import sys
import time
import _thread
import ast
import configparser
import datetime
from canard import can, messaging
from canard.hw import socketcan
from canard.hw import cantact
from canard.file import jsondb
from influxdb import InfluxDBClient
from influxdb import SeriesHelper
from apscheduler.schedulers.background import BackgroundScheduler
import PID

#TODO
#fix temperature offsets
#database time interval logging
#set initial state for cron timers

config = configparser.ConfigParser(allow_no_value = True)
config.read("hydrobot.conf")
DEBUG_CAN = config.getboolean("debug", "can")
DEBUG_CAN_DETAIL = config.getboolean("debug", "can_detail")
DEBUG_TIMER = config.getboolean("debug", "timer")

    
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")
        self.client = InfluxDBClient(host, port, username, password, database)
        MySeriesHelper.Meta.client = self.client
        MySeriesHelper.Meta.series_name = self.name + '.{measurement}'
        
        # To manually submit data points which are not yet written, call commit:
        #MySeriesHelper.commit()

    def log_data(self, msgdb, message):
        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))


class CanBus:
    
    def __init__(self, database):
        
        self.database = database

        self.dev = socketcan.SocketCanDev("can0")
        #self.dev = cantact.CantactDev("/dev/ttyACM8")
        #self.dev.set_bitrate(500000)
        
        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.dev.start()
        
    def start_receive(self):
        _thread.start_new_thread(self.process_can, ())

    def process_can(self):
        while True:
            frame = self.dev.recv()
            message = self.msgdb.decode(frame)
            if message:
                if DEBUG_CAN:
                    print("Received CAN message! ID: " + hex(message.id))
                for s in message._signals.values():
                    if DEBUG_CAN_DETAIL:
                        print(s)
                        print(s.value)
                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
        if DEBUG_CAN:
            print("Send CAN message! ID: " + hex(self.relay_send_msg.id))
        if DEBUG_CAN_DETAIL:
            print(self.relay_send_msg)
        self.dev.send(self.relay_send_msg.encode())
        
    def set_output(self, module, output, state):
        print("Output! " + module + " " + output + " " + str(state))
        msg = self.msgdb.lookup_message(module)
        msg.lookup_signal(output).value = state
        self.dev.send(msg.encode())
        
        if msg.lookup_signal(output) == msg.Output1:
            MySeriesHelper(measurement='output_1', value=state)
        if msg.lookup_signal(output) == msg.Output2:
            MySeriesHelper(measurement='output_2', value=state)
        if msg.lookup_signal(output) == msg.Output3:
            MySeriesHelper(measurement='output_3', value=state)
        if msg.lookup_signal(output) == msg.Output4:
            MySeriesHelper(measurement='output_4', value=state)
        
        
class Scheduler:
    
    def __init__(self, canbus):
        self.canbus = canbus
        self.apscheduler = BackgroundScheduler()
        
    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)
                    
                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()
                    
            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()
        if DEBUG_TIMER:
            print("Turning " + timer_on + "! " + str(datetime.datetime.now().time()))
        
    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()
        if DEBUG_TIMER:
            print("Turning " + timer_off + "! " + str(datetime.datetime.now().time()))
            
    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():
    
    database = Database()
    
    canbus = CanBus(database)
    canbus.start()
    canbus.start_receive()
    
    scheduler = Scheduler(canbus)
    scheduler.start()

    while True:
        canbus.dev.send(can.Frame(0x7FF, 8, [0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88]))
        time.sleep(0.001)
        

if __name__ == "__main__":
    main()