#!/usr/bin/python3

import serial
import serial.tools.list_ports
import time
import datetime
import socket 
import socketserver

def log(msg):
    print("[" + str(datetime.datetime.now()) + "] " + msg)

class Ardvindo:

    def __init__(self, comPort):
        self.comPort = comPort
        self.comConnection = None
        self.connect()

    def connected(self):
        return self.comConnection != None and self.ping()

    def reconnect(self):
        while True:
            if self.comConnection != None:
                self.comConnection.close()
            self.comConnection = serial.Serial(self.comPort, 9600, timeout = 0.5)
            # establishing an serial connection automatically resets the arduino
            # wait for arduino to restart
            time.sleep(4)
            if self._readline() == "ardvindo started":
                log("Connection established!")
                break
            else:
                log("Failed to connect!")

    def connect(self):
        if not self.connected():
            self.reconnect()   

    def ping(self):
        return self.sendCommand("i") == "ardvindo"

    def _readline(self):
        line = self.comConnection.readline().decode().strip()
        log("Received '" + line + "' !")
        return line

    def sendCommand(self, cmd):
        log("Sending command '" + cmd + "' ...")
        self.comConnection.write((cmd + "\n").encode())
        return self._readline()

ardvindo = Ardvindo(serial.tools.list_ports.comports()[0][0])

class ServerRequestHandler(socketserver.BaseRequestHandler):
    
    def handle(self):
        data = self.request[0].decode().strip()
        ardvindo.sendCommand(data)

server = socketserver.UDPServer(('', 61291), ServerRequestHandler)
log("Server is started!")

log("Waiting for commands... ")
server.serve_forever()