on_job = self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 1], day = on_time[0], day_of_week = on_time[1], hour = on_time[2], minute = on_time[3], second = on_time[4])
                    off_job = self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 0], day = off_time[0], day_of_week = off_time[1], hour = off_time[2], minute = off_time[3], second = off_time[4])
                    
                    #evalute the current state of the cron trigger and set output on if needed
                    if on_job.next_run_time > off_job.next_run_time:
                        self.canbus.set_output(module, output, 1)
                    else:
                        self.canbus.set_output(module, output, 0)
                    
                if trigger == 'interval':
                    self.apscheduler.add_job(self.interval_off, trigger, [module, output, section + "_off", section + "_on", on_duration], id = section + "_off", weeks = off_duration[0], days = off_duration[1], hours = off_duration[2], minutes = off_duration[3], seconds = off_duration[4])
                    timer = self.apscheduler.add_job(self.interval_on, trigger, [module, output, section + "_off", section + "_on", off_duration], id = section + "_on", weeks = on_duration[0], days = on_duration[1], hours = on_duration[2], minutes = on_duration[3], seconds = on_duration[4])
                    timer.pause()
                    self.interval_off(module, output, section + "_off", section + "_on", on_duration)
                    
            if "pid" in section:
                items = config.items(section)
                for item in items:
                    if item[0] == 'module_out':
                        module_out = item[1]
                    if item[0] == 'output':
                        signal_out = item[1]
                    if item[0] == 'module_in':
                        module_in = item[1]
                    if item[0] == 'input':
                        signal_in = item[1]
                    if item[0] == 'kp':
                        kp = item[1]
                    if item[0] == 'ki':
                        ki = item[1]
                    if item[0] == 'kd':
                        kd = item[1]
                    if item[0] == 'rate':
                        rate = item[1]
                    if item[0] == 'setpoint':
                        setpoint = item[1]
                
                pid = PID.PID(float(setpoint))
                pid.SetKp(kp)
                pid.SetKi(ki)
                pid.SetKd(kd)
                pid.Reset()
                self.apscheduler.add_job(self.process_PID, "interval", [pid, module_out, signal_out, module_in, signal_in], seconds = int(rate))
                
                    
    def interval_off(self, module, output, timer_off, timer_on, on_duration):
        self.canbus.set_output(module, output, 1)
        self.apscheduler.get_job(timer_on).reschedule("interval", weeks = on_duration[0], days = on_duration[1], hours = on_duration[2], minutes = on_duration[3], seconds = on_duration[4])
        self.apscheduler.get_job(timer_on).resume()
        self.apscheduler.get_job(timer_off).pause()
        logger.info("Turning " + timer_on + "!")
        
    def interval_on(self, module, output, timer_off, timer_on, off_duration):
        self.canbus.set_output(module, output, 0)
        self.apscheduler.get_job(timer_off).reschedule("interval", weeks = off_duration[0], days = off_duration[1], hours = off_duration[2], minutes = off_duration[3], seconds = off_duration[4])
        self.apscheduler.get_job(timer_off).resume()
        self.apscheduler.get_job(timer_on).pause()
        logger.info("Turning " + timer_off + "!")
            
    def process_PID(self, pid, module_out, signal_out, module_in, signal_in):
        msg = self.canbus.msgdb.lookup_message(module_in)
        input_reading = msg.lookup_signal(signal_in).value
        input_reading = 19
        pid_out = pid.Update(input_reading)
        if pid_out > 0:
            self.canbus.set_output(module_out, signal_out, 1)
            run_time = datetime.datetime.now() + datetime.timedelta(milliseconds=pid_out)
            self.apscheduler.add_job(self.canbus.set_output, "date", run_date=run_time, args=[module_out, signal_out, 0])
    
def func():
    print(1)
    

def main(argv):

    if len(argv) < 1:
        print("Error: please specify a can interface")
        return 1

    database = Database()
    
    
    module_network = network.Network(logger)
    module_network.add_interface(network_interface.CanBusNetworkInterface(module_network, argv[0], logger))
    module_network.start_all_interfaces()
    
    message = HydroBotMessage(0x0001, 0x81, 0x0007, 0x0001, 0x0111)
    module_network.send_message(message)
    
    
    #canbus = CanBus(database, argv[0])
    #canbus.start()
    
    #scheduler = Scheduler(canbus)
    #scheduler.start()

    while True:
        time.sleep(0.001)
        
def close_program(signum, frame):
    logger.info("Closing now!")
    sys.exit(0)
        
signal.signal(signal.SIGINT, close_program)

if __name__ == "__main__":
    sys.exit(main(sys.argv[1:]))