###############################################################################
#
# The MIT License (MIT)
#
# Copyright (c) Crossbar.io Technologies GmbH
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
#
###############################################################################

import sys

from twisted.internet import reactor
from twisted.python import log
from twisted.web.server import Site
from twisted.web.static import File

from autobahn.twisted.websocket import WebSocketServerFactory, \
    WebSocketServerProtocol

from autobahn.twisted.resource import WebSocketResource

i = 0

def setServo(servoChannel, position):
    servoStr = str(servoChannel) + "=" + str(position) + "\n"
    with open("/dev/servoblaster", "wb") as f:
        f.write(bytes(servoStr, 'utf-8'))

class EchoServerProtocol(WebSocketServerProtocol):

    def onConnect(self, request):
        print("WebSocket connection request: {}".format(request))

    def onMessage(self, payload, isBinary):
        global i 
        i = i + 1        
        if isBinary:
            print("Binary message received: {0} bytes".format(len(payload)))
        else:
            print("Text message received: {0}".format(payload.decode('utf8')))
        string = " " + str(i)
        self.sendMessage(payload + bytes(string, 'utf-8'), isBinary)
        string = payload.decode('ASCII')
        setServo(0, int(string.split("/")[0]))
        setServo(1, int(string.split("/")[1]))


if __name__ == '__main__':

    log.startLogging(sys.stdout)

    factory = WebSocketServerFactory(u"ws://10.174.136.143:45684")
    factory.protocol = EchoServerProtocol

    resource = WebSocketResource(factory)

    # we server static files under "/" ..
    root = File(".")

    # and our WebSocket server under "/ws" (note that Twisted uses
    # bytes for URIs)
    root.putChild(b"ws", resource)

    # both under one Twisted Web Site
    site = Site(root)
    reactor.listenTCP(45684, site)

    reactor.run()