#author("2024-03-07T18:34:55+09:00","default:Real2Virtual202111","Real2Virtual202111")
#author("2024-08-15T07:19:39+09:00","default:TESLA202407","TESLA202407")
[[pi_arduino_uart_ex01.py]]

#code(Python){{
# -*- coding:utf-8 -*-
# takashi yamanoue, fukuyama university, 2024/2/27
# 20230503
#
from tkinter import *
import tkinter as tk
from tkinter import scrolledtext
import serial
import threading
from tkinter.ttk import Scale
from tkinter import colorchooser,filedialog,messagebox
import time
import math
import sys
import requests
import os
import socket
from collections import deque
import subprocess
import copy
import re
import ipget
#import ipget
import netifaces
import queue
 
class Remote_Command_Reader:
    sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    HOST = 'localhost'
    PORT = 9998
    def __init__(self,pd):
        print("start Remote_Command_Reader.__init__")
        self.gui=pd
        print(self.gui)
        self.gui.set_Remote_Command_Reader(self)
        self.my_address='localhost'
        self.get_my_address()
 
    def python2fwbln(self,py2x_message):
      msg=py2x_message+'\n'
      self.sock.sendall(msg.encode('utf-8'))
      
    def python2fwb(self,py2x_message):
      msg=py2x_message
      self.sock.sendall(msg.encode('utf-8'))
 
    def get_my_address(self):
        self.my_address = socket.gethostbyname(socket.gethostname())
        #ipx=ipget.ipget()
        #self.my_address=ipx.ipaddr("wlan0")
        return self.my_address
 
    def parse(self,line):
      #self.python2fwb(">"+line)
      self.gui.parse_command(line)
 
    def returnFileList(self):
        cpath=os.getcwd()
        os.chdir("/home/pi/Pictures")
        filenames = [f.name for f in os.scandir()]
        filenames.sort()
        for fn in filenames:
            self.python2fwbln(fn)
        os.chdir(cpath)
    def shutdown(self):
        os.system("sudo shutdown -h now")
      
    def client_start(self,addr):
      """クライアントのスタート"""
      """繧ｯ繝ｩ繧､繧｢繝ｳ繝医・繧ｹ繧ｿ繝ｼ繝・""
      try:
          self.sock.connect((addr, self.PORT))
          print("pi_arduino_uart_ex01.py connected to the server")
      except Exception as e:
          msg1="connect error, addr="+addr+" port="+str(self.PORT)
          print(msg1)
          self.gui.write_message(msg1)
          tb=sys.exec_info()[2]
          msg2="[message]{0}".format(e.with_traceback(tb))
          print(msg2)
          self.gui.write_message(msg2)
          return
      addr=self.sock.getsockname()[0]
      print("connect, addr="+addr)
      handle_thread = threading.Thread(target=self.handler, args=(self.sock,), daemon=True)
      handle_thread.start()
 
    def return_message(self,x):
        self.sock.send((x+'\n').encode('utf-8'))
 
    def handler(self,sock):
      """サーバからメッセージを受信し、表示する"""
      """繧ｵ繝ｼ繝舌°繧峨Γ繝・そ繝ｼ繧ｸ繧貞女菫｡縺励€∬｡ｨ遉ｺ縺吶ｋ"""
      print("start handler from pic_ex04.py")
      sf=sock.makefile()
      while True:
          data=b''
          #data=b''
          #data=sock.recv(1024)
          #try:
          #    data = sock.recv(1024)
          #except Exception as e:
          #    tb=sys.exec_info()[2]
          #    msg2="message]{0}".format(e.with_traceback(tb))
          #    print(msg2)
          #    self.gui.write_message(msg2)
          try:
              data = sock.recv(1024)
              #print("[client-recvﾂ｡]{}".format(data.decode("utf-8")))
              #received=data.decode("utf-8")
              #lines=received.splitlines()
              #for line in lines:
              line=sf.readline()
              self.parse(line)
          except Exception as e:
              tb=sys.exec_info()[2]
              msg2="message]{0}".format(e.with_traceback(tb))
              print(msg2)
              self.gui.write_message(msg2)
          try:
              #print("[client-recv¡]{}".format(data.decode("utf-8")))
              received=data.decode("utf-8")
              lines=received.splitlines()
              for line in lines:
                  self.parse(line)
          except Exception as e:
              tb=sys.exec_info()[2]
              msg2="message]{0}".format(e.with_traceback(tb))
              print(msg2)
              self.gui.write_message(msg2)
 
class App:
    arduino_queue=queue.Queue()
    gui_queue=queue.Queue()
    init_distance=50.0
    allowance_0=4.0
    allowance_1=10.0
    allowance_2=50.0
    waiting=False
    waiting_lock=threading.Lock()
    def __init__(self,master):
        self.root=root
        self.root.title("command panel")
        self.root.configure(background="white")
        self.root.geometry("850x600")
        self.server_label=Label(self.root, text='server addr')
        self.server_label.place(x=10,y=10)
        self.server_field=Entry(self.root, width=40)
        self.server_field.place(x=100,y=10)
        self.id_label=Label(self.root, text='id')
        self.id_label.place(x=10,y=40)
        self.id_field=Entry(self.root, width=40)
        self.id_field.place(x=100,y=40)
        #self.address_field=Entry(self.root, width=40)
        #self.address_field.place(x=100,y=10)
        self.command_label=Label(self.root, text='command')
        self.command_label.place(x=10,y=60)
        self.command_field=Entry(self.root, width=70)
        self.command_field.place(x=100,y=60)
        self.parse_command_button=Button(self.root, text='parse',bd=1,bg='white',
                                command=self.click_command_button,width=8, relief=RIDGE)
        self.parse_command_button.place(x=700,y=50)
        
        self.arduino_command_label=Label(self.root, text='arduino')
        self.arduino_command_label.place(x=10,y=90)
        self.arduino_command_field=Entry(self.root, width=70)
        self.arduino_command_field.place(x=100,y=90)
        self.arduino_send_button=Button(self.root, text='send',bd=1,bg='white',
                                command=self.arduino_click_button,width=8, relief=RIDGE)
        self.arduino_send_button.place(x=700,y=85)
 
        self.message_frame=tk.Frame(self.root,width=100, height=30)
        self.message_frame.place(x=30,y=120)
        self.message_area=scrolledtext.ScrolledText(self.message_frame)
        self.message_area.pack()
        self.message_line=0
 
        self.message_clear_button=Button(self.root, text='clear',bd=1,bg='white',
                                command=self.click_message_clear,width=8, relief=RIDGE)
        self.message_clear_button.place(x=700,y=120)
 
        self.id_field.delete(0,END)
        self.id_field.insert(END,'')
        
        self.serial=serial.Serial('/dev/ttyACM0',115200)
        self.serial.flush()
        thread=threading.Thread(target=self.read_loop,args=[],name='thread1')
        ipx=ipget.ipget()
        self.send_arduino("show \""+str(ipx.ipaddr('wlan0'))+"\"")
        self.send_arduino("show \""+str(ipx.ipaddr('eth0'))+"\"")
        #ipx=ipget.ipget()
        #self.send_arduino("show \""+str(ipx.ipaddr('wlan0'))+"\"")
        #self.send_arduino("show \""+str(ipx.ipaddr('eth0'))+"\"")
        interface_data=netifaces.ifaddresses('eth0')
        ip_v4=interface_data[netifaces.AF_INET][0]['addr']
        self.send_arduino("show  \""+str(ip_v4)+"\"")
        thread.start()
        gui_thread=threading.Thread(target=self.gui_access_loop,args=[],name='gui_thread')
        gui_thread.start()
 
# Functions are defined here
    def set_Remote_Command_Reader(self,reader):
        self.reader=reader
 
    def set_tcp_server_address(self,address):
        self.server_field.delete(0,END)
        self.server_field.insert(END,address)
 
    def connect(self):
        server=self.server_field.get()
        self.reader.client_start(server)
        
    def shutdown(self):
        os.system("sudo shutdown -h now")
 
    def write_message(self,message):
        #self.message_area.insert(tk.END,message)
        #self.message_area.insert(tk.END,'\n')
        self.gui_queue.put('message '+message)
 
    def send_arduino(self,message):
        self.serial.write(message.encode('utf-8'))
        self.write_message(">"+message)
        self.serial.write('\n'.encode('utf-8'))
        
    def arduino_click_button(self):
        inx=self.arduino_command_field.get()
        print("inx="+inx)
        self.send_arduino(inx)
        self.arduino_command_field.delete(0,END)
 
    def click_message_clear(self):
       self.message_area.delete('1.0',END)
 
    def click_command_button(self):
        inx=self.command_field.get()
        print("inx="+inx)
        self.parse_command(inx)
        self.command_field.delete(0,END)
 
    def set_my_id(self,id):
        self.id_field.delete(0,END)
        self.id_field.insert(END,id)
 
    def set_init(self):
        # while True:
        #    l=get distance
        #    if abs(l-init_distance)<allowance
        #         return 
        #    while l>init_distance
        #       back little
        #    while l<init_distance
        #       go little
        self.write_message("start set init.")
        print("start set_init.")
        for i in range(30):   #while True
             print("i="+str(i))
             with self.waiting_lock:
                 self.waiting=True
             print("at init, set waiting=True.")
             self.send_arduino("get distance.")
             print("sending get distance.")
             vs=""
             #vs=self.arduino_queue.get()
             for j in range(50):  # wait for the distance
                  print("j="+str(j))
                  #print("arduin_queue.get()...")
                  c=self.arduino_queue.get()
                  #print("arduino_queue.get()="+c)
                  rx=c.split()
                  #print("rx="+str(rx))
                  lrx=len(rx)
                  #print("lrx="+str(lrx))
                  if lrx==2:
                      if rx[1]=='mm.':
                          print("get "+rx[0])
                          vs=rx[0]
                      else:
                          vs=""
                  else:
                      vs=""
                  if vs=="":
                      print("vs=no value")
                      time.sleep(0.2)
                  else:
                      print("vs="+vs)
                      break
             #     if len(self.arduino_queue)>0:
             #         vs=self.arduino_queue.get()
             #         self.write_message("vs="+vs)
             #         break
             #     else:
             #         self.write_message("wait arduino_queue")
             #         time.sleep(0.2)
             print("at init, set, self.waiting=False")
             with self.waiting_lock:
                 self.waiting=False
             time.sleep(0.5)
             if vs=="":
                  self.reader.return_message("something wrong.")
                  return
             self.write_message("distance="+vs)
             print("distance="+vs)
             v=float(vs)
             if abs(v-self.init_distance)<self.allowance_0:
                 self.write_message("init done.")
                 print("init done.")
                 self.send_arduino("set current 0.0")
                 self.reader.return_message("init succeded.")
                 return
             elif v>self.init_distance+self.allowance_2:
                 #self.write_message("v>allowance_2")
                 print("v>allowance_2")
                 dx=((v-self.init_distance)*2.0)/10.0
                 self.send_arduino("set current "+str(dx)) 
                 self.send_arduino("moveTo 0.0")
             elif v>self.init_distance+self.allowance_1:
                 #self.write_message("v>allowance_1")
                 print("v>allowance_1")
                 dx=((v-self.init_distance)*0.2)/10.0
                 self.send_arduino("set current "+str(dx))
                 self.send_arduino("moveTo 0.0")
             elif v>self.init_distance:
                 self.send_arduino("set currnt 0.02")
                 self.send_arduino("moveTo 0.0")
             elif v<self.init_distance-self.allowance_1:
                 print("v<allowance_0")
                 self.send_arduino("set current 0.0")
                 self.send_arduino("moveTo 0.1")
             else:
                 print("else")
                 self.send_arduino("set current 0.0")
                 self.send_arduino("moveTo 0.025")
        print("init done, i>=30")
        self.send_arduino("set current 0.0")
 
    def is_my_id(self,x):
        print("is_my_id("+x+")",end="")
        id=self.id_field.get()
        print(" id="+id)
        return re.match(x,id)
 
    def read_loop(self):
        print("start read_loop")
        while True:
            c=self.serial.readline().decode('utf-8').rstrip()
            self.message_line=self.message_line+1
            #print("c="+c)
            self.write_message(c)
            #addr=self.server_field.get()
            #rtn=addr+" "+c
            #print("return "+c)
            self.reader.return_message(c)
            #print("at read, self.waiting="+str(self.waiting))
            if self.waiting:
                print("at read, waiting==True")
                #rx=c.split()
                #print("rx="+str(rx))
                #lrx=len(rx)
                #print("lrx="+str(lrx))
                #if lrx==2:
                #    #self.write_message("lrx==2")
                #    print("lrx==")
                #    if rx[1]=='mm.':
                #        #self.write_message("put..."+rx[0])
                #        print("put..."+rx[0])
                #        self.arduino_queue.put(rx[0])
                #    else:
                #        self.arduino_queue.put("")
                #else:
                #    self.arduino_queue.put("")
                self.arduino_queue.put(c)
 
    def gui_access_loop(self):
        print('start gui_access_loop(self)')
        while True:
            l=self.gui_queue.get()
            #print('l='+l)
            if l.startswith('message '):
                 mx=l[len('message '):]
                 #print('mx='+mx)
                 self.gui_write_message(mx)
 
    def gui_write_message(self,message):
        self.message_area.insert(tk.END,message)
        self.message_area.insert(tk.END,'\n')
       
    #
    # command
    #    id="<id>" arduino <arduino command>
    #    arduino <arduino command>
    #    set id="<id>"
    #    set init
    #    shutdown
    #
    def parse_command(self,command):
        rest=[""]
        strc=[""]
        ix=[""]
        self.command_field.delete(0,END)
        self.command_field.insert(END,command)
        command=self.r_b(command)
        print("parse_command("+command+")")
        if self.parse_key("id=",command,rest):
            print("parse_key(id="+command+","+rest[0]+")")
            command=self.r_b(rest[0])
            if self.parse_String_Constant(command,strc,rest):
                print("strc="+strc[0]+",rest="+rest[0])
                command=self.r_b(rest[0])
                strcx=strc[0]
                if strcx=="*" :
                    if self.parse_arduino(command):
                        return True
                    else:
                        return False
                elif self.is_my_id(strcx):
                    print("start parse_arduino("+command+",rest)")
                    if self.parse_arduino(command):
                        return True
                    else:
                        return False
                else:
                    return False
            return False
        elif self.parse_key("set ",command,rest):
            command=self.r_b(rest[0])
            if self.parse_key("id=",command,rest):
                command=self.r_b(rest[0])
                if self.parse_String_Constant(command,strc,rest):
                    strcx=strc[0]
                    print("strc="+strcx+",rest="+rest[0])
                    self.set_my_id(strcx)
                    return True
                else:
                    return False
            elif self.parse_key("init",command,rest):
                self.set_init()
            else:
                return False
        elif self.parse_key("shutdown",command,rest):
            self.shutdown()
            return True
        
    def parse_arduino(self,command):
        rest=[""]
        strc=[""]
        ix=[""]
        command=self.r_b(command)
        if self.parse_key("arduino ",command,rest):
            print("parse_key(arduino "+command+","+rest[0]+")")
            command=self.r_b(rest[0])
            print("xx "+command)
            self.arduino_command_field.delete(0,END)
            self.arduino_command_field.insert(END,command)
            self.send_arduino(command)
            return True
        elif self.parse_key("init",command,rest):
            print("parse_key(init "+command+","+rest[0]+")")
            self.set_init()
            return True
        else:
            return False
 
    def parse_key(self,key,inx,rest):
        keylen=len(key)
        inlen=len(inx)
        if inx.startswith(key):
            rest[0]=inx[keylen:inlen]
            return True
        rest[0]=inx
        return False
 
    def parse_p_int(self,command,ix,rest):
        print("parse_p_int("+command+",ix,rest)")
        i=0
        c=command[0]
        if c in ['0','1','2','3','4','5','6','7','8','9']:
            clen=len(command)
            while True:
                i=i*10+int(c)
                command=command[1:clen]
                clen=len(command)
                if clen==0:
                    ix[0]=i
                    rest[0]=""
                    return True
                print("parse_p_int command="+command)
                c=command[0]
                if not (c in ['0','1','2','3','4','5','6','7','8','9']):
                    ix[0]=i
                    rest[0]=command
                    return True
        rest[0]=command
        ix[0]=0
        return False
 
    def r_b(self,inx):
        rx=[""]
        while self.parse_key(" ",inx,rx):
            inx=rx[0]
        return rx[0]
 
    def parse_String_Constant(self,inx,strc,rest):
        rx=[""]
        xstr=""
        if self.parse_key('"',inx,rx):
            inx=rx[0]
            fx=inx[0]
            xlen=len(inx)
            while fx!='"':
                if xlen==0:
                    return False
                if fx=='\\':
                   inx=inx[1:xlen]
                else:
                   xstr=xstr+fx
                xlen=len(inx)
                inx=inx[1:xlen]
                fx=inx[0]
            if self.parse_key('"',inx,rx):
                strc[0]=xstr
                rest[0]=rx[0]
                return True
        return False
            
if __name__=="__main__":
    root = Tk()
    root.wm_title('Scrolling')
    app = App(root)
    rcr=Remote_Command_Reader(app)
    ip=rcr.get_my_address()
    app.set_tcp_server_address(ip)
    app.connect()
    ip=rcr.get_my_address()
    app.set_tcp_server_address(ip)
    app.set_my_id(ip)
    root.mainloop()


}}
----
#counter
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