# 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
from tool_gencert import make_cert




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.varlist_dict = self.read_varlist(config['data']["cfg_varlist"])
        self.opcuaclient.session_timeout = 60000

        make_cert()
        

    def connect(self):
        '''
        connect to the robot
        '''
        try:        
            self.opcuaclient.set_security_string("Basic256Sha256,SignAndEncrypt,.cert/cert.der,.cert/key.pem")
            self.opcuaclient.connect()
        except Exception as e:
            raise e
    
        
    def check_connection(self):
        '''
        check if the connection is established
        '''
        try:
            if self.opcuaclient:
                print("ROBOT-OPCUA connection established.")
                return 1
            else:
                print("ROBOT-OPCUA connection not established.")
                return 0
        except Exception as e:            
            print(f"ROBOT-OPCUA Error establishing connection")
            return 0

    def disconnect(self):
        '''
        disconnect from the robot
        '''
        try:
            self.opcuaclient.disconnect()
        except Exception as e:
            raise e


    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 adapt_access_rights(self, access_rights="PlcWrite"):
        '''
        adapt the userrights
        '''
        method_node = self.opcuaclient.get_node("ns=2;s=/Methods/GiveUserAccess")
        object_node = self.opcuaclient.get_node("ns=2;s=/Methods")
        object_node.call_method(method_node, self.config['cred']["robot"]["username"], access_rights)

    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