from simple_pid import PID
import zmq
import time
from loguru import logger
import utils

class PidWrap:
    def __init__(self, kp, ki, kd, setpoint=0, output_limits=1):
        self.pid_t = PID(kp, ki, kd, setpoint, output_limits=(0-output_limits, output_limits))
    def set_target(self, target):
        self.pid_t.setpoint = target
    def set(self, kp, ki, kd):
        self.pid_t.kp = kp
        self.pid_t.ki = ki
        self.pid_t.kd = kd
    def get(self, val_in):
        return self.pid_t(val_in)
    
class main_task():
    def __init__(self,by_cmd):
        self.context = zmq.Context()
        self.socket = self.context.socket(zmq.REQ)
        self.socket.connect("tcp://localhost:6666")

        # 赛道回归相关
        self.x = 0
        self.y = 0
        self.error_counts = 0
        self.lane_error = 0

        # 车控制对象初始化
        self.by_cmd = by_cmd

        # 转向 pid
        self.pid1 = PidWrap(0.7, 0, 0,output_limits=40)
        self.pid1.set_target(0)

    def parse_data(self,data):
        if data.get('code') == 0:
            self.x += data.get('data')[0]
            self.y += data.get('data')[1]
            self.error_counts += 1
            
        else:
            pass

        
    def run(self):
        # 运行巡线任务
        self.lane_task()

    def lane_ntask(self):
        # time.sleep(0.002)
        # self.socket.send_string("")
        # resp = self.socket.recv_pyobj()
        # return resp.get('data')[0] - 160
        pass
    def lane_task(self):
        # TODO 巡航参数从配置文件中读取
        time.sleep(0.002)
        if self.error_counts > 2:
            self.x = self.x / 3
            self.y = self.y / 3
            self.lane_error = self.x - 160
            utils.lane_error = self.lane_error # 赋全局变量
            self.error_counts = 0
            self.x = 0
            self.y = 0
            error_abs = abs(self.lane_error)
            if error_abs < 10:
                self.pid1.set(0.7, 0, 0)
                self.by_cmd.send_speed_x(13) # 12
            elif error_abs > 45:
                self.by_cmd.send_speed_x(6)
                self.pid1.set(1.8, 0, 0)
            elif error_abs > 35:
                self.by_cmd.send_speed_x(8)
                self.pid1.set(1.5, 0, 0)
            elif error_abs > 25:
                self.by_cmd.send_speed_x(10)
                self.pid1.set(1, 0, 0)
            else:
                self.pid1.set(0.8, 0, 0)
                self.by_cmd.send_speed_x(11)
            
            # pid_out = self.pid1.get(self.lane_error*0.65)
            pid_out = self.pid1.get(self.lane_error*0.7)
            self.by_cmd.send_speed_omega(pid_out)
            
        self.socket.send_string("")
        resp = self.socket.recv_pyobj()
        # logger.info(resp)
        self.parse_data(resp)