import asyncio
import json
from utils import ChangedFloat
from ws.message import MessageDispatcher
from ws.server.ws_server_multi_user import WsServerMultiUser
from components.sensor import TempSensorFactory
from components.pid import TempController
from components.plant import Pot
from components.actor import HeaterFactory
from tasks import TaskManager, TempSensorTask, HeaterTask, PotTask, TcTask

DT_CTRL = 0.1

if __name__ == '__main__':
	config = json.load(open("config.json"))
	dispatcher = MessageDispatcher()
	server = WsServerMultiUser(listener=dispatcher)
	taskmgr = TaskManager()

	DT_CTRL = 1.0/config['Controller']['sim_warp_factor']

	# Sensor
	sensor = TempSensorFactory.create(config['Controller']['sensor_name'])
	taskmgr.add(TempSensorTask(sensor, DT_CTRL, dispatcher.msgio_get("Sensor")))

	# Plant
	pot_params = config['Plant']
	if "sim" in config['Controller']['plant_name']:
		pot = Pot(pot_params, 20)
		if "sim" in config['Controller']['sensor_name']:
			pot.set_on_changed("temp", ChangedFloat(sensor.set_fake_temp, prec=3).set)
		taskmgr.add(PotTask(pot, DT_CTRL, dispatcher.msgio_get("Pot")))

	# Heater
	heater = HeaterFactory.create(config['Controller']['heater_name'])
	heater.set_on_changed("power_eff", ChangedFloat(pot.set_power, prec=0).set)
	heater_task = HeaterTask(heater, DT_CTRL, dispatcher.msgio_get("Heater"))
	taskmgr.add(heater_task)

	# Temperature Controller
	tc_params = config['TempCtrl']
	tc = TempController(tc_params)
	tc.set_on_changed("y", heater_task.actor)
	tc_task = TcTask(tc, DT_CTRL, dispatcher.msgio_get("TempCtrl"))
	taskmgr.add(tc_task)
	sensor.set_on_changed("temp", ChangedFloat(tc.set_theta_ist, prec=2).set)

	# Message dispatcher
	h_dispatcher = taskmgr.start()
	h_server = server.listen("0.0.0.0", 8765)
	asyncio.gather(h_dispatcher, h_server)
	server.run_forever()