#!/usr/bin/env python

# /* -*- indent-tabs-mode:t; tab-width: 8; c-basic-offset: 8 -*- */

# /*

# Copyright (c) 2014, Daniel M. Lofaro <dan (at) danLofaro (dot) com>

# All rights reserved.

#

# Redistribution and use in source and binary forms, with or without

# modification, are permitted provided that the following conditions are met:

# * Redistributions of source code must retain the above copyright

# notice, this list of conditions and the following disclaimer.

# * Redistributions in binary form must reproduce the above copyright

# notice, this list of conditions and the following disclaimer in the

# documentation and/or other materials provided with the distribution.

# * Neither the name of the author nor the names of its contributors may

# be used to endorse or promote products derived from this software

# without specific prior written permission.

#

# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND

# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

# DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,

# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT

# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR

# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF

# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE

# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF

# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

# */

import diff_drive

import ach

import sys

import time

from ctypes import *

import socket

import cv2.cv as cv

import cv2

import numpy as np

import actuator_sim as ser

#-----------------------------------------------------

#--------[ Do not edit above ]------------------------

#-----------------------------------------------------

# Add imports here

from robot_command import createCommandPacket

#-----------------------------------------------------

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#-----------------------------------------------------

dd = diff_drive

ref = dd.H_REF()

tim = dd.H_TIME()

ROBOT_DIFF_DRIVE_CHAN = 'robot-diff-drive'

ROBOT_CHAN_VIEW = 'robot-vid-chan'

ROBOT_TIME_CHAN = 'robot-time'

# CV setup

r = ach.Channel(ROBOT_DIFF_DRIVE_CHAN)

r.flush()

t = ach.Channel(ROBOT_TIME_CHAN)

t.flush()

i=0

print '======================================'

print '============= Robot-View ============='

print '========== Daniel M. Lofaro =========='

print '========= dan@danLofaro.com =========='

print '======================================'

ref.ref[0] = 0

ref.ref[1] = 0

while True:

[status, framesize] = t.get(tim, wait=False, last=True)

if status == ach.ACH_OK or status == ach.ACH_MISSED_FRAME or status == ach.ACH_STALE_FRAMES:

pass

#print 'Sim Time = ', tim.sim[0]

else:

raise ach.AchException( v.result_string(status) )

#-----------------------------------------------------

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#-----------------------------------------------------

# Main Loop

# Def:

# tim.sim[0] = Sim Time

print 'Sim Time = ', tim.sim[0]

prev_tim = tim.sim[0]

# Sleeps

#time.sleep(0.1)

buff = createCommandPacket(0x00, 4, 0x20, [0xFF, 0x05])

ref = ser.serial_sim(r,ref,buff)

buff = createCommandPacket(0x01, 4, 0x20, [0xFF, 0x01])

ref = ser.serial_sim(r,ref,buff)

while tim.sim[0] < prev_tim + 0.05:

time.sleep(0.001)

[status, framesize] = t.get(tim, wait=False, last=True)

if status == ach.ACH_OK or status == ach.ACH_MISSED_FRAME or status == ach.ACH_STALE_FRAMES:

pass

#print 'Sim Time = ', tim.sim[0]

else:

raise ach.AchException( v.result_string(status) )

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#-----------------------------------------------------