import queue
import logging
from pyaxidraw import axidraw
from queue import Queue
from threading import Event
from sorteerhoed.Signal import Signal
import time

class Plotter:
    def __init__(self, config, eventQ: Queue, runningEvent: Event):
        #TODO: scanningEvent -> CentralManagement.isScanning -> prevent plotter move during scan, failsafe
        self.config = config
        self.eventQ = eventQ
        self.q = Queue()
        self.isRunning = runningEvent
        self.logger = logging.getLogger("sorteerhoed").getChild("plotter")
        
    def park(self):
        self.logger.info("Queue to park plotter")
        
        if self.config['dummy_plotter']:
            # fastest way home :-)
            self.q.put([0,0,0])
        else:
            # TODO: find a nice way to park the axidraw in the 0 position
            self.q.put([0,0,0])
        
    def start(self):
        self.axiDrawCueListener()

    def axiDrawCueListener(self):
        if self.config['dummy_plotter']:
            while self.isRunning.is_set():
                plotterRan = False
                try:
                    move = self.q.get(True, 1)
                    plotterRan = True
                except queue.Empty as e:
                    self.logger.log(5, "Empty queue.")
                    if plotterRan:
                        plotterRan = False
                        self.eventQ.put(Signal('plotter.finished'))
                else:
                    time.sleep(.05)
                    self.logger.debug(f'Dummy plotter move: {move}')
            self.logger.info("Stopping dummy plotter")
        else:
            self.ad = axidraw.AxiDraw()
            
            self.ad.interactive()
            
            connected = self.ad.connect()
            if not connected:
                raise Exception("Cannot connect to Axidraw")
            try:
                self.ad.options.units = 1 # set to use centimeters instead of inches
                self.ad.options.accel = 100;
                self.ad.options.speed_penup = 100
                self.ad.options.speed_pendown = 100
                self.ad.options.model = 1 # A3, set to 1 for A4
                
                self.ad.moveto(0,0)
                
                plotterWidth = 22
                plotterHeight = 18 # 16?
                
                plotterRan = False
                while self.isRunning.is_set():
                    # TODO: set timeout on .get() with catch block, so we can escape if no moves come in
                    try:
                        move = self.q.get(True, 1)
                        plotterRan = True
                    except queue.Empty as e:
                        self.logger.log(5, "Empty queue.")
                        if plotterRan:
                            plotterRan = False
                            self.eventQ.put(Signal('plotter.finished'))
                    else:
                        self.ad.moveto(move[0]* plotterWidth, move[1]*plotterHeight)
                        self.logger.debug(f'handler! {move}')
            except Exception as e:
                self.logger.exception(e)
            finally:
                self.logger.warning("Close Axidraw connection")
                self.ad.moveto(0,0)
                self.ad.disconnect()
                
                # send shutdown signal (if not already set)
                self.isRunning.clear()