#Imports
import sys
import keyboard
from NavInterfaceClient import NavInterfaceClient

#Login information
serverHost = "sim.sailsim.org"
serverPort = 20170
username = "PinkFlags"
password = "lagena"
s="sailAngle"
b="boatHeading "
#Logs in if information is correct
simAPI = NavInterfaceClient(True)
connected = simAPI.connect(username, password, serverHost, serverPort)

#Connects and verifies if connected, or verifies that not connected.
if connected:
    print("Connection established.")
else:
    print("Connection not established.", file=sys.stderr)

#Sets the initial boat direction.

#Confirms that simulation is connected.
if simAPI.isConnected():
    print("Connection is operational.")

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

boatheading=33.3
simAPI.send("boatHeading 33.3")
simAPI.receive()

sailangle=25
simAPI.send("sailAngle 25")
simAPI.receive()



simAPI.send("boatPosition")
bposfull=simAPI.receive()
bpos=bposfull[1]
print (bpos)
bposlist = bpos.split()
bposx,bposy = bposlist[0],bposlist[1]
print (bposx)
print (bposy)
bposx=float(bposx)
bposy=float(bposy)

if((bposx<10)or(bposx>1990)):
    simAPI.send("anchor true")
    simAPI.receive()

while(True):
    if(keyboard.is_pressed('a')):
        sailangle-=5
        if(sailangle>90):
            sailangle=90
        sailangle = str(sailangle)
        simAPI.send("sailAngle",sailangle)
        simAPI.receive()
        sailangle = int(sailangle)
    if(keyboard.is_pressed('d')):
        sailangle+=5
        if(sailangle<270):
            sailangle=270
        sailangle = str(sailangle)
        simAPI.send("sailAngle",sailangle)
        simAPI.receive()
        sailangle = int(sailangle)


    if(keyboard.is_pressed('w')):
        boatheading-=5
        if(boatheading<0):
            boatheading=boatheading+360
        boatheading = str(boatheading)
        simAPI.send("boatHeading",boatheading)
        simAPI.receive()
        boatheading = float(boatheading)
    if(keyboard.is_pressed('s')):
        boatheading+=5
        if(boatheading>360):
            boatheading=boatheading-360
        boatheading = str(sailangle)
        simAPI.send("boatHeading",boatheading)
        simAPI.receive()
        boatheading = float(boatheading)

    if(keyboard.is_pressed('e')):
        if(anchor=="down"):
            simAPI.send("anchor true")
            simAPI.receive()
            anchor="up"
        elif(anchor=="up"):
            simAPI.send("anchor false")
            simAPI.receive()
            anchor="down"


#if < 0 = 360
#if > 360 = 0