import sys
from NavInterfaceClient import NavInterfaceClient
x = 1
serverHost = "sim.sailsim.org"
serverPort = 20170
username = "PinkFlags"
password = "lagena"

simAPI = NavInterfaceClient()
connected = simAPI.connect(username, password, serverHost, serverPort)

if connected:
    print("Connection established.")
else:
   print("Something went wrong...", file=sys.stderr)


if simAPI.isConnected():
    print("Connection is operational.")
else:
    print("Error, simAPI is not connected")

simAPI.send("hello PinkFlags lagena")
helloMsg = simAPI.receive()
print(helloMsg[0], helloMsg[1])

simAPI.send("anchor false")
anchorSet = simAPI.receive()

simAPI.send("boatHeading 123.45")
boatHeadingSet = simAPI.receive()

simAPI.send("sailAngle 12.3")
sailAngleSet = simAPI.receive()

simAPI.send("goalPosition")
goalPositionSet = simAPI.receive()
print(goalPositionSet[0], goalPositionSet[1])

while(simAPI.isConnected()):
    simAPI.send("anchor")
    anchorVar = simAPI.receive()
    print(anchorVar[0], anchorVar[1])

    simAPI.send("atDestination")
    atDestinationVar = simAPI.receive()
    print(atDestinationVar[0], atDestinationVar[1])


    simAPI.send("atObstacle")
    atObstacleVar = simAPI.receive()
    print(atObstacleVar[0], atObstacleVar[1])


    simAPI.send("boatHeading")
    boatHeadingVar = simAPI.receive()
    print(boatHeadingVar[0], boatHeadingVar[1])

    simAPI.send("boatPosition")
    boatPositionVar = simAPI.receive()
    print(boatPositionVar[0], boatPositionVar[1])

    simAPI.send("boatSpeed")
    boatSpeedVar = simAPI.receive()
    print(boatSpeedVar[0], boatSpeedVar[1])

    simAPI.send("obstacle 1")
    obstacle1Var = simAPI.receive()
    print(obstacle1Var[0], obstacle1Var[1])

    simAPI.send("obstacleCount")
    obstacleCountVar = simAPI.receive()
    print(obstacleCountVar[0], obstacleCountVar[1])

    simAPI.send("obstacleDistance 45")
    obstacleDistanceVar = simAPI.receive()
    print(obstacleDistanceVar[0], obstacleDistanceVar[1])

    simAPI.send("obstacles")
    obstaclesVar = simAPI.receive()
    print(obstaclesVar[0], obstaclesVar[1])

    simAPI.send("obstacleScan")
    obstacleScanVar = simAPI.receive()
    print(obstacleScanVar[0], obstacleScanVar[1])

    simAPI.send("sailAngle")
    sailAngleVar = simAPI.receive()
    print(sailAngleVar[0], sailAngleVar[1])

    simAPI.send("time")
    timeVar = simAPI.receive()
    print(timeVar[0], timeVar[1])

    simAPI.send("windHeading")
    windHeadingVar = simAPI.receive()
    print(windHeadingVar[0], windHeadingVar[1])

    simAPI.send("windStrength")
    windStrengthVar = simAPI.receive()
    print(windStrengthVar[0], windStrengthVar[1])

    simAPI.send("atDestination")
    if (simAPI.receive() == "true"):
        simAPI.send("finish")
        simAPI.receive()
        simAPI.disconnect()
    else:
        simAPI.send("finish")
        simAPI.receive()
        simAPI.disconnect()
simAPI.send("finish")
simAPI.receive()
simAPI.disconnect()