#! /usr/bin/env python

import os,sys,termios,atexit
import serial
from select import select
import cmd
#import pylab
from  matplotlib import pylab
from math import *

import struct
import numpy
import shlex
import time
import math
import warnings
warnings.filterwarnings("ignore","tempnam",RuntimeWarning, __name__)

import logging
log = logging.getLogger("XbeeShell")
_handler = logging.StreamHandler()
_handler.setFormatter(logging.Formatter("%(levelname)s: %(message)s"))
log.addHandler(_handler)
log.setLevel(1)

class SerialLogger:
    def __init__(self, ser, filein, fileout=None):
        self.ser = ser
        self.filein = filein
        self.fin = open(filein, "a", 0)
        if fileout:
            self.fileout = fileout
            self.fout = open(fileout, "a", 0)
        else:
            self.fileout = filein
            self.fout = self.fin
    def fileno(self):
        return self.ser.fileno()
    def read(self, *args):
        res = self.ser.read(*args)
        self.fin.write(res)
        return res
    def write(self, s):
        self.fout.write(s)
        self.ser.write(s)
    def readline(self, *args):
        res = self.ser.readline(*args)
        self.fin.write(res)
        return res

class Interp(cmd.Cmd):
    prompt = "Xbee> "
    def __init__(self, tty, baudrate=57600):
        cmd.Cmd.__init__(self)
        self.ser = serial.Serial(tty,baudrate=baudrate,timeout=0.1)
        self.escape  = "\x01" # C-a
        self.quitraw = "\x02" # C-b
        self.serial_logging = False
        self.default_in_log_file = "/tmp/xbee.in.log"
        self.default_out_log_file = "/tmp/xbee.out.log"

    def do_log(self, args):
        """Activate serial logs.
        log <filename>           logs input and output to <filename>
        log <filein> <fileout>   logs input to <filein> and output to <fileout>
        log                      logs to /tmp/microb.log or the last used file"""

        if self.serial_logging:
            log.error("Already logging to %s and %s" % (self.ser.filein,
                                                        self.ser.fileout))
        else:
            self.serial_logging = True
            files = [os.path.expanduser(x) for x in args.split()]
            if len(files) == 0:
                files = [self.default_in_log_file, self.default_out_log_file]
            elif len(files) == 1:
                self.default_in_log_file = files[0]
                self.default_out_log_file = None
            elif len(files) == 2:
                self.default_in_log_file = files[0]
                self.default_out_log_file = files[1]
            else:
                print "Can't parse arguments"

            self.ser = SerialLogger(self.ser, *files)
            log.info("Starting serial logging to %s and %s" % (self.ser.filein,
                                                               self.ser.fileout))


    def do_unlog(self, args):
        if self.serial_logging:
            log.info("Stopping serial logging to %s and %s" % (self.ser.filein,
                                                               self.ser.fileout))
            self.ser = self.ser.ser
            self.serial_logging = False
        else:
            log.error("No log to stop")

    def do_raw(self, args):
        "Switch to RAW mode"
        stdin = os.open("/dev/stdin",os.O_RDONLY)
        stdout = os.open("/dev/stdout",os.O_WRONLY)

        stdin_termios = termios.tcgetattr(stdin)
        raw_termios = stdin_termios[:]

        try:
            log.info("Switching to RAW mode")

            # iflag
            raw_termios[0] &= ~(termios.IGNBRK | termios.BRKINT |
                                termios.PARMRK | termios.ISTRIP |
                                termios.INLCR | termios.IGNCR |
                                termios.ICRNL | termios.IXON)
            # oflag
            raw_termios[1] &= ~termios.OPOST;
            # cflag
            raw_termios[2] &= ~(termios.CSIZE | termios.PARENB);
            raw_termios[2] |= termios.CS8;
            # lflag
            raw_termios[3] &= ~(termios.ECHO | termios.ECHONL |
                                termios.ICANON | termios.ISIG |
                                termios.IEXTEN);

            termios.tcsetattr(stdin, termios.TCSADRAIN, raw_termios)

            mode = "normal"
            while True:
                ins,outs,errs=select([stdin,self.ser],[],[])
                for x in ins:
                    if x == stdin:
                        c = os.read(stdin,1)
                        if mode  == "escape":
                            mode =="normal"
                            if c == self.escape:
                                self.ser.write(self.escape)
                            elif c == self.quitraw:
                                return
                            else:
                                self.ser.write(self.escape)
                                self.ser.write(c)
                        else:
                            if c == self.escape:
                                mode = "escape"
                            else:
                                self.ser.write(c)
                    elif x == self.ser:
                        os.write(stdout,self.ser.read())
        finally:
            termios.tcsetattr(stdin, termios.TCSADRAIN, stdin_termios)
            log.info("Back to normal mode")

    def do_dump_stats(self, args):
        """send hello at power 4 and dump stats regulary"""

        self.ser.write("write power-level 4\n")
        prev_reset = time.time()
        try:
            while True:
                # send hellos during 1 s
                self.ser.write("rc_proto_hello wing 30 30 tototiti\n")
                time.sleep(1.5)

                # send a reset every 60 s
                t = time.time()
                if t - prev_reset > 60:
                    self.ser.write("write soft-reset\n")
                    prev_reset = t

                # display time & stats
                self.ser.fin.write("\nTIME:%s\n"%(time.time()))
                self.ser.write("rc_proto_stats show\n")
                while True:
                    l = self.ser.readline()
                    sys.stdout.write(l)
                    if l == "":
                        break
        except KeyboardInterrupt:
            pass


if __name__ == "__main__":
    try:
        import readline,atexit
    except ImportError:
        pass
    else:
        histfile = os.path.join(os.environ["HOME"], ".xbee")
        atexit.register(readline.write_history_file, histfile)
        try:
            readline.read_history_file(histfile)
        except IOError:
            pass

    device = "/dev/ttyS0"
    if len(sys.argv) > 1:
        device = sys.argv[1]
    interp = Interp(device)
    interp.do_log("")
    while 1:
        try:
            interp.cmdloop()
        except KeyboardInterrupt:
            print
        except Exception,e:
            l = str(e).strip()
            if l:
                log.exception("%s" % l.splitlines()[-1])
            continue
        break