#! /usr/bin/env python
# -*- coding: utf-8 -*-
#
# Pybot server
#
# Copyright (c) 2012-2013 Alan Aguiar alanjas@hotmail.com
# Copyright (c) 2012-2013 Butiá Team butia@fing.edu.uy 
# Butia is a free and open robotic platform
# www.fing.edu.uy/inco/proyectos/butia
# Facultad de Ingeniería - Universidad de la República - Uruguay
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

import sys
import imp
import select
import socket
import usb4butia
import com_chotox

argv = sys.argv[:]

PYBOT_PORT = 2009
BUFSIZ = 1024
MAX_CLIENTS = 4

class Server():

    def __init__(self, debug=False, chotox=False):
        self.debug = debug
        self.run = True
        self.comms = imp.load_source('server_functions', 'server_functions.py')
        self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
        self.socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
        self.socket.bind(("", PYBOT_PORT))
        self.socket.listen(MAX_CLIENTS)
        self.clients = {}
        self.chotox_mode = chotox
        if self.chotox_mode:
            self.robot = com_chotox.Chotox(debug=self.debug)
        else:
            self.robot = usb4butia.USB4Butia(debug=self.debug)

    def init_server(self):

        inputs = [self.socket]

        while self.run:

            try:
                inputready,outputready,exceptready = select.select(inputs, [], [])
            except Exception, err:
                print 'Error in select', err
                break

            for s in inputready:
                if s == self.socket:
                    client, addr = self.socket.accept()
                    print 'New client: ', str(addr)
                    inputs.append(client)
                    self.clients[client] = addr
                else:
                    data = s.recv(BUFSIZ)
                    if data:
                        result = ''

                        r = data.replace('\r', '')
                        r = r.replace('\n', '')
                        r = r.split(' ')

                        if len(r) > 0:
                            com = r[0]
                            if hasattr(self.comms, com):
                                f = getattr(self.comms, com)
                                result = f(self, r)

                        result = str(result)
                        try:
                            s.send(result + '\n')
                        except:
                            print 'Send fails'

                    else:
                        s.close()
                        inputs.remove(s)
                        self.clients.pop(s)
                        
        print 'Closing server'
        self.socket.close()
        self.robot.close()

if __name__ == "__main__":
    chotox = 'chotox' in argv
    debug = 'DEBUG' in argv
    s = Server(debug, chotox)
    s.init_server()