#!/usr/bin/env python
# -*- coding: utf-8 -*-

from tornado.ioloop import IOLoop, PeriodicCallback
from tornado import gen
from tornado.websocket import websocket_connect
import edcoRobot03
from threading import Thread, Lock
import multiprocessing

mutex = Lock()

class Client(object):
	
	def __init__(self, url, timeout):
		self.url = url
		self.timeout = timeout
		self.ioloop = IOLoop.instance()
		self.ws = None
		self.nCmpt = 0
		self.robot = edcoRobot03.EdcoRobot()
		self.connect()
		PeriodicCallback(self.keep_alive, 200).start()
		self.ioloop.start()

	@gen.coroutine
	def connect(self):
		print ("trying to connect Client")
		try:
			self.ws = yield websocket_connect(self.url)
		except Exception as e:
			print ("connection error")
		else:
			print ("connected Client")
			self.run()

	@gen.coroutine
	def run(self):
		while True:
			msg = yield self.ws.read_message()
			# print ("%s"%msg)
			if msg is None:
				print ("connection Client closed")
				self.ws = None
				break

	def keep_alive(self):
		# self.nCmpt = self.nCmpt+1
		if self.ws is None:
			self.connect()
			print("He arribat aquí")
		else:
			mutex.acquire()
			sensorsJS = self.robot.vSensors()
			self.ws.write_message(sensorsJS)
			mutex.release()


class ClientMotion(object):
	
	def __init__(self, url, timeout):
		self.url = url
		self.timeout = timeout
		self.ioloop = IOLoop.instance()
		self.ws = None
		self.nCmpt = 0
		self.robot = edcoRobot03.EdcoRobot()
		self.connect()
		# PeriodicCallback(self.keep_alive, 200).start()
		self.ioloop.start()

	@gen.coroutine
	def connect(self):
		print ("trying to connect ClientMotion")
		try:
			self.ws = yield websocket_connect(self.url)
		except Exception as e:
			print ("connection error")
		else:
			print ("connected ClientMotion")
			self.run()

	@gen.coroutine
	def run(self):
		while True:
			msg = yield self.ws.read_message()
			# print ("%s"%msg)
			# {"left":0,"right":0}
			self.szLeft,self.szRight = msg.split(',')
			self.nLeft = int(self.szLeft[8:])
			self.nRight = int(self.szRight[8:-1])
			print("left: %d" % self.nLeft)
			print("right: %d" % self.nRight)		
			"""		
			print("left: %s" % self.szLeft[8:])
			print("right: %s" % self.szRight[8:-1])		
			"""	
			mutex.acquire()
			self.robot.vMotion(self.nLeft,self.nRight)
			mutex.release()		
			if msg is None:
				print ("connection ClientMotion closed")
				self.ws = None
				break

	def keep_alive(self):
		# self.nCmpt = self.nCmpt+1
		if self.ws is None:
			self.connect()
			print("He arribat aquí")
		else:
			pass


def startClient():
	global client

	PORT = 8800
	client = Client("ws://localhost:8800/robot01/", 5)
	print ("serving at port %d"% PORT)

def startClientMotion():
	global clientMotion

	PORT = 8800
	clientMotion = ClientMotion("ws://localhost:8800/motion/", 5)
	print ("serving at port %d"% PORT)

if __name__ == "__main__":
	try:
		p1 = multiprocessing.Process(name='p1', target=startClient)
		p = multiprocessing.Process(name='p', target=startClientMotion)
		p1.start()
		p.start()
	except KeyboardInterrupt:
		p1.join()
		p.join()
		print ("\nSortint ...")
		clientMotion.robot.pwmBR.stop()
		clientMotion.robot.pwmBL.stop()
		clientMotion.robot.pwmFR.stop()
		clientMotion.robot.pwmFL.stop()