import asyncio
from tasks import ATask
from ws.message import MsgIo
from components import ATemperatureSensor
from components.pid import TempController

import numpy as np
import scipy.io


class TracerTask(ATask):
	def __init__(self, sensor: ATemperatureSensor, temp_ctrl: TempController, interval, msg_handler: MsgIo):
		ATask.__init__(self, interval)

		self.msg_handler = msg_handler
		msg_handler.set_recv_handler(self.recv)

		self.sensor = sensor
		self.temp_ctrl = temp_ctrl

	async def recv(self, data):
		pass

	async def send(self, data):
		await self.msg_handler.send(data)

	async def on_process(self):
		print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))

		time = 0
		_time = np.empty(0)
		_sensor_temp = np.empty(0)
		_tc_temp_ist = np.empty(0)
		_tc_dtemp_ist = np.empty(0)
		_tc_temp_soll = np.empty(0)
		_tc_dtemp_soll = np.empty(0)
		_tc_dtemp_commanded = np.empty(0)

		while True:
			_time = np.append(_time, time)
			_sensor_temp = np.append(_sensor_temp, self.sensor.temperature())
			_tc_temp_ist = np.append(_tc_temp_ist, self.temp_ctrl.theta_ist)
			_tc_dtemp_ist = np.append(_tc_dtemp_ist, self.temp_ctrl.heatrate_ist)
			_tc_temp_soll = np.append(_tc_temp_soll, self.temp_ctrl.theta_soll_set)
			_tc_dtemp_soll = np.append(_tc_dtemp_soll, self.temp_ctrl.heatrate_soll_set)
			_tc_dtemp_commanded = np.append(_tc_dtemp_commanded, self.temp_ctrl.heatrate_soll)
			scipy.io.savemat('test.mat', {'time': _time, 'sensor_temp': _sensor_temp, 'tc_temp_ist': _tc_temp_ist, 'tc_dtemp_ist': _tc_dtemp_ist, 'tc_temp_soll': _tc_temp_soll, 'tc_dtemp_soll': _tc_dtemp_soll, 'tc_dtemp_commanded': _tc_dtemp_commanded})
			time += 1
			await asyncio.sleep(self.interval)