#!/usr/bin/env python3
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 PidFactory
from components.plant import Pot
from components.actor import HeaterFactory, StirrerFactory
from tasks import TaskManager, TempSensorTask, HeaterTask, PotTask, TcTask, StirrerTask, TracerTask
from tracer import Tracer

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

	DT = config['Controller']['dt']
	DT_TASK = 1.0 / config['Controller']['sim_warp_factor']
	DT_TASK_TRACER = 1.0

	# Sensor
	sensor = TempSensorFactory.create(config['Controller']['sensor_name'], temp_offset=-0.15)
	taskmgr.add(TempSensorTask(sensor, DT_TASK, dispatcher.msgio_get("Sensor")))

	# Plant
	pot_params = config['Plant']
	pot = Pot(DT, pot_params, 20)
	taskmgr.add(PotTask(pot, DT_TASK, dispatcher.msgio_get("Pot")))

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

	# Temperature Controller
	tc = PidFactory.create(config['Controller']['pid_type'], DT, config['TempCtrl'], config['Model'])
	tc_task = TcTask(tc, DT_TASK, dispatcher.msgio_get("TempCtrl"))
	taskmgr.add(tc_task)

	tc_trace_vars = [
		{'variable': 'theta_ist_plant', 'name': 'theta_ist_plant', 'unit': ''},
		{'variable': 'dtheta_ist_plant', 'name': 'dtheta_ist_plant', 'unit': ''},
		{'variable': 'theta_ist_model', 'name': 'theta_ist_model', 'unit': ''},
		{'variable': 'dtheta_ist_model', 'name': 'dtheta_ist_model', 'unit': ''},
		{'variable': 'theta_ist_model_delay', 'name': 'theta_ist_model_delay', 'unit': ''},
		{'variable': 'dtheta_ist_model_delay', 'name': 'dtheta_ist_model_delay', 'unit': ''}
	]

	trace_tc = Tracer(tc, tc_trace_vars, name='tc_trace')

	# Stirrer
	stirrer = StirrerFactory.create(config['Controller']['stirrer_name'], DT, config['Stirrer'])
	stirrer_task = StirrerTask(stirrer, DT_TASK, dispatcher.msgio_get("Stirrer"))
	taskmgr.add(stirrer_task)

	# Tracer
	taskmgr.add(TracerTask(sensor, heater, tc, trace_tc, DT_TASK_TRACER, dispatcher.msgio_get("Tracer")))

	# Assign data flow
	tc.set_on_changed("y", heater_task.actor)
	sensor.set_on_changed("temp", ChangedFloat(tc.set_theta_ist, prec=2).set)
	if "sim" in config['Controller']['sensor_name']:
		pot.set_on_changed("temp", ChangedFloat(sensor.set_fake_temp, prec=3).set)
		sensor.set_fake_temp(pot.temp)

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