import serial
from time import sleep
import thread


class SCOM:
    com0 = "/dev/ttyUSB0"
    com1 = "/dev/ttyUSB1"
    tick = 460800

    def __init__(self):
        self.ser = None
        self.findConnected()

    def findConnected(self):
        while 1:
            if self.initSerial(self.com0):
                break
            else:
                if self.initSerial(self.com1):
                    break
            sleep(0.5)

    def initSerial(self, com):
        try:
            self.ser = serial.Serial(com, self.tick)
            print 'connected to', com
            return True
        except:
            print 'error connecting to', com
            return None

    def getSerial(self):
        return self.ser


def command_is_ok(command):
    if len(command) > 0:
        if str(command[0]).isalpha():
            if str(command[1:len(command)]).isdigit():
                return True
    return False


class LoopSender:
    def __init__(self, ser):
        self.done = True
        self.loop = False
        self.ser = ser

    def command_thread_loop(self, command):
        self.done = False
        print 'start loop', command
        while self.loop:
            try:
                self.ser.write(command)
                sleep(0.2)
            except:
                pass
                # self.ser.readline()
        print 'loop closed', command
        self.done = True

    def send_command(self, command):
        self.loop = False
        while not self.done:
            pass  # wait until thread finished
        print 'done'
        self.loop = True
        print 'start'
        thread.start_new_thread(self.command_thread_loop, (command,))
        sleep(0.2)


def rawCommand(loopSender, command):
    if command_is_ok(command):
        # send command
        print 'command accepted'
        command += 'c'
        loopSender.send_command(command)
    else:
        print 'wrong command'


def main_loop():
    scom = SCOM()
    ser = scom.getSerial()
    loopSender = LoopSender(ser)

    while 1:
        print '1. up'
        print '2. down'
        print '3. keep height'
        print '4. stop'
        print '5. custom'

        print '+. tighten'
        print '-. release'

        selection = raw_input('selection: ')
        if selection == '1':
            rawCommand(loopSender, 'p1000')
        elif selection == '2':
            rawCommand(loopSender, 'o500')
        elif selection == '3':
            height = raw_input('height: ')
            rawCommand(loopSender, 'm'+str(height))
        elif selection == '4':
            rawCommand(loopSender, 'q0')
        elif selection == '5':
            command = raw_input('command: ')
            rawCommand(loopSender, command)
        elif selection == '+':
            rawCommand(loopSender, 'w0')
        elif selection == '-':
            rawCommand(loopSender, 's0')
        else:
            print 'wrong selection'




if __name__ == '__main__':
    while 1:
        try:
            main_loop()
        except Exception as e:
            print e
            print 'fatal error, full reset'