"""
ROS Interface Module
Provides standardized interfaces for communicating with ROS-based physical AI devices
"""

import asyncio
import json
from typing import Dict, Any, Optional, List
from datetime import datetime
from enum import Enum

class ROSMessageType(Enum):
    """Enumeration of ROS message types supported"""
    REQUEST = "request"
    RESPONSE = "response"
    PUBLISH = "publish"
    SUBSCRIBE = "subscribe"
    SERVICE_CALL = "service_call"


class ROSBridgeClient:
    """
    Client to interface with ROS Bridge for communication with ROS-based devices
    """

    def __init__(self, ros_bridge_url: str = "ws://localhost:9090"):
        self.ros_bridge_url = ros_bridge_url
        self.connected = False
        self.ros_client = None  # Will hold the actual ROS bridge client
        self.topic_subscriptions = {}
        self.service_clients = {}

    async def connect(self) -> bool:
        """
        Connect to the ROS Bridge
        """
        try:
            # In a real implementation, this would connect to the actual ROS Bridge
            # using a library like roslibpy or similar WebSocket client
            # For now, we'll simulate the connection
            print(f"Connecting to ROS Bridge at {self.ros_bridge_url}")

            # Simulate connection establishment
            await asyncio.sleep(0.1)  # Simulate network delay

            self.connected = True
            print("Connected to ROS Bridge successfully")
            return True
        except Exception as e:
            print(f"Failed to connect to ROS Bridge: {str(e)}")
            return False

    async def disconnect(self) -> bool:
        """
        Disconnect from the ROS Bridge
        """
        try:
            if self.connected:
                # In a real implementation, this would close the actual connection
                print("Disconnecting from ROS Bridge")

                # Cancel all subscriptions
                for topic_name in list(self.topic_subscriptions.keys()):
                    await self.unsubscribe_from_topic(topic_name)

                self.connected = False
                print("Disconnected from ROS Bridge")
                return True
        except Exception as e:
            print(f"Error disconnecting from ROS Bridge: {str(e)}")
            return False

    async def publish_to_topic(self, topic_name: str, message: Dict[str, Any]) -> bool:
        """
        Publish a message to a ROS topic
        """
        if not self.connected:
            raise RuntimeError("Not connected to ROS Bridge")

        try:
            # In a real implementation, this would publish via ROS Bridge
            print(f"Publishing to topic '{topic_name}': {message}")

            # Simulate publishing
            # In real implementation: self.ros_client.publish(topic_name, message)

            return True
        except Exception as e:
            print(f"Error publishing to topic '{topic_name}': {str(e)}")
            return False

    async def subscribe_to_topic(self, topic_name: str, callback_func=None) -> bool:
        """
        Subscribe to a ROS topic
        """
        if not self.connected:
            raise RuntimeError("Not connected to ROS Bridge")

        try:
            # In a real implementation, this would subscribe via ROS Bridge
            print(f"Subscribing to topic '{topic_name}'")

            # Simulate subscription
            self.topic_subscriptions[topic_name] = {
                'callback': callback_func,
                'subscribed_at': datetime.utcnow().isoformat()
            }

            # In real implementation: self.ros_client.subscribe(topic_name, callback_func)

            return True
        except Exception as e:
            print(f"Error subscribing to topic '{topic_name}': {str(e)}")
            return False

    async def unsubscribe_from_topic(self, topic_name: str) -> bool:
        """
        Unsubscribe from a ROS topic
        """
        if not self.connected:
            raise RuntimeError("Not connected to ROS Bridge")

        try:
            if topic_name in self.topic_subscriptions:
                print(f"Unsubscribing from topic '{topic_name}'")

                # In real implementation: self.ros_client.unsubscribe(topic_name)

                del self.topic_subscriptions[topic_name]
                return True
            else:
                print(f"Not subscribed to topic '{topic_name}'")
                return False
        except Exception as e:
            print(f"Error unsubscribing from topic '{topic_name}': {str(e)}")
            return False

    async def call_service(self, service_name: str, request_data: Dict[str, Any]) -> Optional[Dict[str, Any]]:
        """
        Call a ROS service
        """
        if not self.connected:
            raise RuntimeError("Not connected to ROS Bridge")

        try:
            print(f"Calling service '{service_name}' with request: {request_data}")

            # In a real implementation: return await self.ros_client.call_service(service_name, request_data)

            # Simulate service response
            response = {
                'result': 'success',
                'service': service_name,
                'timestamp': datetime.utcnow().isoformat(),
                'original_request': request_data
            }

            return response
        except Exception as e:
            print(f"Error calling service '{service_name}': {str(e)}")
            return None


class ROSDeviceInterface:
    """
    Standardized interface for interacting with ROS-based physical AI devices
    """

    def __init__(self, device_id: str, ros_bridge_url: str = "ws://localhost:9090"):
        self.device_id = device_id
        self.ros_client = ROSBridgeClient(ros_bridge_url)
        self.device_namespace = f"/{device_id}"
        self.motion_control_topic = f"{self.device_namespace}/cmd_vel"
        self.sensor_data_topic = f"{self.device_namespace}/sensor_data"
        self.status_topic = f"{self.device_namespace}/status"
        self.emergency_stop_service = f"{self.device_namespace}/emergency_stop"

    async def connect_device(self) -> bool:
        """
        Connect to the ROS-based device
        """
        return await self.ros_client.connect()

    async def disconnect_device(self) -> bool:
        """
        Disconnect from the ROS-based device
        """
        return await self.ros_client.disconnect()

    async def send_motion_command(self, linear_velocity: float, angular_velocity: float) -> bool:
        """
        Send motion command to the device (linear and angular velocities)
        """
        command = {
            'linear': {
                'x': linear_velocity,
                'y': 0.0,
                'z': 0.0
            },
            'angular': {
                'x': 0.0,
                'y': 0.0,
                'z': angular_velocity
            }
        }

        return await self.ros_client.publish_to_topic(self.motion_control_topic, command)

    async def get_sensor_data(self) -> Optional[Dict[str, Any]]:
        """
        Request current sensor data from the device
        """
        # In a real implementation, this would subscribe to sensor data
        # For now, we'll return mock data
        return {
            'device_id': self.device_id,
            'timestamp': datetime.utcnow().isoformat(),
            'sensor_data': {
                'position': {'x': 0.0, 'y': 0.0, 'z': 0.0},
                'orientation': {'x': 0.0, 'y': 0.0, 'z': 0.0, 'w': 1.0},
                'battery_level': 95.5,
                'temperature': 23.4,
                'proximity_sensors': [1.2, 0.8, 1.5, 1.0],
                'gripper_status': 'open'
            }
        }

    async def subscribe_to_sensor_data(self, callback_func) -> bool:
        """
        Subscribe to continuous sensor data updates
        """
        return await self.ros_client.subscribe_to_topic(self.sensor_data_topic, callback_func)

    async def subscribe_to_status_updates(self, callback_func) -> bool:
        """
        Subscribe to device status updates
        """
        return await self.ros_client.subscribe_to_topic(self.status_topic, callback_func)

    async def trigger_emergency_stop(self) -> Optional[Dict[str, Any]]:
        """
        Trigger emergency stop service on the device
        """
        request_data = {
            'device_id': self.device_id,
            'trigger_time': datetime.utcnow().isoformat(),
            'reason': 'emergency_stop_triggered'
        }

        return await self.ros_client.call_service(self.emergency_stop_service, request_data)

    async def get_device_status(self) -> Optional[Dict[str, Any]]:
        """
        Get current status of the device
        """
        # In a real implementation, this might call a status service
        # For now, we'll return mock status data
        return {
            'device_id': self.device_id,
            'timestamp': datetime.utcnow().isoformat(),
            'status': 'active',
            'mode': 'manual_control',
            'battery_level': 95.5,
            'error_codes': [],
            'safety_status': 'nominal',
            'last_communication': datetime.utcnow().isoformat()
        }

    async def send_custom_command(self, command_type: str, params: Dict[str, Any]) -> Optional[Dict[str, Any]]:
        """
        Send a custom command to the device
        """
        command_topic = f"{self.device_namespace}/commands"

        command_message = {
            'command_type': command_type,
            'params': params,
            'timestamp': datetime.utcnow().isoformat(),
            'device_id': self.device_id
        }

        success = await self.ros_client.publish_to_topic(command_topic, command_message)

        if success:
            return {
                'status': 'command_sent',
                'command_id': command_type,
                'timestamp': datetime.utcnow().isoformat()
            }

        return None


class ROSDeviceManager:
    """
    Manager for handling multiple ROS-based devices
    """

    def __init__(self):
        self.devices: Dict[str, ROSDeviceInterface] = {}
        self.ros_bridge_url = "ws://localhost:9090"  # Default URL

    async def register_device(self, device_id: str, ros_bridge_url: str = None) -> bool:
        """
        Register a new ROS-based device
        """
        if device_id in self.devices:
            print(f"Device {device_id} already registered")
            return False

        # Use provided URL or default
        url = ros_bridge_url or self.ros_bridge_url

        device_interface = ROSDeviceInterface(device_id, url)
        self.devices[device_id] = device_interface

        print(f"Registered ROS device: {device_id}")
        return True

    async def connect_device(self, device_id: str) -> bool:
        """
        Connect to a specific ROS device
        """
        if device_id not in self.devices:
            print(f"Device {device_id} not registered")
            return False

        return await self.devices[device_id].connect_device()

    async def disconnect_device(self, device_id: str) -> bool:
        """
        Disconnect from a specific ROS device
        """
        if device_id not in self.devices:
            print(f"Device {device_id} not registered")
            return False

        return await self.devices[device_id].disconnect_device()

    async def send_command_to_device(self, device_id: str, command_type: str, params: Dict[str, Any]) -> Optional[Dict[str, Any]]:
        """
        Send a command to a specific device
        """
        if device_id not in self.devices:
            print(f"Device {device_id} not registered")
            return None

        return await self.devices[device_id].send_custom_command(command_type, params)

    async def get_device_sensor_data(self, device_id: str) -> Optional[Dict[str, Any]]:
        """
        Get sensor data from a specific device
        """
        if device_id not in self.devices:
            print(f"Device {device_id} not registered")
            return None

        return await self.devices[device_id].get_sensor_data()

    async def trigger_emergency_stop_for_device(self, device_id: str) -> Optional[Dict[str, Any]]:
        """
        Trigger emergency stop for a specific device
        """
        if device_id not in self.devices:
            print(f"Device {device_id} not registered")
            return None

        return await self.devices[device_id].trigger_emergency_stop()

    async def get_all_device_statuses(self) -> Dict[str, Any]:
        """
        Get statuses for all registered devices
        """
        statuses = {}
        for device_id, device_interface in self.devices.items():
            status = await device_interface.get_device_status()
            statuses[device_id] = status

        return statuses

    async def list_registered_devices(self) -> List[str]:
        """
        List all registered device IDs
        """
        return list(self.devices.keys())


# Global instance of the ROS device manager
ros_device_manager = ROSDeviceManager()