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 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(5, Pin.OUT)
LED_NP = neopixel.NeoPixel(LED_DAT, 8)


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

def controlloop(last_start, next_action):
    if time.time() < last_start + 0.5:
        return last_start

    if next_action is None and time.time() > last_start + 1.000:
        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
    return time.time()


def mainloop(s):
    poller = select.poll()
    poller.register(s, select.POLLIN)

    last_action_start = 0
    ctr = 0

    next_action = None
    while True:
        # run one iteration of control loop
        last_action_start = controlloop(last_action_start, next_action)
        LED_NP[ctr % 8] = (ctr*3 % 255, ctr*2 % 255, (ctr+1)*3 % 255)
        
        # wait for up to 100ms
        res = poller.poll(100)
        if not res:
            next_action = None
            continue

        for x in res:
            print(x)
            if x[0] == s:
                print('Accepting connection')
                (y, origin_sockaddr) = s.accept()
                #y.write("\377\375\042\377\373\001Welcome!\nPress wasd to move!\n>")
                y.write("\255\254\34Welcome!\nPress wasd to move!\n>")
                #c.append(y)
                print(' Registering handler')
                poller.register(y, select.POLLIN)
            else:
                # some user socket
                user_s = x[0]
                if x[1] == select.POLLIN:
                    a = user_s.read(1)
                    print('Read character: ', a)
                    if a == b'w':
                        next_action = (1, 1)
                    elif a == b'a':
                        next_action = (0, 1)
                    elif a == b'd':
                        next_action = (1, 0)
                    elif a == b's':
                        next_action = (-1, -1)
                    elif a == b'':
                        print('EOF in ', x[0], ' Removing it.')
                        poller.unregister(x[0])
                        x[0].close()
                elif x[1] in [select.POLLHUP, select.POLLERR]:
                    print('Error in ', x[0], ' Removing it.')
                    poller.unregister(x[0])
                    #del c[x[0]]
                    x[0].close()
                
                        
        

mainloop(s)