import asyncio
import logging

from mathema.actors.actor import Actor

log = logging.getLogger(__name__)


class Actuator(Actor):
    def __init__(self, aid, cx_pid, name, fanin_ids, expect_count, scape=None):
        super().__init__(f"Actuator-{aid}")
        self.aid = aid
        self.cx_pid = cx_pid
        self.aname = name
        self.fanin_ids = fanin_ids
        self.expect = expect_count
        self.received = {}
        self.scape = scape
        self.scape_inbox = asyncio.Queue()

    async def run(self):

        while True:
            msg = await self.inbox.get()
            tag = msg[0]

            if tag == "forward":
                _, from_id, vec = msg
                self.received[from_id] = vec

                if len(self.received) == self.expect:
                    log.debug("ACTUATOR: collected all signals...")
                    output = []
                    for fid in self.fanin_ids:
                        output.extend(self.received[fid])

                    if self.aname == "pts":
                        print(f"Actuator output: {output}")
                        fitness, halt_flag = 1.0, 0
                    elif self.aname == "xor_SendOutput" and self.scape:
                        log.debug("ACTUATOR: sending action to scape...")
                        await self.scape.send(("action", output, self))
                        while True:
                            resp = await self.inbox.get()
                            if resp[0] == "result":
                                log.debug("ACTUATOR: got scape response: %s", resp)
                                fitness, halt_flag = resp[1], resp[2]
                                break
                    elif self.aname == "car_ApplyAction" and self.scape:
                        y0 = float(output[0]) if len(output) > 0 else 0.0
                        y1 = float(output[1]) if len(output) > 1 else 0.0
                        y2 = float(output[2]) if len(output) > 2 else 0.0

                        steer = max(-1.0, min(1.0, y0))
                        gas = max(0.0, min(1.0, 0.5 * (y1 + 1.0)))
                        brake = max(0.0, min(1.0, 0.5 * (y2 + 1.0)))

                        action = [steer, gas, brake]

                        log.debug("ACTUATOR: sending action to car scape: %s", action)
                        await self.scape.send(("action", action, self))
                        while True:
                            resp = await self.inbox.get()
                            if resp[0] == "result":
                                log.debug("ACTUATOR: got scape response: %s", resp)
                                fitness, halt_flag = resp[1], resp[2]
                                break
                    else:
                        fitness, halt_flag = 0.0, 0

                    await self.cx_pid.send(("sync", self.aid, fitness, halt_flag))
                    log.debug("ACTUATOR: sent sync message to cortex.")
                    self.received.clear()

            elif tag == "terminate":
                return