# opcua_connector.py

from opcua import Client, ua
from time import sleep, time
import datetime
import pandas as pd
from influxdb_client import InfluxDBClient, Point, WritePrecision
from influxdb_client.client.write_api import SYNCHRONOUS




class opcua_connector:
    def __init__(self, config):
        self.config = config
        self.opcuaclient = Client(config['cred']["robot"]["url"])
        self.opcuaclient.set_user(config['cred']["robot"]["username"])
        self.opcuaclient.set_password(config['cred']["robot"]["password"])
        self.influxclient = InfluxDBClient(url=config['cred']["influxdb"]["url"],
                                           token=config['cred']["influxdb"]["token"],
                                           org=config['cred']["influxdb"]["org"])
        self.influx_bucket = config['cred']["influxdb"]["bucket"]
        self.varlist_dict = self.read_varlist(config['data']["cfg_varlist"])

    def press_btn(self, btn_name):
        var = self.varlist_dict[btn_name]
        print(var)
        # _sent_opcua_data_impuls(self, var)

    def read_varlist(self, filename, DELIMITER='\t'):
        df = pd.read_csv(filename, delimiter=DELIMITER, header=None)
        return dict(zip(df.iloc[:, 0], df.iloc[:, 1]))


    # def track_robot_position(self, SAMPLE_DELAY=0.07, TOTMANN_SEC=3, stop_trigger_node=None, stop_trigger_value=None):
    #     """Track robot position and check stop trigger from OPC UA client."""
    #     try:
    #         start_time = time()
    #         write_api = self.influxclient.write_api(write_options=SYNCHRONOUS)
    #         living_point2 = 0
    #         treshold_living = 1
    #
    #         def RECORDING():
    #             fieldnames = self.var_list.values[:, 0].tolist()
    #             nodes = self.var_list.values[:, 1].tolist()
    #             val = self.__get_opcua_data(nodes)
    #             points = [Point("mvalues").field(field, value).time(datetime.datetime.utcnow(), WritePrecision.NS)
    #                       for field, value in zip(fieldnames, val)]
    #             write_api.write(bucket=self.influx_bucket, org=self.config['cred']["influxdb"]["org"], record=points)
    #             return val[0]
    #
    #         while TOTMANN_SEC == 0 or time() - start_time < TOTMANN_SEC:
    #             # Check stop trigger
    #             stop_trigger_value_current = self.opcuaclient.get_node(stop_trigger_node).get_value()
    #             if stop_trigger_value_current == stop_trigger_value:
    #                 print("Stop trigger detected.")
    #                 break  # Exit the loop when stop trigger is detected
    #             living_point1 = living_point2
    #             living_point2 = RECORDING()
    #             if abs(living_point1 - living_point2) >= treshold_living:
    #                 start_time = time()  # Reset start time to prolong session
    #             sleep(SAMPLE_DELAY)
    #
    #     except Exception as e:
    #         print(f"Error during tracking: {e}")


def _get_opcua_data(self, var_list):
    """ Retrieve OPC UA node values based on the list of variable nodes. """
    return [self.opcuaclient.get_node(var).get_value() for var in var_list]


def _sent_opcua_data_impuls(self, var):
    node = self.opcuaclient.get_node(var)
    node.set_value(1)  # Set node to 1
    time.sleep(1)  # Wait for 1 second
    node.set_value(0)  # Set node back to 0