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import termios
import time


import psutil
import serial
import serial.tools.list_ports
from pySerialTransfer import pySerialTransfer

from constants import RASPBERRY_PI, MESSAGEBOARD_PATH, WEBSERVER_PATH, SHUTDOWN_TEXT
import messageboard


ARDUINO_LOG = 'arduino_log.txt'
ARDUINO_ROLLING_LOG = 'arduino_rolling_log.txt'
SERIALS_LOG = 'arduino_serials_log.txt'
VERBOSE = False  # log additional fine-grained details into ARDUINO_LOG
LOG_SERIALS = False  # log serial data sent from Arduino to ARDUINO_LOG
SIMULATE_ARDUINO = False



SERVO_SIMULATED_IN = 'servo_in.txt'
SERVO_SIMULATED_OUT = 'servo_out.txt'
REMOTE_SIMULATED_IN = 'remote_in.txt'
REMOTE_SIMULATED_OUT = 'remote_out.txt'

if RASPBERRY_PI:
  ARDUINO_LOG = MESSAGEBOARD_PATH + ARDUINO_LOG
  SERIALS_LOG = MESSAGEBOARD_PATH + SERIALS_LOG
  SERVO_SIMULATED_OUT = MESSAGEBOARD_PATH + SERVO_SIMULATED_OUT
  SERVO_SIMULATED_IN = MESSAGEBOARD_PATH + SERVO_SIMULATED_IN
  REMOTE_SIMULATED_OUT = MESSAGEBOARD_PATH + REMOTE_SIMULATED_OUT
  REMOTE_SIMULATED_IN = MESSAGEBOARD_PATH + REMOTE_SIMULATED_IN


  ARDUINO_ROLLING_LOG = WEBSERVER_PATH + ARDUINO_ROLLING_LOG

CONNECTION_FLAG_BLUETOOTH = 1
CONNECTION_FLAG_USB = 2
CONNECTION_FLAG_SIMULATED = 3
RASPBERRY_PI = psutil.sys.platform.title() == 'Linux'

SN_SERVO = '5583834303435111C1A0'
SERVO_CONNECTION = (CONNECTION_FLAG_BLUETOOTH, (2, '98:D3:11:FC:42:16', 1))  # with MOSFET
#SERVO_CONNECTION = (CONNECTION_FLAG_BLUETOOTH, (3, '98:D3:91:FD:B1:8F', 1))  # no MOSFET

SN_REMOTE = '75835343130351802272'
# directly connected to Serial2
# connected thru MOSFET to Serial1
REMOTE_CONNECTION = (CONNECTION_FLAG_BLUETOOTH, (1, '98:D3:91:FD:B3:C9', 1))

MIN_ALTITUDE = 5  # below this elevation degrees, turn off the tracking

if SIMULATE_ARDUINO:




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            messageboard.DisplayFlightNumber(last_flight),
            messageboard.DisplayFlightNumber(flight)
        ), ser=link)

        # Turn off laser so that line isn't traced while it moves to new position
        link.Write((*last_angles, *LASER_RGB_OFF))

      last_flight = flight

    if time.time() >= next_read:
      heartbeat = link.Read()  # simple ack message sent by servos
      next_read = time.time() + READ_DELAY_TIME
      if heartbeat and VERBOSE:
        Log(heartbeat)

    now = GetNow(json_desc_dict, additional_attr)

    current_angles = AzimuthAltitude(flight, now)
    if current_angles and time.time() > next_write:
      if current_angles[1] >= configuration['minimum_altitude_servo_tracking']:

        Log('Flight #: %s current_angles: %s' % (
            messageboard.DisplayFlightNumber(flight), str(current_angles)))
        laser_rgb = LaserRGBFlight(flight)
        link.Write((*current_angles, *laser_rgb))
        last_angles = current_angles

      else:
        link.Write((*last_angles, *LASER_RGB_OFF))

      next_write = time.time() + WRITE_DELAY_TIME

  link.Close(SHUTDOWN_TEXT)


LASER_RGB_OFF = (0, 0, 0)
def LaserRGBFlight(flight):
  """Based on flight attributes, set the laser."""
  if not flight:
    return LASER_RGB_OFF
  return 1, 0, 0






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  # whether the screen is on; if so, let's put that message at the front of the message
  # queue, and delete any subsequent messages in queue because presumably the button
  # was pushed either a) when the screen was off (so no messages in queue), or b)
  # because the screen was on, but the last flight details got lost after other screens!
  if command['last_plane']:
    to_parent_q.put(('replay', ()))
    log_lines.append(' |-->Requested last flight (re)display')

  # a command might request a histogram; simply generate and save a histogram file to disk
  if command['histogram_enabled']:
    h_type = GetName(HISTOGRAM_TYPES, command['current_hist_type'])
    h_history = GetName(HISTOGRAM_HISTORY, command['current_hist_history'])
    to_parent_q.put(('histogram', (h_type, h_history)))
    log_lines.append(' |-->Requested %s histogram with %s data' % (h_type, h_history))

  # a command might update us on the display mode; based on the display mode, we might
  # pass different attributes back to the remote
  if display_mode != command['display_mode']:
    log_lines.append(' |-->Display mode set to %d (%s)' % (
        command['display_mode'], DISPLAY_MODE_NAMES[display_mode]))


  # a command might tell us the battery is low
  to_parent_q.put(
      ('pin', (messageboard.GPIO_ERROR_BATTERY_CHARGE, command['low_battery'])))
  if low_battery != command['low_battery']:
    log_lines.append(' |-->Low battery set to %d' % command['low_battery'])

  if VERBOSE:
    if log_lines:
      log_lines.insert(0, '')  # for improved formatting
      Log('\n'.join(log_lines), link)

  return command['display_mode'], command['low_battery']


def SecondsToShortString(s):
  """Converts a number of seconds to a three-character time representation (i.e.: 23M).

  Converts seconds to a three character representation containing at most two digits,
  potentially with a decimal point, and one character indicating time unit (S, M, H, or D).




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      ('setting_off_time',            'H'),
      ('setting_delay',               'H'),
      ('last_plane',                  '?'),
      ('display_mode',                'H'),
      ('histogram_enabled',           '?'),
      ('current_hist_type',           'H'),
      ('current_hist_history',        'H'),
      ('low_battery',                 '?'))

  write_config = (
      ('setting_screen_enabled',      '?'),  # 1 bytes
      ('setting_max_distance',        'H'),  # 2 bytes
      ('setting_max_altitude',        'L'),  # 4 bytes
      ('setting_on_time',             'H'),  # 2 bytes
      ('setting_off_time',            'H'),  # 2 bytes
      ('setting_delay',               'H'),  # 2 bytes
      ('line1',                       '9s'), # 9 bytes; 8 character plus terminator
      ('line2',                       '9s'), # 9 bytes; 8 character plus terminator
      ('line1_dec_mask',              'H'),  # 2 bytes
      ('line2_dec_mask',              'H'),  # 2 bytes

  )
  #pylint: enable = bad-whitespace
  read_keys, unused_read_format_tuple, read_format_string = SplitFormat(read_config)
  write_keys, write_format_tuple, write_format_string = SplitFormat(write_config)

  values_d = {}
  low_batt = False
  to_parent_q.put(('pin', (messageboard.GPIO_ERROR_BATTERY_CHARGE, low_batt)))

  link = Serial(
      *REMOTE_CONNECTION, read_timeout=7,
      error_pin=messageboard.GPIO_ERROR_ARDUINO_REMOTE_CONNECTION, to_parent_q=to_parent_q,
      read_format=read_format_string, write_format=write_format_string, name='Remote')
  link.Open()




  display_mode = DISP_LAST_FLIGHT_NUMB_ORIG_DEST  # initial state

  flight, json_desc_dict, configuration, additional_attr = InitialMessageValues(
      to_arduino_q)
  next_read = 0
  next_write = 0

  while not shutdown.value:
    if not to_arduino_q.empty():
      to_arduino_message = to_arduino_q.get(block=False)
      flight, json_desc_dict, configuration, additional_attr = to_arduino_message

      if 'test_remote' in configuration:
        messageboard.RemoveSetting(configuration, 'test_remote')

        def TestDisplayMode(m):
          SendRemoteMessage(
              flight, json_desc_dict, configuration, additional_attr,
              m, write_keys, write_format_tuple, link)
          time.sleep(1)





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import termios
import time


import psutil
import serial
import serial.tools.list_ports
from pySerialTransfer import pySerialTransfer

from constants import RASPBERRY_PI, MESSAGEBOARD_PATH, WEBSERVER_PATH, SHUTDOWN_TEXT
import messageboard


ARDUINO_LOG = 'arduino_log.txt'
ARDUINO_ROLLING_LOG = 'arduino_rolling_log.txt'
SERIALS_LOG = 'arduino_serials_log.txt'
VERBOSE = False  # log additional fine-grained details into ARDUINO_LOG
LOG_SERIALS = False  # log serial data sent from Arduino to ARDUINO_LOG
SIMULATE_ARDUINO = False

REMOTE_DISPLAY_MODE = 'display_mode.txt'

SERVO_SIMULATED_IN = 'servo_in.txt'
SERVO_SIMULATED_OUT = 'servo_out.txt'
REMOTE_SIMULATED_IN = 'remote_in.txt'
REMOTE_SIMULATED_OUT = 'remote_out.txt'

if RASPBERRY_PI:
  ARDUINO_LOG = MESSAGEBOARD_PATH + ARDUINO_LOG
  SERIALS_LOG = MESSAGEBOARD_PATH + SERIALS_LOG
  SERVO_SIMULATED_OUT = MESSAGEBOARD_PATH + SERVO_SIMULATED_OUT
  SERVO_SIMULATED_IN = MESSAGEBOARD_PATH + SERVO_SIMULATED_IN
  REMOTE_SIMULATED_OUT = MESSAGEBOARD_PATH + REMOTE_SIMULATED_OUT
  REMOTE_SIMULATED_IN = MESSAGEBOARD_PATH + REMOTE_SIMULATED_IN
  REMOTE_DISPLAY_MODE = MESSAGEBOARD_PATH + REMOTE_DISPLAY_MODE

  ARDUINO_ROLLING_LOG = WEBSERVER_PATH + ARDUINO_ROLLING_LOG

CONNECTION_FLAG_BLUETOOTH = 1
CONNECTION_FLAG_USB = 2
CONNECTION_FLAG_SIMULATED = 3
RASPBERRY_PI = psutil.sys.platform.title() == 'Linux'

SN_SERVO = '5583834303435111C1A0'
SERVO_CONNECTION = (CONNECTION_FLAG_BLUETOOTH, (2, '98:D3:11:FC:42:16', 1))  # with MOSFET
#SERVO_CONNECTION = (CONNECTION_FLAG_BLUETOOTH, (3, '98:D3:91:FD:B1:8F', 1))  # no MOSFET

SN_REMOTE = '75835343130351802272'
# directly connected to Serial2
# connected thru MOSFET to Serial1
REMOTE_CONNECTION = (CONNECTION_FLAG_BLUETOOTH, (1, '98:D3:91:FD:B3:C9', 1))

MIN_ALTITUDE = 5  # below this elevation degrees, turn off the tracking

if SIMULATE_ARDUINO:




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            messageboard.DisplayFlightNumber(last_flight),
            messageboard.DisplayFlightNumber(flight)
        ), ser=link)

        # Turn off laser so that line isn't traced while it moves to new position
        link.Write((*last_angles, *LASER_RGB_OFF))

      last_flight = flight

    if time.time() >= next_read:
      heartbeat = link.Read()  # simple ack message sent by servos
      next_read = time.time() + READ_DELAY_TIME
      if heartbeat and VERBOSE:
        Log(heartbeat)

    now = GetNow(json_desc_dict, additional_attr)

    current_angles = AzimuthAltitude(flight, now)
    if current_angles and time.time() > next_write:
      if current_angles[1] >= configuration['minimum_altitude_servo_tracking']:
        if VERBOSE:
          Log('Flight #: %s current_angles: %s' % (
              messageboard.DisplayFlightNumber(flight), str(current_angles)))
        laser_rgb = LaserRGBFlight(flight)
        link.Write((*current_angles, *laser_rgb))
        last_angles = current_angles

      else:
        link.Write((*last_angles, *LASER_RGB_OFF))

      next_write = time.time() + WRITE_DELAY_TIME

  link.Close(SHUTDOWN_TEXT)


LASER_RGB_OFF = (0, 0, 0)
def LaserRGBFlight(flight):
  """Based on flight attributes, set the laser."""
  if not flight:
    return LASER_RGB_OFF
  return 1, 0, 0






                            <----SKIPPED LINES---->




  # whether the screen is on; if so, let's put that message at the front of the message
  # queue, and delete any subsequent messages in queue because presumably the button
  # was pushed either a) when the screen was off (so no messages in queue), or b)
  # because the screen was on, but the last flight details got lost after other screens!
  if command['last_plane']:
    to_parent_q.put(('replay', ()))
    log_lines.append(' |-->Requested last flight (re)display')

  # a command might request a histogram; simply generate and save a histogram file to disk
  if command['histogram_enabled']:
    h_type = GetName(HISTOGRAM_TYPES, command['current_hist_type'])
    h_history = GetName(HISTOGRAM_HISTORY, command['current_hist_history'])
    to_parent_q.put(('histogram', (h_type, h_history)))
    log_lines.append(' |-->Requested %s histogram with %s data' % (h_type, h_history))

  # a command might update us on the display mode; based on the display mode, we might
  # pass different attributes back to the remote
  if display_mode != command['display_mode']:
    log_lines.append(' |-->Display mode set to %d (%s)' % (
        command['display_mode'], DISPLAY_MODE_NAMES[display_mode]))
    messageboard.WriteFile(REMOTE_DISPLAY_MODE, str(command['display_mode']))

  # a command might tell us the battery is low
  to_parent_q.put(
      ('pin', (messageboard.GPIO_ERROR_BATTERY_CHARGE, command['low_battery'])))
  if low_battery != command['low_battery']:
    log_lines.append(' |-->Low battery set to %d' % command['low_battery'])

  if VERBOSE:
    if log_lines:
      log_lines.insert(0, '')  # for improved formatting
      Log('\n'.join(log_lines), link)

  return command['display_mode'], command['low_battery']


def SecondsToShortString(s):
  """Converts a number of seconds to a three-character time representation (i.e.: 23M).

  Converts seconds to a three character representation containing at most two digits,
  potentially with a decimal point, and one character indicating time unit (S, M, H, or D).




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      ('setting_off_time',            'H'),
      ('setting_delay',               'H'),
      ('last_plane',                  '?'),
      ('display_mode',                'H'),
      ('histogram_enabled',           '?'),
      ('current_hist_type',           'H'),
      ('current_hist_history',        'H'),
      ('low_battery',                 '?'))

  write_config = (
      ('setting_screen_enabled',      '?'),  # 1 bytes
      ('setting_max_distance',        'H'),  # 2 bytes
      ('setting_max_altitude',        'L'),  # 4 bytes
      ('setting_on_time',             'H'),  # 2 bytes
      ('setting_off_time',            'H'),  # 2 bytes
      ('setting_delay',               'H'),  # 2 bytes
      ('line1',                       '9s'), # 9 bytes; 8 character plus terminator
      ('line2',                       '9s'), # 9 bytes; 8 character plus terminator
      ('line1_dec_mask',              'H'),  # 2 bytes
      ('line2_dec_mask',              'H'),  # 2 bytes
      ('display_mode',                'H'),  # 2 bytes
  )
  #pylint: enable = bad-whitespace
  read_keys, unused_read_format_tuple, read_format_string = SplitFormat(read_config)
  write_keys, write_format_tuple, write_format_string = SplitFormat(write_config)

  values_d = {}
  low_batt = False
  to_parent_q.put(('pin', (messageboard.GPIO_ERROR_BATTERY_CHARGE, low_batt)))

  link = Serial(
      *REMOTE_CONNECTION, read_timeout=7,
      error_pin=messageboard.GPIO_ERROR_ARDUINO_REMOTE_CONNECTION, to_parent_q=to_parent_q,
      read_format=read_format_string, write_format=write_format_string, name='Remote')
  link.Open()

  # Read in the saved display mode, if it exists
  display_mode = int(messageboard.ReadFile(REMOTE_DISPLAY_MODE, log_exception=False))
  if not display_mode:
    display_mode = DISP_LAST_FLIGHT_NUMB_ORIG_DEST

  flight, json_desc_dict, configuration, additional_attr = InitialMessageValues(
      to_arduino_q)
  next_read = 0
  next_write = 0

  while not shutdown.value:
    if not to_arduino_q.empty():
      to_arduino_message = to_arduino_q.get(block=False)
      flight, json_desc_dict, configuration, additional_attr = to_arduino_message

      if 'test_remote' in configuration:
        messageboard.RemoveSetting(configuration, 'test_remote')

        def TestDisplayMode(m):
          SendRemoteMessage(
              flight, json_desc_dict, configuration, additional_attr,
              m, write_keys, write_format_tuple, link)
          time.sleep(1)





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