import asyncio
import logging
from robot_control.src.robot.controller import RobotController
from robot_control.src.utils.config import ConfigParser
from robot_control.src.vision.datamatrix import DataMatrixReader
from robot_control.src.api.i2c_handler import I2C, MockI2C
from robot_control.src.vendor.mcp3428 import MCP3428
from robot_control.src.robot.pump_controller import PumpController
from robot_control.src.api.gpio import PiGPIO, MockGPIO

logging.basicConfig(
    level=logging.INFO,
    format='%(asctime)s - %(module)s - %(levelname)s - %(message)s',
)

class LoaderSystem:
    def __init__(self):
        self.config = ConfigParser().config
        gpio_config = self.config.gpio
        if gpio_config.debug:
            self.gpio = MockGPIO()
        else:
            self.gpio = PiGPIO(out_pins=[gpio_config.pump_pin, gpio_config.valve_pin])

        self.logger = logging.getLogger(__name__)
        self.controller = RobotController(self.config, self.gpio)
        self.vision = DataMatrixReader(self.config)
        self.logger.info("Initializing LoaderSystem")
        self.vision.initialize()

        # Use mock I2C device if debug is enabled
        i2c_device_class = MCP3428 if not self.config.i2c.debug else MockI2C
        self.i2c = I2C(i2c_device_class)
        self.i2c.initialize()
        self.logger.info(f"I2C initialized with {i2c_device_class.__name__}")

        self.pump_controller = PumpController(self.config, self.gpio)

    async def run(self):
        await self.controller.connect()
        try:
            await asyncio.gather(
                self._loader_loop(),
                self._poll_i2c_channels()
            )
        finally:
            self.cleanup()
            logger.info("Cleaning up resources...")

    async def _poll_i2c_channels(self):
        while True:
            try:
                readings = await self.i2c.read_channels([1, 3, 4])
                for channel, value in readings.items():
                    self.logger.debug(f"Channel {channel} reading: {value}")
                    if channel == 3:  # Pressure reading
                        self.pump_controller.handle_tank_reading(value)
                    if channel == 4:
                        state = self.pump_controller.check_endeffector_state(value)
                        self.controller.set_suction_state(state)
            except Exception as e:
                self.logger.error(f"Error polling I2C channels: {str(e)}")
            await asyncio.sleep(1)  # Poll every second

    async def _loader_loop(self):
        while True:
            await asyncio.sleep(0.1)  # avoid busy loop

            # Check for free slots loop
            while True:
                slot = self.controller.get_next_free_slot()
                if not slot:
                    break
                # Pick and place new cell
                cell_id_str = self.vision.read_datamatrix()
                if not cell_id_str:
                    self.logger.debug("No cell detected")
                    break
                cell_id = int(cell_id_str)
                self.logger.info(f"Processing cell {cell_id}")
                cell = self.controller.add_cell(cell_id)
                try:
                    await self.controller.pick_cell_from_feeder()
                    await self.controller.insert_cell_to_slot(cell, slot)
                except Exception as e:
                    self.logger.error(f"Failed to process cell {cell_id}: {str(e)}")
                    break

            # Check for completed measurements and sort cell
            await self.controller.process_finished_measurement()

    def cleanup(self):
        self.gpio.cleanup()  # Ensure PumpController cleans up gpio

if __name__ == "__main__":
    loader_system = LoaderSystem()
    asyncio.run(loader_system.run())