from functools import partial
import threading
import traceback
import socket

CTRL_CMD_PORT = 9587
msg=None
if ("ctrl_cmd_socket" in globals()) and (ctrl_cmd_socket is not None):
    ctrl_cmd_socket.close()
    ctrl_cmd_task_thread.join(5.0)
    if ctrl_cmd_task_thread.is_alive():
        raise Exception("Cannot stop ctrl_cmd_task_thread")
        
def on_ctrl_cmd(cmd):   
    global RE
    print ("Control command: ", cmd)
    if cmd=="abort":
        if "RE" in globals():
            if RE.state not in ['idle','paused', 'pausing']:
                print ("Run Engine pause request")
                RE.request_pause()

def ctlm_cmd_task(port,parent_thread, rc):
    try:
        global ctrl_cmd_socket
        print ("Starting control command task")
        quit=False
        with socket.socket(family=socket.AF_INET, type=socket.SOCK_DGRAM) as ctrl_cmd_socket:
            ctrl_cmd_socket.bind(("127.0.0.1", port))
            ctrl_cmd_socket.settimeout(2.0) 
            while(quit==False) and (run_count==rc) and parent_thread.is_alive() and not ctrl_cmd_socket._closed:
                try:      
                    msg,add = ctrl_cmd_socket.recvfrom(100) 
                except socket.timeout:
                    continue                    
                cmd =msg.decode('UTF-8')
                on_ctrl_cmd(cmd)
                if cmd=="exit":
                    quit=True            
                ctrl_cmd_socket.sendto("ack".encode('UTF-8'), add)
    finally:
        print("Quitting control command task")
        
ctrl_cmd_task_thread = threading.Thread(target=partial(ctlm_cmd_task, CTRL_CMD_PORT, threading.currentThread(), run_count))
ctrl_cmd_task_thread.setDaemon(True)
ctrl_cmd_task_thread.start()

#RE(rel_scan(dets, motor, -1, 1, 10))