import network
import time
import socket
import select
import neopixel
from machine import Pin

def do_connect(tries=0):
    if tries > 3:
        machine.reset()
    print('Trying to connect to Wifi')
    sta_if = network.WLAN(network.WLAN.IF_STA)
    sta_if.active(True)
    sta_if.disconnect()
    attempts = 0
    while True:
        attempts += 1
        print(' Scan: ', sta_if.scan())
        sta_if.connect("39C3-open", "")
        time.sleep(10)
        if not sta_if.isconnected():
            print(' Failed to connect. Sleeping 5s')
            sta_if.disconnect()
            time.sleep(5)
            if attempts > 3:
                sta_if.active(False)
                do_connect(tries+1)
        else:
            print(sta_if.ifconfig())
            return

def do_ap():
    ap_if = network.WLAN(network.WLAN.IF_AP)
    ap_if.active(True)
    ap_if.config(ssid='My AP123', channel=11, key='asdf1234')
    ap_if.ifconfig(('192.168.0.4', '255.255.255.0', '192.168.0.1', '8.8.8.8'))
    print(ap_if.config('ssid'))
    print(ap_if.config('channel'))
    print('AP ready.')
        

def setup_listener():
    addr = socket.getaddrinfo('0.0.0.0', 1337)[0][-1]
    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    s.bind(addr)
    s.listen(3)
    #s.setblocking(False)
    return s


MOTOR_A0 = Pin(0, Pin.OUT, drive=Pin.DRIVE_0)
MOTOR_A1 = Pin(1, Pin.OUT, drive=Pin.DRIVE_0)
MOTOR_B0 = Pin(2, Pin.OUT, drive=Pin.DRIVE_0)
MOTOR_B1 = Pin(3, Pin.OUT, drive=Pin.DRIVE_0)
LED_DAT = Pin(6, Pin.OUT, drive=Pin.DRIVE_3)
LED_NP = neopixel.NeoPixel(LED_DAT, 6, timing=1, bpp=4)


#do_connect()
do_ap()
s = setup_listener()
c = []

def controlloop(last_start, next_action):
    now = time.ticks_us()
    
    print('CTRL: ', last_start, next_action)
    if time.ticks_diff(now, time.ticks_add(last_start, 100000)) < 0:
       print(' DEADTIME -> ignore')
       return last_start

    if next_action is None and time.ticks_diff(time.ticks_add(last_start, 601000), now) > 0:
       print(' ACTION TIMED OUT -> stopping')
       next_action = (0,0)
    elif next_action is None:
       return last_start
    
    print('Starting action: ', next_action)
    
    if next_action[0] == 1:
        MOTOR_A0.on()
        MOTOR_A1.off()
    elif next_action[0] == -1:
        MOTOR_A0.off()
        MOTOR_A1.on()
    else:
        MOTOR_A0.off()
        MOTOR_A1.off()

    if next_action[1] == 1:
        MOTOR_B0.on()
        MOTOR_B1.off()
    elif next_action[1] == -1:
        MOTOR_B0.off()
        MOTOR_B1.on()
    else:
        MOTOR_B0.off()
        MOTOR_B1.off()

    # we just started new action
    if next_action != (0,0):
        return time.ticks_us()
    else:
        return last_start


def mainloop(l):
    print('Accepting connection')
    (y, origin_sockaddr) = s.accept()
    y.settimeout(0.1)
    y.write("\255\254\34Welcome!\nPress wasd to move!\n>")

    last_action_start = 0
    ctr = 0

    next_action = None

    last_pixel_update = 0

    for i in range(6):
        LED_NP[i] = (255,255,255, 255)
    LED_NP.write()
    time.sleep(1)
    
    while True:
        ctr += 1
        # run one iteration of control loop
        last_action_start = controlloop(last_action_start, next_action)
        if time.time() > last_pixel_update + 0.5:
            #LED_NP[ctr % 6] = (ctr*3 % 255, ctr*2 % 255, (ctr+1)*3 % 255)
            last_pixel_update = time.time()
            LED_NP.write()

        a = None
        try:
            a = y.read(1)
            print('RCV: ', a)
            y.write(a)
        except OSError:
            # timeout
            a = b'x'
        if a == b'':
            # EOF
            y.close()
            mainloop(l)
        elif a == b'w':
            next_action = (1, 1)
        elif a == b'a':
            next_action = (-1, 1)
        elif a == b'd':
            next_action = (1, -1)
        elif a == b's':
            next_action = (-1, -1)
        elif a in [b'\n', b'\r']:
            pass
        else:
            next_action = None
                
                        
        

mainloop(s)