import cmd
import threading

from queue import Queue
from functools import reduce
from typing import Collection, Any, Optional
from controls.device import ActionDescriptor, DeviceError
from controls.either import Either, Left, Right
from equipment.turtle_device import TurtleDevice


def select(fr: Collection[ActionDescriptor], where: tuple[str, Any]) -> Optional[ActionDescriptor]:
    results = list(filter(lambda r: r.__dict__[where[0]] == where[1], fr))
    return None if len(results) == 0 else results[0]


class TurtleDeviceController():
    def __init__(self):
        super().__init__()
        self._device = TurtleDevice()
        self._device.open()
        self._queue = Queue()

    def send(self, task: list[str]) -> None:
        self._queue.put(task)

    def _parse_args(self, args: list[str]) -> Either[tuple, str]:
        action_name, action_args = args[0], args[1:]
        try:
            descr = select(self._device.action_descriptors(), ('name', action_name))
        except DeviceError as e:
            return Right(f'Device error: {e}')
        if descr is None:
            return Right(f'Unknown action: "{action_name}"')
        return Left(reduce(lambda acc, a: acc + (int(a),), action_args, (action_name,)))

    def run(self): # ! NoReturn
        while (True):
            task = self._queue.get(block=True, timeout=None)
            if task[0] == 'stop':
                self._device.close()
                return
            args = self._parse_args(task)
            if args.is_right():
                print(f'*** {args.get_right()}')
            else:
                self._device.execute(*args.get_left())


class NoBlockingTurtleShell(cmd.Cmd):
    intro = 'Welcome to the turtle shell.   Type help or ? to list commands.\n'
    prompt = '(turtle) '
    file = None

    def __init__(self, turtle_thread: TurtleDeviceController):
        super(NoBlockingTurtleShell, self).__init__()
        self._turtle_controller = turtle_thread

    def do_execute(self, arg: str):
        'Execute a turtle command: EXECUTE COMMAND ARG1 ARG2 ...'
        self._turtle_controller.send(arg.split(' '))

    def do_exit(self, arg):
        'close the turtle window, and exit:  EXIT'
        print('Waiting for the turtle to finish jobs...')
        self._turtle_controller.send(['stop'])
        return True


if __name__ == '__main__':
    turtle_controller = TurtleDeviceController()
    shell = NoBlockingTurtleShell(turtle_controller)
    cmd_thread = threading.Thread(target=shell.cmdloop)
    cmd_thread.start()
    turtle_controller.run()