import logging
import sys

import zmq

from robot_interface.endpoints.receiver_base import ReceiverBase


class ActuationReceiver(ReceiverBase):
    def __init__(self, zmq_context, port=5556):
        """
        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", "json")
        self.create_socket(zmq_context, zmq.SUB, port)
        self.socket.setsockopt_string(zmq.SUBSCRIBE, u"")  # Subscribe to all topics
        self._qi_session = self._get_session()
        self._tts_service = None

    @staticmethod
    def _get_session():
        if "--qi-url" not in sys.argv:
            logging.info("No Qi URL argument given. Running in stand-alone mode.")
            return None

        try:
            import qi
        except ImportError:
            logging.info("Unable to import qi. Running in stand-alone mode.")
            return None

        try:
            app = qi.Application()
            app.start()
            return app.session
        except RuntimeError:
            logging.info("Unable to connect to the robot. Running in stand-alone mode.")
            return None

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

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

        if not self._qi_session: return

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

        self._tts_service.say(text)

    def handle_message(self, message):
        if "endpoint" not in message:
            return {"endpoint": "error", "data": "No endpoint provided."}

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

        return {"endpoint": "error", "data": "The requested endpoint is not supported."}