import asyncio
import json
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
from ws.message import MessageDispatcher
from utils.value import ChangedFloat
from tasks import 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()