'''

Python 3.x library to control an UR robot through its TCP/IP interfaces

Copyright (C) 2017  Martin Huus Bjerge, Rope Robotics ApS, Denmark

Permission is hereby granted, free of charge, to any person obtaining a copy of this software

and associated documentation files (the "Software"), to deal in the Software without restriction,

including without limitation the rights to use, copy, modify, merge, publish, distribute,

sublicense, and/or sell copies of the Software, and to permit persons to whom the Software

is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies

or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,

INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR

PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL "Rope Robotics ApS" BE LIABLE FOR ANY CLAIM,

DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,

OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Except as contained in this notice, the name of "Rope Robotics ApS" shall not be used

in advertising or otherwise to promote the sale, use or other dealings in this Software

without prior written authorization from "Rope Robotics ApS".

'''

__author__ = "Martin Huus Bjerge"

__copyright__ = "Copyright 2017, Rope Robotics ApS, Denmark"

__license__ = "MIT License"

import threading

import URBasic

import numpy as np

import time

import xml.etree.ElementTree as ET

from pkg_resources import resource_filename

class DataLog(threading.Thread):

    '''

    This module handle logging of all data signal from the robot (not event logging).

    '''

    def __init__(self, robotModel):

        if(False):

            assert isinstance(robotModel, URBasic.robotModel.RobotModel)  ### This line is to get code completion for RobotModel

        self.__robotModel = robotModel

        threading.Thread.__init__(self)

        logger = URBasic.dataLogging.DataLogging()

        name = logger.AddDataLogging(__name__)

        self.__dataLogger = logger.__dict__[name]

        name = logger.AddEventLogging(__name__,log2Consol=False)

        self.__logger = logger.__dict__[name]

        self.__stop_event = True

        configFilename = resource_filename(__name__, 'logConfig.xml')

        self.__config = Config

        self.__readConfig(configFileName=configFilename, config=self.__config)

        self.__robotModelDataDirCopy = None

        self.start()

        self.__logger.info('DataLog constructor done')

    def __readConfig(self, configFileName, config):

        tree = ET.parse(configFileName)

        logConfig = tree.getroot()

        dataLogConfig = logConfig.find('dataLogConfig')

        decimals = dataLogConfig.find('defaultDecimals')

        config.Decimals = int(decimals.text)

        logParameters = dataLogConfig.find('logParameters')

        for Child in logParameters:

            setattr(config, Child.tag, Child.text)

    def logdata(self, robotModelDataDir):

        if(self.__robotModelDataDirCopy != None):

            if(self.__robotModelDataDirCopy['timestamp'] != robotModelDataDir['timestamp'] or robotModelDataDir['timestamp'] is None):

                for tagname in robotModelDataDir.keys():

                    if tagname != 'timestamp' and  robotModelDataDir[tagname] is not None:

                        roundingDecimals = self.__config.Decimals

                        tp = type(robotModelDataDir[tagname])

                        if tp is np.ndarray:

                            if tagname in self.__config.__dict__:

                                roundingDecimals = int(self.__config.__dict__[tagname])

                            roundedValues = np.round(robotModelDataDir[tagname], roundingDecimals)

                            if self.__robotModelDataDirCopy[tagname] is None:

                                roundedValuesCopy = roundedValues+1

                            else:

                                roundedValuesCopy = np.round(self.__robotModelDataDirCopy[tagname], roundingDecimals)

                            if not (roundedValues==roundedValuesCopy).all():

                                if 6==len(robotModelDataDir[tagname]):

                                    self.__dataLogger.info((tagname+';%s;%s;%s;%s;%s;%s;%s'), robotModelDataDir['timestamp'], *roundedValues)

                                elif 3==len(robotModelDataDir[tagname]):

                                    self.__dataLogger.info((tagname+';%s;%s;%s;%s'), robotModelDataDir['timestamp'], *roundedValues)

                                else:

                                    self.__logger.warning('Logger data unexpected type in rtde.py - class URRTDElogger - def logdata Type: ' + str(tp) + ' - Len: ' + str(len(robotModelDataDir[tagname])))

                        elif tp is float:

                            if tagname in self.__config.__dict__:

                                roundingDecimals = int(self.__config.__dict__[tagname])

                            roundedValues = round(robotModelDataDir[tagname], roundingDecimals)

                            if self.__robotModelDataDirCopy[tagname] is None:

                                roundedValuesCopy = roundedValues+1

                            else:

                                roundedValuesCopy = round(self.__robotModelDataDirCopy[tagname], roundingDecimals)

                            if roundedValues != roundedValuesCopy:

                                self.__dataLogger.info((tagname+';%s;%s'), robotModelDataDir['timestamp'], roundedValues)

                        elif tp is bool or tp is int or tp is np.float64:

                            if robotModelDataDir[tagname] != self.__robotModelDataDirCopy[tagname]:

                                self.__dataLogger.info((tagname+';%s;%s'), robotModelDataDir['timestamp'], robotModelDataDir[tagname])

                        else:

                            self.__logger.warning('Logger data unexpected type in rtde.py - class URRTDElogger - def logdata Type: ' + str(tp))

        self.__robotModelDataDirCopy = robotModelDataDir

    def close(self):

        if self.__stop_event is False:

            self.__stop_event = True

            self.join()

    def run(self):

        self.__stop_event = False

        while not self.__stop_event:

            try:

                dataDirCopy = self.__robotModel.dataDir.copy()

                self.logdata(dataDirCopy)

                time.sleep(0.005)

            except:

                self.__robotModelDataDirCopy = dataDirCopy

                self.__logger.warning("DataLog error while running, but will retry")

        self.__logger.info("DataLog is stopped")

class Config(object):

    Decimals = 5