'''

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"

from pkg_resources import resource_filename

import logging

import time

import os

import re

import URBasic

import xml.etree.ElementTree as ET

import ast

from six import with_metaclass

class Singleton(type):

    _instances = {}

    def __call__(self, *args, **kwargs):

        if self not in self._instances:

            self._instances[self] = super(Singleton, self).__call__(*args, **kwargs)

        return self._instances[self]

class DataLogging(with_metaclass(Singleton, object)):

    '''

    A module that add general logging functions to the UR Interface framework.

    '''

    def __init__(self, path=None, config=None):

        '''

        Constructor that setup a path where log files will be stored.

        '''

        self.directory = None

        self.logDir = None

        self.__developerTestingFlag = False

        self.__eventLogFileMode = 'w'

        self.__dataLogFileMode = 'w'

        if config is None:

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

        else:

            configFilename = config

        self.__readConfig(configFileName=configFilename)

        self.GetLogPath(path=path, developerTestingFlag=self.__developerTestingFlag)

        self.fileLogHandler = logging.FileHandler(os.path.join(self.directory, 'UrEvent.log'), mode=self.__eventLogFileMode)

        self.fileLogHandler.setFormatter(logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s'))

        self.streamLogHandler = logging.StreamHandler()

        self.streamLogHandler.setFormatter(logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s'))

        self.fileDataLogHandler = logging.FileHandler(os.path.join(self.directory, 'UrDataLog.csv'), mode=self.__dataLogFileMode)

        self.writeDataLogHeadder = True

    def __readConfig(self, configFileName):

        tree = ET.parse(configFileName)

        logConfig = tree.getroot()

        developerModeTag = logConfig.find('developerMode')

        self.__developerTestingFlag = ast.literal_eval(developerModeTag.text)

        eventLogConfig = logConfig.find('eventLogConfig')

        eventFileModeTag = eventLogConfig.find('fileMode')

        if (eventFileModeTag.text == "Overwrite"):

            self.__eventLogFileMode = 'w'

        elif (eventFileModeTag.text == "Append"):

            self.__eventLogFileMode = 'a'

        else:

            raise ValueError("Not supported eventLogfile mode: " + eventFileModeTag.text)

        dataLogConfig = logConfig.find('dataLogConfig')

        dataFileModeTag = dataLogConfig.find('fileMode')

        if (dataFileModeTag.text == "Overwrite"):

            self.__dataLogFileMode = 'w'

        elif (dataFileModeTag.text == "Append"):

            self.__dataLogFileMode = 'a'

        else:

            raise ValueError("Not supported dataLogfile mode: " + dataFileModeTag.text)

    def GetLogPath(self,path=None, developerTestingFlag=True):

        '''

        Setup a path where log files will be stored

        Path format .\[path]\YY-mm-dd\HH-MM-SS\

        '''

        if path is None:

            path = URBasic.__file__[0:URBasic.__file__.find('URBasic')] + 'log'

        else:

            path = os.path.join(*(re.split('\\\\|/', path)))

        if path[-1:]=='\\' or path[-1:]=='/':

            path = path[0:-1]

        if self.directory is None:

            self.logDir = path

            if developerTestingFlag:

                self.directory = path

            else:

                self.directory =  os.path.join(path, time.strftime("%Y-%m-%d", time.localtime()), time.strftime("%H-%M-%S", time.localtime()))

            if not os.path.exists(self.directory):

                os.makedirs(self.directory)

        return self.directory, self.logDir

    def AddEventLogging(self, name='root', log2file=True, log2Consol=True, level = logging.WARNING):

        '''

        Add a new event logger, the event logger can log data to a file and also output the log to the console.

        Input Parameters:

        Name (str): The name of the logger the logger name will get the extension event

        Log2file (bool): Set if the log should be stored in a log file

        Log2Consol (bool): Set if the log should be output to the console

        Return parameter:

        Name (str): The logger name including the extension

        '''

        name = name.replace('__', '').replace('.', '_') + 'Event'

        self.__dict__[name] = logging.getLogger(name)

        if log2file:

            self.__dict__[name].addHandler(self.fileLogHandler)

        if log2Consol:

            self.__dict__[name].addHandler(self.streamLogHandler)

        self.__dict__[name].setLevel(level)

        return name

    def AddDataLogging(self,name='root'):

        '''

        Add a new data logger, the data logger will log data to a csv-file.

        Input Parameters:

        Name (str): The name of the logger the logger name will get the extension Data

        Return parameter:

        Name (str): The logger name including the extension

        '''

        name = name+'Data'

        self.__dict__[name] = logging.getLogger(name)

        self.__dict__[name].addHandler(self.fileDataLogHandler)

        self.__dict__[name].setLevel(logging.WARNING)

        if self.writeDataLogHeadder:

            self.__dict__[name].info('Time;ModuleName;Level;Channel;UR_Time;Value1;Value2;Value3;Value4;Value5;Value6')

            self.fileDataLogHandler.setFormatter(logging.Formatter('%(asctime)s;%(name)s;%(levelname)s;%(message)s'))

            self.__dict__[name].addHandler(self.fileDataLogHandler)

            self.writeDataLogHeadder = False

        return name