#!/usr/bin/env python3

import sys
import signal
import tornado
import argparse
import datetime

from pkg_resources import Requirement, resource_filename

from bbctrl.RequestHandler import RequestHandler
from bbctrl.APIHandler import APIHandler
from bbctrl.FileHandler import FileHandler
from bbctrl.Config import Config
from bbctrl.Mach import Mach
from bbctrl.Web import Web
from bbctrl.Jog import Jog
from bbctrl.Ctrl import Ctrl
from bbctrl.Pwr import Pwr
from bbctrl.I2C import I2C
from bbctrl.Planner import Planner
from bbctrl.Preplanner import Preplanner
from bbctrl.State import State
from bbctrl.Comm import Comm
from bbctrl.CommandQueue import CommandQueue
from bbctrl.Camera import Camera, VideoHandler
from bbctrl.AVR import AVR
from bbctrl.IOLoop import IOLoop
from bbctrl.MonitorTemp import MonitorTemp
import bbctrl.Cmd as Cmd
import bbctrl.v4l2 as v4l2
import bbctrl.Log as log


ctrl = None


def get_resource(path):
    return resource_filename(Requirement.parse('bbctrl'), 'bbctrl/' + path)


def on_exit(sig=0, func=None):
    global ctrl

    print('Exit handler triggered: signal = %d', sig)

    if ctrl is not None:
        ctrl.close()
        ctrl = None

    sys.exit(0)


def time_str():
    return datetime.datetime.now().strftime('%Y%m%d-%H:%M:%S')


def parse_args():
    parser = argparse.ArgumentParser(
        description='Buildbotics Machine Controller')

    parser.add_argument('-p', '--port', default=80,
                        type=int, help='HTTP port')
    parser.add_argument('-a', '--addr', metavar='IP', default='0.0.0.0',
                        help='HTTP address to bind')
    parser.add_argument('-s', '--serial', default='/dev/ttyAMA0',
                        help='Serial device')
    parser.add_argument('-b', '--baud', default=230400, type=int,
                        help='Serial baud rate')
    parser.add_argument('--i2c-port', default=1, type=int,
                        help='I2C port')
    parser.add_argument('--avr-addr', default=0x2b, type=int,
                        help='AVR I2C address')
    parser.add_argument('--pwr-addr', default=0x60, type=int,
                        help='Power AVR I2C address')
    parser.add_argument('-v', '--verbose', action='store_true',
                        help='Verbose output')
    parser.add_argument('-l', '--log', metavar="FILE",
                        help='Set a log file')
    parser.add_argument('--disable-camera', action='store_true',
                        help='Disable the camera')
    parser.add_argument('--width', default=640, type=int,
                        help='Camera width')
    parser.add_argument('--height', default=480, type=int,
                        help='Camera height')
    parser.add_argument('--fps', default=15, type=int,
                        help='Camera frames per second')
    parser.add_argument('--camera-clients', default=4,
                        help='Maximum simultaneous camera clients')
    parser.add_argument('--demo', action='store_true',
                        help='Enter demo mode')
    parser.add_argument('--debug', default=0, type=int,
                        help='Enable debug mode and set frequency in seconds')
    parser.add_argument('--fast-emu', action='store_true',
                        help='Enter demo mode')
    parser.add_argument('--client-timeout', default=5 * 60, type=int,
                        help='Demo client timeout in seconds')

    return parser.parse_args()


def run():
    global ctrl

    args = parse_args()

    # Set signal handler
    signal.signal(signal.SIGTERM, on_exit)

    # Create ioloop
    ioloop = tornado.ioloop.IOLoop.current()

    # Start server
    web = Web(args, ioloop)

    try:
        ioloop.start()

    except KeyboardInterrupt:
        on_exit()


if __name__ == '__main__':
    run()