#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
机器人日志示例 - 完整模拟机器人运行流程的日志输出
"""

import time
import random
import math
import json
from utils.log_helper import (
    LogHelper, section, info, debug, warning, error, success, timing,
    table, progress, syntax, json_log, panel
)

# 创建机器人控制器特定的日志器
robot_logger = LogHelper("机器人控制器")

def simulate_robot_startup():
    """模拟机器人启动过程"""
    section("系统启动", "启动")
    
    # 显示启动面板
    panel(
        "MI机器人控制系统 v1.0\n"
        "开发者: MI研发团队\n"
        "初始化中...",
        "系统信息",
        "bold blue"
    )
    
    # 模拟初始化各个子系统
    components = [
        "视觉系统", "导航模块", "电机控制器", "传感器阵列", 
        "通信模块", "决策系统", "电源管理", "安全模块"
    ]
    
    start_time = time.time()
    for component in progress(components, "初始化组件", unit="组件"):
        delay = random.uniform(0.1, 0.3)
        time.sleep(delay)
        
        if component == "传感器阵列" and random.random() < 0.3:
            warning(f"{component}初始化出现延迟", "警告")
        else:
            success(f"{component}初始化完成", "成功")
    
    # 显示初始化耗时
    elapsed = time.time() - start_time
    timing("系统初始化", elapsed)

def check_robot_status():
    """检查机器人状态"""
    section("系统状态检查", "检测")
    
    # 模拟传感器读数
    battery = random.uniform(80, 100)
    temperature = random.uniform(25, 35)
    cpu_load = random.uniform(10, 30)
    memory_usage = random.uniform(20, 50)
    
    # 显示状态表格
    columns = ["参数", "数值", "状态", "备注"]
    rows = [
        ["电池电量", f"{battery:.1f}%", "正常" if battery > 20 else "警告", ""],
        ["系统温度", f"{temperature:.1f}°C", "正常" if temperature < 40 else "警告", ""],
        ["CPU负载", f"{cpu_load:.1f}%", "正常" if cpu_load < 80 else "警告", ""],
        ["内存使用", f"{memory_usage:.1f}%", "正常" if memory_usage < 80 else "警告", ""],
    ]
    
    table("系统状态", columns, rows, "当前机器人状态指标")
    
    # 模拟系统检查结果
    if battery < 90:
        warning(f"电池电量低于90%: {battery:.1f}%", "警告")
    
    if temperature > 30:
        warning(f"系统温度偏高: {temperature:.1f}°C", "警告")
    else:
        info(f"系统温度正常: {temperature:.1f}°C", "信息")

def simulate_movement():
    """模拟机器人移动"""
    section("开始移动", "移动")
    
    # 模拟路径规划
    info("开始规划路径", "计算")
    time.sleep(0.5)
    
    waypoints = [
        {"x": 0.0, "y": 0.0, "heading": 0.0},
        {"x": 1.0, "y": 0.0, "heading": 0.0},
        {"x": 1.0, "y": 1.0, "heading": 90.0},
        {"x": 0.0, "y": 1.0, "heading": 180.0},
        {"x": 0.0, "y": 0.0, "heading": 270.0}
    ]
    
    # 显示路径JSON
    json_log(waypoints, "规划路径")
    
    # 模拟运动控制代码
    code = """
def move_to_waypoint(robot, waypoint):
    \"\"\"移动到指定航点\"\"\"
    current_pos = robot.get_position()
    dx = waypoint['x'] - current_pos['x']
    dy = waypoint['y'] - current_pos['y']
    
    # 计算距离和角度
    distance = math.sqrt(dx*dx + dy*dy)
    target_angle = math.degrees(math.atan2(dy, dx))
    
    # 先旋转到目标方向
    robot.rotate_to(target_angle)
    
    # 然后移动指定距离
    robot.move_forward(distance)
    
    # 最后调整到目标朝向
    robot.rotate_to(waypoint['heading'])
    
    return True
"""
    syntax(code, "python", "航点移动函数")
    
    # 模拟执行移动
    start_time = time.time()
    for i, waypoint in enumerate(progress(waypoints[1:], "执行移动", unit="航点")):
        info(f"移动到航点 {i+1}: ({waypoint['x']}, {waypoint['y']})", "移动")
        
        # 模拟一些执行延迟
        time.sleep(random.uniform(0.3, 0.7))
        
        # 偶尔模拟一些障碍物检测
        if random.random() < 0.3:
            warning(f"检测到障碍物，调整路径", "检测")
            time.sleep(0.2)
        
        success(f"到达航点 {i+1}", "位置")
    
    elapsed = time.time() - start_time
    timing("路径执行", elapsed)

def simulate_error_handling():
    """模拟错误处理"""
    section("错误处理测试", "调试")
    
    try:
        info("执行复杂计算", "计算")
        time.sleep(0.5)
        
        # 模拟一个错误
        if random.random() < 0.8:  # 80%概率出错
            raise ValueError("传感器数据异常")
        
        success("计算完成", "完成")
    except Exception as e:
        error(f"计算过程中出现错误: {str(e)}", "错误")
        
        # 显示错误处理代码
        error_code = """
try:
    sensor_data = robot.get_sensor_data()
    if not validate_sensor_data(sensor_data):
        raise ValueError("传感器数据异常")
    
    # 处理传感器数据
    process_sensor_data(sensor_data)
except ValueError as e:
    # 记录错误
    log_error(f"传感器错误: {str(e)}")
    
    # 尝试重新校准传感器
    if robot.recalibrate_sensors():
        log_info("传感器重新校准成功")
    else:
        log_error("传感器重新校准失败，切换到备用传感器")
        robot.switch_to_backup_sensors()
except Exception as e:
    log_critical(f"未处理的错误: {str(e)}")
    robot.emergency_stop()
"""
        syntax(error_code, "python", "错误处理代码")
        
        # 模拟错误恢复
        info("尝试恢复操作", "旋转")
        time.sleep(0.7)
        success("系统已恢复", "成功")

def main():
    """主函数"""
    panel(
        "机器人日志演示程序\n"
        "此程序展示各种日志功能在机器人控制中的应用",
        "演示信息",
        "bold green"
    )
    
    simulate_robot_startup()
    check_robot_status()
    simulate_movement()
    simulate_error_handling()
    
    section("演示完成", "完成")
    success("机器人日志系统演示完成", "完成")

if __name__ == "__main__":
    main()