import json

import spade.agent
import zmq
from spade.behaviour import CyclicBehaviour
from zmq.asyncio import Context

from control_backend.agents import BaseAgent
from control_backend.core.config import settings
from control_backend.schemas.ri_message import SpeechCommand


class RICommandAgent(BaseAgent):
    subsocket: zmq.Socket
    pubsocket: zmq.Socket
    address = ""
    bind = False

    def __init__(
        self,
        jid: str,
        password: str,
        port: int = 5222,
        verify_security: bool = False,
        address="tcp://localhost:0000",
        bind=False,
    ):
        super().__init__(jid, password, port, verify_security)
        self.address = address
        self.bind = bind

    class SendCommandsBehaviour(CyclicBehaviour):
        """Behaviour for sending commands received from the UI."""

        async def run(self):
            """
            Run the command publishing loop indefinetely.
            """
            assert self.agent is not None
            # Get a message internally (with topic command)
            topic, body = await self.agent.subsocket.recv_multipart()

            # Try to get body
            try:
                body = json.loads(body)
                message = SpeechCommand.model_validate(body)

                # Send to the robot.
                await self.agent.pubsocket.send_json(message.model_dump())
            except Exception as e:
                self.agent.logger.error("Error processing message: %s", e)

    class SendPythonCommandsBehaviour(CyclicBehaviour):
        """Behaviour for sending commands received from other Python agents."""

        async def run(self):
            message: spade.agent.Message = await self.receive(timeout=0.1)
            if message and message.to == self.agent.jid:
                try:
                    speech_command = SpeechCommand.model_validate_json(message.body)
                    await self.agent.pubsocket.send_json(speech_command.model_dump())
                except Exception as e:
                    self.agent.logger.error("Error processing message: %s", e)

    async def setup(self):
        """
        Setup the command agent
        """
        self.logger.info("Setting up %s", self.jid)

        context = Context.instance()

        # To the robot
        self.pubsocket = context.socket(zmq.PUB)
        if self.bind:
            self.pubsocket.bind(self.address)
        else:
            self.pubsocket.connect(self.address)

        # Receive internal topics regarding commands
        self.subsocket = context.socket(zmq.SUB)
        self.subsocket.connect(settings.zmq_settings.internal_sub_address)
        self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")

        # Add behaviour to our agent
        commands_behaviour = self.SendCommandsBehaviour()
        self.add_behaviour(commands_behaviour)
        self.add_behaviour(self.SendPythonCommandsBehaviour())

        self.logger.info("Finished setting up %s", self.jid)