urweb/src/main/java/at/acdp/urweb/URBot.java

package at.acdp.urweb;

import at.acdp.urweb.sclient.data.MasterBoardData;
import at.acdp.urweb.sclient.data.RobotProgramLabel;
import at.acdp.urweb.sclient.data.ScReadThread;
import okhttp3.*;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;

import java.util.Optional;
import java.util.concurrent.BlockingQueue;
import java.util.concurrent.LinkedBlockingQueue;
import java.util.concurrent.Semaphore;
import java.util.concurrent.atomic.AtomicInteger;

public class URBot {
    private static final Logger log = LoggerFactory.getLogger(URBot.class);
    private static final MediaType MEDIA_TYPE_JSON
            = MediaType.get("application/json; charset=utf-8");
    private ScReadThread sc;
    private BlockingQueue<RobotCommand> cmdq = new LinkedBlockingQueue<>();
    private AtomicInteger nextID = new AtomicInteger(1);
    private Semaphore cmdDoneSem = new Semaphore(0);
    private RobotProgramLabel currentAck;
    private Optional<RobotCommand> runningScript = Optional.empty();

    public URBot(String ip, int port) {
        sc = new ScReadThread(ip, port, this);
    }

    public synchronized void ackNumber(RobotProgramLabel rpl) {
        this.currentAck = rpl;
        cmdDoneSem.release();
    }

    public void start() {
        Thread readThread = new Thread(sc);
        readThread.start();
        Thread queueThread = new Thread(() -> {
            try {
                while (true) {
                    runningScript = Optional.of(cmdq.take());
                    var rs = runningScript.get();
                    sc.writeCmd(rs);
                    cmdDoneSem.acquire();
                    while (true) {
                        if (currentAck.id == rs.id && currentAck.message.equals("URWEB_END")) {
                            if (rs.cpeeCallback != null) {
                                ackCPEE(rs);
                            }
                            runningScript = Optional.empty();
                            break;
                        }
                    }
                }
            } catch (InterruptedException e) {
                e.printStackTrace();
            }
        });
        queueThread.start();
    }

    private void write(RobotCommand rc) {
        String[] lines = rc.cmd.split("[\\r\\n]+");
        String res = "";
        for (String line : lines) {
            line = line.trim();
            if (line.startsWith("//"))
                continue;
            if (line.startsWith("#"))
                continue;
            if (!line.endsWith("\n"))
                line += "\n";
            res += line;
        }
        if (!res.endsWith("\n"))
            res += "\n";
        res = res.trim();
        int id = nextID.getAndIncrement();
        if (res.endsWith("end")) {
            res = res.substring(0, res.length() - 3);
            res += String.format("$ %s \"URWEB_END\"\nend\n", id);
        }
        try {
            rc.id = id;
            // rc.cmd = String.format("def urweb():\n%s\n$ %s \"URWEB_END\"\nend\n", res, id);
            rc.cmd = res;
            this.cmdq.put(rc);
        } catch (InterruptedException e) {
            Thread.currentThread().interrupt();
        }
    }

    private void ackCPEE(RobotCommand r) {
        try {
            OkHttpClient client = new OkHttpClient();
            Request request = new Request.Builder()
                    .url(r.cpeeCallback + "/")
                    .put(RequestBody.create(MEDIA_TYPE_JSON, "[{}]"))
                    .build();
            log.info("putting to {}", r.cpeeCallback);
            Response res = client.newCall(request).execute();
            log.info("result {}", res.toString());
            r.cpeeCallbackResult = res.body().string();
            r.cpeeCallbackCode = res.code();
            r.cpeeCallbackMessage = res.message();
        } catch (Exception e) {
            log.warn("cpee callback failed", e);
            r.cpeeCallbackError = e.getMessage();
        }
    }

    private void sendStringCmd(String cmd) {
        sc.writeCmd(new RobotCommand(nextID.getAndIncrement(), cmd));
    }

    public void sendFreedrive(int timeout) {
        sendStringCmd(String.format("def myProg():\n\tfreedrive_mode()\n\tsleep(%d)\nend", timeout));
    }

    public void sendMessage(String message) {
        sendStringCmd(String.format("textmsg(%s)", message));
    }

    public void setDigital(int which, boolean val) {
        sendStringCmd(String.format("digital_out[%d]=%s", which, val ? "True" : "False"));
    }

    public boolean getDigital(int which) {
        MasterBoardData mb = sc.getRde().getLastMB();
        return ((mb.digitalOutputBits & (1 << which)) > 0);
    }

    public void sendCmd(RobotCommand cmd) {
        write(cmd);
    }

    public BlockingQueue<RobotCommand> getCmdq() {
        return cmdq;
    }

    public Optional<RobotCommand> getRunningScript() {
        return runningScript;
    }
}