import threading
from threading import Lock
import queue
import json
import traceback
from collections import deque

from common.sys_comm import LOGDBG, LOGINFO, LOGWARN, LOGERR
from common.sys_comm import get_utc_time_ms, utc_to_bj_s, get_bj_time_ms, get_bj_time_s
from common.sys_comm import g_sys_conf, g_sys_conf_mtx

g_dev_map_lock = threading.Lock()
g_dev_map = {}  # <dev_id: str, device: Device>





# 跟踪区域类
class TrackingRegion:
    def __init__(self, x1=0, y1=0, z1=0, x2=0, y2=0, z2=0):
        # 线程锁
        self.lock_ = threading.Lock()
        self.start_x: int = x1
        self.start_y: int = y1
        self.start_z: int = z1
        self.stop_x: int = x2
        self.stop_y: int = y2
        self.stop_z: int = z2


    def __repr__(self):
        return (f"TrackingRegion(start=({self.start_x}, {self.start_y}, {self.start_z}), "
                f"stop=({self.stop_x}, {self.stop_y}, {self.stop_z}))")


# 安装参数类
class InstallParam:
    def __init__(self, mount_plain="", height=0, tracking_region=None):
        # 线程锁
        self.lock_ = threading.Lock()
        self.mount_plain: str = mount_plain
        self.isCeiling: int = 1
        self.height = height
        self.tracking_region = tracking_region if tracking_region else TrackingRegion()
        self.north_angle_: float = 0

    def __repr__(self):
        return (f"InstallParam(mount_plain='{self.mount_plain}', isCeiling={self.isCeiling}, "
                f"height={self.height}, north_angle={self.north_angle_}, "
                f"tracking_region={repr(self.tracking_region)})")


# 网络参数类
class Network:
    def __init__(self, ssid="", password="", ip=""):
        # 线程锁
        self.lock_ = threading.Lock()
        self.ssid = ssid
        self.password = password
        self.ip = ip


    def set_ssid(self, ssid:str):
        with self.lock_:
            self.ssid = ssid

    def set_password(self, password:str):
        with self.lock_:
            self.password = password

    def set_ip(self, ip:str):
        with self.lock_:
            self.ip = ip

    def __repr__(self):
        return f"Network(ssid='{self.ssid}', password='{self.password}' , ip='{self.ip}')"


class Device():
    def __init__(self,
                 dev_id: str = "",
                 dev_name: str = "",
                 online: int = 0,
                 dev_type: str = "",
                 network: Network = None,
                 install_param: InstallParam = None):
        # 线程锁
        self.lock_ = Lock()
        # 基本属性
        self.dev_id_        = dev_id
        self.dev_name_      = dev_name
        self.online_        = online
        self.dev_type_      = dev_type
        self.network_       = network if network else Network()
        self.install_param_ = install_param if install_param else InstallParam()

        # 实时数据队列
        self.rtd_len_: int = 100
        self.rtd_que_: deque = deque(maxlen=self.rtd_len_)
        """
{
    "timestamp": 1727323744093,
    "pose": 2,
    "target_point": [
        [
            0.15537149991307939,
            -0.17245136840002878,
            0.5702038151877267,
            1
        ],
        [
            0.15537149991307939,
            -0.17245136840002878,
            0.5702038151877267,
            2
        ]
    ]
}
        """


    # 插入新的rtd单元
    def put_rtd_unit(self, rtd_unit: object):
        """
        插入新的点云数据，超过最大长度自动丢弃旧数据
        """
        with self.lock_:
            self.rtd_que_.append(rtd_unit)

    # 获取最新的rtd_que_
    def get_last_rtd_que(self) -> list:
        """
        获取当前最新的点云数据（全部缓存）
        """
        with self.lock_:
            return list(self.rtd_que_)

    # 获取rtd单元
    def get_rtd_unit(self, index: int):
        with self.lock_:
            if not self.rtd_que_:
                return None
            try:
                return self.rtd_que_[index]
            except IndexError:
                return None

    # 获取最新的rtd单元
    def get_last_rtd_unit(self) -> object:
        with self.lock_:
            if self.rtd_que_:
                return self.rtd_que_[-1]
            return None

    # 获取 rtd_que_ 的副本
    def get_rtd_que_copy(self) -> list:
        with self.lock_:
            return list(self.rtd_que_)



def update_dev_info(dev_id:str, dev_instance:Device):
    with g_dev_map_lock:
        if dev_id in g_dev_map:
            g_dev_map[dev_id] = None
            LOGDBG(f"update dev: {dev_id}")
        else:
            LOGDBG(f"new dev: {dev_id}")

        # todo 更新设备保活时间（伪）
        # dev_instance.set_keepalive(get_utc_time_ms())
        g_dev_map[dev_id] = dev_instance


# 回调函数，处理查询结果：查询所有的设备信息
def cb_handle_query_all_dev_info(result):
    try:
        if result:
            for row in result:
                dev_id = row["client_id"]

                dev_instance = Device(
                    dev_id=row["client_id"],
                    dev_name=row["dev_name"],
                    online=row["online"],
                    dev_type=row["dev_type"]
                )

                # 更新设备信息
                update_dev_info(dev_id, dev_instance)

            LOGDBG(f"cb_handle_query_all_dev_info succeed")
        else:
            LOGDBG("cb_handle_query_all_dev_info, invalid result")

    except json.JSONDecodeError as e:
        tb_info = traceback.extract_tb(e.__traceback__)
        for frame in tb_info:
            LOGERR(f"[{frame.filename}:{frame.lineno}] @{frame.name}(), error:{e}, {e.doc}")
    except Exception as e:
        tb_info = traceback.extract_tb(e.__traceback__)
        for frame in tb_info:
            LOGERR(f"[{frame.filename}:{frame.lineno}] @{frame.name}(), error: {e}")



def dev_map_push(dev_id: str, device: Device) -> None:
    with g_dev_map_lock:
        g_dev_map[dev_id] = device


def dev_map_pop(dev_id: str) -> Device:
    with g_dev_map_lock:
        return g_dev_map.pop(dev_id, None)


def dev_map_find(dev_id: str) -> Device:
    with g_dev_map_lock:
        return g_dev_map.get(dev_id, None)


def dev_map_delete(dev_id: str) -> bool:
    with g_dev_map_lock:
        if dev_id in g_dev_map:
            del g_dev_map[dev_id]
            return True
        return False