import java.util.ArrayList;
import jssc.*;
import java.util.*;
import java.sql.*;

/**
* <h1>IRobot Communication</h1>
* The IRobot class acts as the middle man between
* the main AI and the IRobot. The java simple serial
* connector is used for the communication to make
* the whole thing as simple as possible.
*/
public class IRobot{

    private SerialPort sPort;
    private static ArrayList<Integer> opcodes = new ArrayList<Integer>();
    private byte[] bytes = new byte[256];
    public static String[] sensorName = {"Bump Sensor: ", "Wall Sensor: ", "Cliff Left: ", "Cliff Front Left: ", "Cliff Front Right: ", "Cliff Right: ", "Virtual Wall Sensor: " };

    public static void main(String args[]) {
        IRobot bot = new IRobot();
        Scanner input = new Scanner(System.in);
        int command;
        bot.full();
        System.out.println("The commands correspond to the arrows on your computer's number pad.\n");
        System.out.println("Move forward\t\t\t8");
        System.out.println("Turn counter-clockwise\t\t4");
        System.out.println("Turn clockwise\t\t\t6");
        System.out.println("Stop\t\t\t\t5");
        System.out.println("Reverse\t\t\t\t2");
        System.out.println("Send sensor data to server\t1");
        System.out.println("Print data from server\t\t7");
        while(true) {
            command = input.nextInt();
            switch(command) {
            case 4:
                bot.left();
                break;
            case 8:
                bot.drive();
                break;
            case 6:
                bot.right();
                break;
            case 5:
                bot.stop();
                break;
            case 2:
            	bot.reverse();
            	break;
            //sensor input
            case 1:
                bot.inputSensorData();
                break;
            case 7:
            	bot.printSensorData();
            	break;
            }
        }
    }

    public void full() {
    	int[] full = {128, 132};
    	IO_add(full);
        IO_send();
    }

    public void left() {
    	int[] left = {137, 254, 12, 255, 255};
    	IO_add(left);
        IO_send();
    }

    public void drive() {
    	int[] drive = {137, 0, 100, 128, 0};
    	IO_add(drive);
        IO_send();
    }

    public void reverse() {
    	int[] reverse = {137, 255, 56, 128, 0};
    	IO_add(reverse);
    	IO_send();
    }

    public void right() {
    	int[] right = {137, 254, 12, 0, 1};
    	IO_add(right);
        IO_send();
    }

    public void stop() {
    	int[] stop = {137, 0, 0, 0, 0};
    	IO_add(stop);
        IO_send();
    }

    public void inputSensorData() {
    	int[] inputSensorData = {149, 7, 7, 8, 9, 10, 11, 12, 13}; //bump, wall, cliff L, cliff FL, cliff FR, cliff R, Virtual Wall
    	IO_add(inputSensorData);
        IO_send();
    }

    public void printSensorData() {
    	printSensorData(sensorName);
    }

    public IRobot(){

        // puts the bytes into a byte array
        for(int i=0; i<bytes.length; i++) {
            bytes[i] = (byte) (i & 0xFF);
        }

        // start the connection to COM Number
        try {
            sPort = new SerialPort("COM5");
            sPort.openPort();
            sPort.setParams(57600, 8, 1, 0);
        } catch (SerialPortException e){
            e.printStackTrace();
        }

        // add an event listener to the port
        try {
            sPort.addEventListener(new SerialPortEventListener() {
                public void serialEvent(SerialPortEvent event) {
                    listenerEvent(event);
                }
            });
        } catch (SerialPortException e) {
            e.printStackTrace();
        }

    }

    private void listenerEvent(SerialPortEvent event){
        if(event.isRXCHAR()){//If data is available
            try {
            	String[] data = new String[7];
                String inString = sPort.readHexString(); //puts the input into a string
                String[] sepString = inString.split(" "); //splits the input string into a string array


                for(int i = 0; i < sepString.length; i++) { //outputs the sensor detection
                    if (sepString[i].equals("00")) {
                        data[i] = "No Detection";
                    }
                    else {
                        data[i] = "Detection";
                    }
                }
                addSensorData(data);
            } catch (SerialPortException e) {
                e.printStackTrace();
            }
        } else if(event.isCTS()){//If CTS line has changed state
            if(event.getEventValue() == 1){//If line is ON
                System.out.println("CTS - ON");
            } else {
                System.out.println("CTS - OFF");
            }
        } else if(event.isDSR()){///If DSR line has changed state
            if(event.getEventValue() == 1){//If line is ON
                System.out.println("DSR - ON");
            } else {
                System.out.println("DSR - OFF");
            }
        }
    }


    //this method is used to send the command array opcodes to the iRobot
    public void IO_send(){
        try {
            for(int i = 0;i<opcodes.size(); i++) {
                sPort.writeByte(bytes[opcodes.get(i)]);
            }
        } catch (SerialPortException e) {
            e.printStackTrace();
        }
        opcodes.clear();
    }


    // adds commands to the command array opcodes
    public void IO_add(int[] buffer){
        for(int i = 0;i<buffer.length;i++){
            opcodes.add(buffer[i]);
        }
    }

    public void addSensorData(String[] s) {
    	Connection connection = null;
        try {
             Class.forName("com.mysql.jdbc.Driver").newInstance();
        } catch (Exception e) {
        	 System.err.println(e.toString());
        }
        String url = "jdbc:mysql://cs2043.cs.unb.ca:3306/cs2043team14";
        try {
            connection = DriverManager.getConnection(url, "cs2043team14", "j9HOVQ9O");
            Statement st = connection.createStatement();
            st.executeUpdate("DELETE FROM RealData;");
            st.executeUpdate("INSERT INTO RealData " +
                    "VALUES ('" + s[0] + "', '" + s[1] + "', '" + s[2] + "', '" +  s[3]+ "', '" + s[4] + "', '" + s[5] + "', '" + s[6] + "');");
            System.out.println("Data was recieved");
        } catch (SQLException e) {
            System.err.println(e.toString());
        }

    }

    public static void printSensorData(String[] sensorName) {
    	Connection connection = null;
        try {
             Class.forName("com.mysql.jdbc.Driver").newInstance();
        } catch (Exception e) {
        	 System.err.println(e.toString());
        }
        String url = "jdbc:mysql://cs2043.cs.unb.ca:3306/cs2043team14";
        try {
            connection = DriverManager.getConnection(url, "cs2043team14", "j9HOVQ9O");
            Statement st = connection.createStatement();
            ResultSet rs = st.executeQuery("SELECT * FROM  RealData;");
            while(rs.next()) {
            	System.out.println(sensorName[0] + rs.getString(1));
            	System.out.println(sensorName[1] + rs.getString(2));
            	System.out.println(sensorName[2] + rs.getString(3));
            	System.out.println(sensorName[3] + rs.getString(4));
            	System.out.println(sensorName[4] + rs.getString(5));
            	System.out.println(sensorName[5] + rs.getString(6));
            	System.out.println(sensorName[6] + rs.getString(7));
            }
        } catch (SQLException e) {
            System.err.println(e.toString());
        }

    }

}