#!/usr/bin/python
#UDP listener

import signal,sys

def signal_handler(signal, frame):
        insock.close()
        print "wim: tomorrowtheground: interrupted"
        sys.exit(0)
        
signal.signal(signal.SIGINT, signal_handler)

from latLng import *
from layers import *
from xml2obj import *


if len(sys.argv)<2:
	print "wim: usage: tomorrowtheground configfile [-D] (debug)][-T] (test)]"

debug=False
test=False
if len(sys.argv)>2:
	if sys.argv[2]=="-D" or sys.argv[2]=="-d":
		debug=True
		print "wim: DEBUG mode"
if len(sys.argv)>3:
	if sys.argv[3]=="-T" or sys.argv[3]=="-t":
		test=True
		print "wim: gps TEST mode"
	
doc=xml2obj(open(sys.argv[1]))
gpslayers=[]

#catch invalid xml
try:
	for i in doc.gps.index:
		#catch invalid xml
		try:
			g=indexlayer(i.file,i.ll1,i.ll2)
			for t in i.trigger:
				g.triggers.append(trigger(int(t.id),t.command,t.param))
			gpslayers.append(g)
		except:
			print "wim: error parsing xml index entry"
except:
	print "wim: no index layers found"

#catch invalid xml
try:		
	for i in doc.gps.scale:
		#catch invalid xml
		try:
			g=scalelayer(i.file,i.ll1,i.ll2)
			g.setcommand(i.command)
			gpslayers.append(g)
		except:
			print "wim: error parsing xml index entry"
except:
	print "wim: no scale layers found"
		
from gpspoller import *
gpsp=""

try:
	gpsp = GpsPoller(doc.gpsdevice,test)
	gpsp.start()
except:
	print "wim: gps device not found"
	
from btscan import *

scan=scanner("127.0.0.1",5401,False)
for t in doc.bt.trigger:
	scan.d.dm.triggers[t.id]=(t.command,t.param)
scan.start()


import socket

GUI_IP="0.0.0.0"
GUI_PORT=5400
insock = socket.socket( socket.AF_INET, socket.SOCK_DGRAM ) 
insock.bind( (GUI_IP,GUI_PORT) )
insock.settimeout(0.01) #non blocking, this sets the frame rate of checking
PD_IP="127.0.0.1"
PD_PORT=5401
outsock = socket.socket( socket.AF_INET,socket.SOCK_DGRAM )

pos=latLng()
posChanged=False

gpsfix=False

while True:
	data=""
	try:
		data, addr = insock.recvfrom(128)
		if debug==True:
			print "wim: received:",data
		pos.parse(data)
		posChanged=True
	except:
		nothing=None
	
	if gpsp!="": #gps available
		if gpsp.fix>1:
				gpsfix=True
				outsock.sendto( "gps status 1\n", (PD_IP, PD_PORT) )
		if gpsp.fix<2:
				gpsfix=False
				outsock.sendto( "gps status 0\n", (PD_IP, PD_PORT) )
		check=gpsp.check()
		if check!=False:
			if debug==True:
				print "wim: received from gps",check[0],check[1]
			outsock.sendto("gps data "+str(check[0])+" "+str(check[1])+"\n",(PD_IP, PD_PORT) )
			pos=latLng(check[0],check[1])
			posChanged=True
	if posChanged:
		posChanged=False
		for layer in gpslayers:
			r=layer.checkcoord(pos) #returns a message or None
			if r!=None:
				if debug==True:
					print "wim: sending:",str(r[0]),str(r[1])
				#pd needs \n at end of message
				outsock.sendto( str(r[0])+' '+str(r[1])+'\n', (PD_IP, PD_PORT) )
	time.sleep(0.01)