import gnu.io.CommPortIdentifier;

import gnu.io.PortInUseException;

import gnu.io.SerialPort;

import gnu.io.SerialPortEvent;

import gnu.io.SerialPortEventListener;

import gnu.io.UnsupportedCommOperationException;



import java.awt.event.KeyEvent;

import java.awt.event.KeyListener;

import java.io.IOException;

import java.io.InputStream;

import java.io.OutputStream;

import java.util.Enumeration;

import java.util.TooManyListenersException;

import java.lang.Boolean;







public class DJController implements KeyListener, SerialPortEventListener {

	static CommPortIdentifier portId;

	static CommPortIdentifier saveportId;



	static Enumeration        portList;

	InputStream           inputStream;

	SerialPort           serialPort;

	Thread           readThread;



	static OutputStream      outputStream;

	static boolean        outputBufferEmptyFlag = true;



    private int baudrate;

    private int stopbits;

    private String portname;



    private boolean forward = false;

    private boolean back = false;

	private boolean left = false;

	private boolean right = false;

    private boolean sendNewCmd = false;



	static final int MANUAL_FORWARD = 0x00;

	static final int MANUAL_FORWARD_RIGHT = 0x01;

	static final int MANUAL_FORWARD_LEFT = 0x02;

	static final int MANUAL_ROTATE_RIGHT = 0x03;

	static final int MANUAL_ROTATE_LEFT = 0x04;

	static final int MANUAL_BACKWARD = 0x05;

	static final int MANUAL_STOP	= 0x06;

	static final int MANUAL_SEIZE = 0x07;

	static final int MANUAL_RELEASE = 0x08;

    static final int MANUAL_AUTONOM = 0x09;





	public DJController(String portname, int baudrate, int stopbits)

	{

		System.out.println("DJController skapad");

		boolean           portFound = false;



        if (stopbits > 0 && stopbits < 3)

            this.stopbits = stopbits;

        else

            this.stopbits = SerialPort.STOPBITS_1;



        if (baudrate > 0)

            this.baudrate = baudrate;

        else

            this.baudrate = 38400;



        this.portname = portname;







		System.out.println("Setting default port to "+portname);



		// parse ports and if the default port is found, initialized the reader

		portList = CommPortIdentifier.getPortIdentifiers();

		while (portList.hasMoreElements()) {

			portId = (CommPortIdentifier) portList.nextElement();

			if (portId.getPortType() == CommPortIdentifier.PORT_SERIAL) {

				if (portId.getName().equals(portname)) {

					System.out.println("Found port: "+portname);

					portFound = true;

					// init reader thread

					initcomm();

					break;

				}

			}



		}

		if (!portFound) {

			System.out.println("Port '" + portname + "' not found.");

		}

	}



	public void initcomm() {

		// initalize serial port

		try {

		    serialPort = (SerialPort) portId.open("AppFrame", 50);

		} catch (PortInUseException e) {

		    System.out.println("Port in use!");

		}



		try {

			inputStream = serialPort.getInputStream();

		} catch (IOException e) {

		    System.out.println("IO error (inputstream??)");

		}



		try {

			serialPort.addEventListener(this);

		} catch (TooManyListenersException e) {

		    System.out.println("Too many listeners(?)");

		}



		// activate the DATA_AVAILABLE notifier

		serialPort.notifyOnDataAvailable(true);



        System.out.println("Configuring "+this.portname+" with "+this.stopbits+" stop bits and "+this.baudrate+" baud rate.");

	    try {

			// set port parameters

			serialPort.setSerialPortParams(this.baudrate, SerialPort.DATABITS_8,

					this.stopbits,

					SerialPort.PARITY_NONE);

		} catch (UnsupportedCommOperationException e) {

		    System.out.println("Unsupported operation: " + e.getMessage());

		}

	}





	public void initwritetoport() {

		// initwritetoport() assumes that the port has already been opened and

		//    initialized by "public nulltest()"



		try {

			// get the outputstream

			outputStream = serialPort.getOutputStream();

		} catch (Exception e) {

		    System.out.println("No outputstream?!");

		}



		try {

			// activate the OUTPUT_BUFFER_EMPTY notifier

			serialPort.notifyOnOutputEmpty(true);

		} catch (Exception e) {

			System.out.println("Error setting event notification");

			System.out.println(e.toString());

			System.exit(-1);

		}

	}



	public void writetoport(String msg) {

		System.out.println("Writing \""+msg+"\" to "+serialPort.getName());

        if (outputStream == null)

        {

            System.out.println("Outputstream är null?!");

        } else {

            try {

                // write string to serial port

                outputStream.write(msg.getBytes());

            } catch (Exception e) {

                e.printStackTrace();

            }

        }

	}

	public void serialEvent(SerialPortEvent event) {

		switch (event.getEventType()) {

		case SerialPortEvent.BI:

		case SerialPortEvent.OE:

		case SerialPortEvent.FE:

		case SerialPortEvent.PE:

		case SerialPortEvent.CD:

		case SerialPortEvent.CTS:

		case SerialPortEvent.DSR:

		case SerialPortEvent.RI:

		case SerialPortEvent.OUTPUT_BUFFER_EMPTY:

			break;

		case SerialPortEvent.DATA_AVAILABLE:

			// we get here if data has been received

			byte[] readBuffer = new byte[20];

			try {

				// read data

				while (inputStream.available() > 0) {

					int numBytes = inputStream.read(readBuffer);

				}

				// print data

				String result  = new String(readBuffer);

				System.out.println("Read: "+result);

			} catch (IOException e) {}



			break;

		}

	}





	public void update()

	{

        if (sendNewCmd == true) {

            if (forward == true && left == true)

                commSend(MANUAL_FORWARD_LEFT);

            else if (forward == true && right == true)

                commSend(MANUAL_FORWARD_RIGHT);

            else if (forward)

                commSend(MANUAL_FORWARD);

            else if (back)

                commSend(MANUAL_BACKWARD);

            else if (right)

                commSend(MANUAL_ROTATE_RIGHT);

            else if (left)

                commSend(MANUAL_ROTATE_LEFT);

            else

                commSend(MANUAL_STOP);



            sendNewCmd = false;

        }



	}

	public void stopDJ()

	{

		commSend(MANUAL_STOP);

	}

	public void commSend(int cmd)

	{

		try {

			writetoport(new String(String.valueOf(cmd)));

		} catch(Exception e) {

			System.err.println("Oups, writeport gick inge bra. Saknar COM4?");

		}



	}

	public void keyPressed(KeyEvent e)

	{

		int key = e.getKeyCode();

        boolean updated = false;

		// sv‰ng

		if (key == KeyEvent.VK_LEFT && !left)

		{

            updated = true;

			left = true;

		}

		if (key == KeyEvent.VK_RIGHT && !right)

		{

            updated = true;

			right = true;

		}



		// frambak

		if (key == KeyEvent.VK_UP && !forward)

		{

            updated = true;

			forward = true;

		}

		if (key == KeyEvent.VK_DOWN && !back)

		{

            updated = true;

			back = true;

		}



        if (updated)

        {

            sendNewCmd = true;

        }

	}

	public void keyReleased(KeyEvent e)

	{

		int key = e.getKeyCode();



		// sv‰ng

		if (key == KeyEvent.VK_LEFT)

			left = false;

		if (key == KeyEvent.VK_RIGHT)

			right = false;



		// frambak

		if (key == KeyEvent.VK_UP)

			forward = false;

		if (key == KeyEvent.VK_DOWN)

			back = false;



        sendNewCmd = true;

	}





	public void keyTyped(KeyEvent e)

	{

        /*if (e.getKeyCode() == KeyEvent.VK_SPACE)

		{

			stopDJ();

		}*/

        if (e.getKeyCode() == KeyEvent.VK_Y) {

            commSend(MANUAL_AUTONOM);

        }

	}



}