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import random
import struct
import subprocess
import sys
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))

SN_REMOTE = '75835343130351802272'
REMOTE_CONNECTION = (CONNECTION_FLAG_BLUETOOTH, (1, '98:D3:91:FD:B3:C9', 1))

LASER_OFF = (False, False, False)




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      format_string = self.read_format
    try:
      data = Read(self.link, format_string, bytes_read=bytes_read)

    # on OSError, record a disconnection and attempt to reconnect & re-read
    except OSError as e:
      failure_message = 'Failed to read from %s: %s' % (self.name, e)
      if self.error_pin:
        self.to_parent_q.put(('pin', (self.error_pin, True, failure_message)))
      self.Reopen(log_message=failure_message)
      return self.Read(format_string=format_string)

    self.last_read = time.time()
    if data:
      self.last_receipt = time.time()
      if LOG_SERIALS:
        ts = time.time() - self.start_time
        str_data = str(
            ['%7.2f' % d if isinstance(d, float) else str(d) for d in data])
        message = '%10.3f RECD@%s: %s\n' % (ts, self.name, str_data)
        Log(message)
        #with open(SERIALS_LOG, 'a') as f:
        #  f.write(message)

    # If we haven't received data (despite reading) in more than the timeout,
    # close and reopen.
    if (
        self.read_timeout and
        self.last_read - self.last_receipt > self.read_timeout):
      failure_message = (
          'Heartbeat not received in %.2f seconds (expected: %.2f) on %s' % (
              self.last_read - self.last_receipt, self.read_timeout, self.name))
      if self.error_pin:
        self.to_parent_q.put(('pin', (self.error_pin, True, failure_message)))
      self.Reopen(log_message=failure_message)
      return self.Read(format_string=format_string)

    if self.read_timeout and VERBOSE:
      Log('%s: last_read: %.1f; last_receipt: %.1f; '
          'delta: %.1f; read_timeout: %.1f' % (
              self.name, self.last_read, self.last_receipt,
              self.last_read - self.last_receipt, self.read_timeout))
    elif VERBOSE:




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




    ts = time.time() - self.start_time
    str_values = str(
        ['%7.2f' % v if isinstance(v, float) else str(v) for v in values])
    if self.connection_type == CONNECTION_FLAG_SIMULATED:
      with open(self.connection_tuple[1], 'a') as f:
        f.write('%10.3f: %s\n' % (ts, str_values))
      return

    if not format_string:
      format_string = self.write_format
    try:
      Write(self.link, values, format_string)
    except OSError as e:
      failure_message = 'Failed to write: %s' % e
      if self.error_pin:
        self.to_parent_q.put(('pin', (self.error_pin, True, failure_message)))
      self.Reopen(log_message=failure_message)
      self.Write(values)
    if LOG_SERIALS:
      message = '%10.3f SENT@%s: %s\n' % (ts, self.name, str_values)
      Log(message)
      #with open(SERIALS_LOG, 'a') as f:
      #  f.write(message)

  def HasReset(self):
    """Indicates exactly once whether serial has reset since last called."""
    if self.connection_type == CONNECTION_FLAG_SIMULATED:
      raise NotImplementedError('Not implemented for simulations')

    flag = self.reset_flag
    self.reset_flag = False
    return flag


def RunCommand(cmd, sleep_seconds=1, log=True):
  """Runs shell command, checking if it completed within timeout."""
  conn = subprocess.Popen(cmd, shell=True)
  time.sleep(sleep_seconds)
  conn.poll()

  if conn.returncode is None:
    Log('ERROR: %s did not complete within %d seconds'
        % (cmd, sleep_seconds))




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import random
import struct
import subprocess
import sys
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))

SN_REMOTE = '75835343130351802272'
REMOTE_CONNECTION = (CONNECTION_FLAG_BLUETOOTH, (1, '98:D3:91:FD:B3:C9', 1))

LASER_OFF = (False, False, False)




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




      format_string = self.read_format
    try:
      data = Read(self.link, format_string, bytes_read=bytes_read)

    # on OSError, record a disconnection and attempt to reconnect & re-read
    except OSError as e:
      failure_message = 'Failed to read from %s: %s' % (self.name, e)
      if self.error_pin:
        self.to_parent_q.put(('pin', (self.error_pin, True, failure_message)))
      self.Reopen(log_message=failure_message)
      return self.Read(format_string=format_string)

    self.last_read = time.time()
    if data:
      self.last_receipt = time.time()
      if LOG_SERIALS:
        ts = time.time() - self.start_time
        str_data = str(
            ['%7.2f' % d if isinstance(d, float) else str(d) for d in data])
        message = '%10.3f RECD@%s: %s\n' % (ts, self.name, str_data)

        with open(SERIALS_LOG, 'a') as f:
          f.write(message)

    # If we haven't received data (despite reading) in more than the timeout,
    # close and reopen.
    if (
        self.read_timeout and
        self.last_read - self.last_receipt > self.read_timeout):
      failure_message = (
          'Heartbeat not received in %.2f seconds (expected: %.2f) on %s' % (
              self.last_read - self.last_receipt, self.read_timeout, self.name))
      if self.error_pin:
        self.to_parent_q.put(('pin', (self.error_pin, True, failure_message)))
      self.Reopen(log_message=failure_message)
      return self.Read(format_string=format_string)

    if self.read_timeout and VERBOSE:
      Log('%s: last_read: %.1f; last_receipt: %.1f; '
          'delta: %.1f; read_timeout: %.1f' % (
              self.name, self.last_read, self.last_receipt,
              self.last_read - self.last_receipt, self.read_timeout))
    elif VERBOSE:




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




    ts = time.time() - self.start_time
    str_values = str(
        ['%7.2f' % v if isinstance(v, float) else str(v) for v in values])
    if self.connection_type == CONNECTION_FLAG_SIMULATED:
      with open(self.connection_tuple[1], 'a') as f:
        f.write('%10.3f: %s\n' % (ts, str_values))
      return

    if not format_string:
      format_string = self.write_format
    try:
      Write(self.link, values, format_string)
    except OSError as e:
      failure_message = 'Failed to write: %s' % e
      if self.error_pin:
        self.to_parent_q.put(('pin', (self.error_pin, True, failure_message)))
      self.Reopen(log_message=failure_message)
      self.Write(values)
    if LOG_SERIALS:
      message = '%10.3f SENT@%s: %s\n' % (ts, self.name, str_values)

      with open(SERIALS_LOG, 'a') as f:
        f.write(message)

  def HasReset(self):
    """Indicates exactly once whether serial has reset since last called."""
    if self.connection_type == CONNECTION_FLAG_SIMULATED:
      raise NotImplementedError('Not implemented for simulations')

    flag = self.reset_flag
    self.reset_flag = False
    return flag


def RunCommand(cmd, sleep_seconds=1, log=True):
  """Runs shell command, checking if it completed within timeout."""
  conn = subprocess.Popen(cmd, shell=True)
  time.sleep(sleep_seconds)
  conn.poll()

  if conn.returncode is None:
    Log('ERROR: %s did not complete within %d seconds'
        % (cmd, sleep_seconds))




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