import tkinter as tk
from tkinter import messagebox
import matplotlib.pyplot as plt
from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
from matplotlib.figure import Figure
import serial

# Globale Variablen
Kp = 0.0
Ki = 0.0
Kd = 0.0
arduino = None
root = None
torque_mode = None

def open_serial_connection():
    global arduino
    try:
        arduino = serial.Serial(port="COM4", baudrate=115200, timeout=1)
        print("Verbindung zu Arduino hergestellt.")
    except Exception as e:
        print(f"Fehler beim Öffnen der seriellen Verbindung: {e}")

def close_application():
    if messagebox.askokcancel("Schließen", "Wollen Sie die Anwendung wirklich schließen?"):
        if arduino and arduino.is_open:
            arduino.close()
        root.destroy()

def create_diagram(plot, coordinates_text, canvas):
    plot.clear()
    plot.set_xlim(0, 90)
    plot.set_ylim(0, 50)  # Beispielgrenzen für Drehmoment
    plot.set_xlabel('Drehwinkel in Grad')
    plot.set_ylabel('Drehmoment in Nm')
    
    coordinates = coordinates_text.get("1.0", tk.END).strip().split("\n")
    valid_coords = [coord for coord in coordinates if ',' in coord and len(coord.split(',')) == 2]
    
    if valid_coords:
        x_coords, y_coords = zip(*(map(float, coord.split(',')) for coord in valid_coords))
        plot.plot(x_coords, y_coords, marker='o', linestyle='-')
    else:
        messagebox.showerror("Eingabefehler", "Bitte geben Sie gültige Koordinaten ein. Beispiel: '10,20'")
    
    canvas.draw()


def send_command_to_arduino(command):
    if arduino and arduino.is_open:
        try:
            arduino.write(command.encode())
            response = arduino.readline().decode().strip()
            print(f"Arduino Antwort: {response}")
        except Exception as e:
            print(f"Fehler beim Senden des Befehls {command}: {e}")

def on_plot_button_click(torque_input, coordinates_text, plot, canvas):
    if torque_mode.get():
        set_torque = float(torque_input.get())
        command = f's{int(set_torque * 1000000):08x}'
        send_command_to_arduino(command)
    else:
        create_diagram(plot, coordinates_text, canvas)

def setup_gui():
    global root, torque_mode
    root = tk.Tk()
    root.title("Drehmoment-Regelungssystem")

    main_frame = tk.Frame(root)
    main_frame.pack(fill=tk.BOTH, expand=True)

    left_frame = tk.Frame(main_frame, borderwidth=2, relief=tk.GROOVE)
    left_frame.pack(side=tk.LEFT, fill=tk.BOTH, expand=True)

    right_frame = tk.Frame(main_frame, borderwidth=2, relief=tk.GROOVE)
    right_frame.pack(side=tk.RIGHT, fill=tk.BOTH, expand=True)

    coordinates_label = tk.Label(left_frame, text="Koordinaten (Drehwinkel, Drehmoment):")
    coordinates_label.pack()
    coordinates_text = tk.Text(left_frame, height=5)
    coordinates_text.pack()

    torque_label = tk.Label(left_frame, text="Soll-Drehmoment in Nm:")
    torque_label.pack()
    torque_input = tk.Entry(left_frame)
    torque_input.pack()

    toggle_button = tk.Button(left_frame, text="Wechsel Drehmomentmodus", command=lambda: toggle_torque_mode(torque_input, coordinates_text))
    toggle_button.pack()

    plot_button = tk.Button(left_frame, text="Eingaben übernehmen", command=lambda: on_plot_button_click(torque_input, coordinates_text, plot, canvas))
    plot_button.pack()

    close_button = tk.Button(left_frame, text="Schließen", command=close_application)
    close_button.pack()

    figure = Figure(figsize=(5, 4), dpi=100)
    plot = figure.add_subplot(111)
    canvas = FigureCanvasTkAgg(figure, right_frame)
    canvas.get_tk_widget().pack(fill=tk.BOTH, expand=True)

    torque_mode = tk.BooleanVar()
    torque_mode.set(False)

def toggle_torque_mode(torque_input, coordinates_text):
    if torque_mode.get():
        torque_input.config(state='normal')
        coordinates_text.config(state='disabled')
    else:
        torque_input.config(state='disabled')
        coordinates_text.config(state='normal')

def main():
    setup_gui()
    open_serial_connection()
    root.mainloop()

if __name__ == '__main__':
    main()