from uart_interface import GobotRPC_CI_Hardware
import threading
from uart_interface.ci_packages import CI_Package, CI_SET_ADDR_PORT_MAP_Package, CI_RESET_Package, CI_TX_Package
from gobotrpc.rpc_packages import GobotRPCPackage, GobotRPCGetInfoRequest

class GobotRPC_CI():
    def __init__(self, hardware: GobotRPC_CI_Hardware):
        self.hardware = hardware
        self.sending_lock = threading.Lock()

    def close(self):
        self.hardware.close()

    def send_ci_package(self, ci_package: CI_Package):
        with self.sending_lock:
            return self.hardware.send_ci_package(ci_package)

    def send_gobotrpc_package(self, gobotrpc_package: GobotRPCPackage, addr: int):
        self.send_ci_package(CI_TX_Package(gobotrpc_package, addr))

    def rx_ci_package(self) -> CI_Package:
        pkg = self.hardware.rx_ci_package()
        return pkg

    def setAddrPortMap(self, addr, port):
        pkg = CI_SET_ADDR_PORT_MAP_Package(addr, port)
        self.send_ci_package(pkg)

    def resetAdapter(self):
        self.send_ci_package(CI_RESET_Package())

    def node_get_info(self, addr: int):
        self.send_ci_package(CI_TX_Package(GobotRPCGetInfoRequest(), addr))