import logging

import zmq

from robot_interface.endpoints.receiver_base import ReceiverBase
from robot_interface.state import state


class ActuationReceiver(ReceiverBase):
    def __init__(self, zmq_context, port=5557):
        """
        The actuation receiver endpoint, responsible for handling speech and gesture requests.

        :param zmq_context: The ZeroMQ context to use.
        :type zmq_context: zmq.Context

        :param port: The port to use.
        :type port: int
        """
        super(ActuationReceiver, self).__init__("actuation")
        self.create_socket(zmq_context, zmq.SUB, port)
        self.socket.setsockopt_string(zmq.SUBSCRIBE, u"")  # Causes block if given in options
        self._tts_service = None

    def _handle_speech(self, message):
        text = message.get("data")
        if not text:
            logging.warn("Received message to speak, but it lacks data.")
            return

        if not isinstance(text, (str, unicode)):
            logging.warn("Received message to speak but it is not a string.")
            return

        logging.debug("Received message to speak: {}".format(text))

        if not state.qi_session: return
        # If state has a qi_session, we know that we can import qi
        import qi  # Takes a while only the first time it's imported

        if not self._tts_service:
            self._tts_service = state.qi_session.service("ALTextToSpeech")

        # Returns instantly. Messages received while speaking will be queued.
        qi.async(self._tts_service.say, text)

    def handle_message(self, message):
        if message["endpoint"] == "actuate/speech":
            self._handle_speech(message)