#!/usr/bin/python

#send message to 6777
#receive message from 8888
#default host = local host = 127.0.0.1

import threading, socket, Queue , pprint, msgpack

pp = pprint.PrettyPrinter(indent=4)

class Sender:
	def __init__(self, UDP_IP_ADDRESS="127.0.0.1", UDP_PORT_NO=6777):
		self.UDP_IP_ADDRESS = UDP_IP_ADDRESS
		self.UDP_PORT_NO = UDP_PORT_NO
		self._socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
		self._socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)

	def sendMessage(self, message):
		self._socket.sendto(message, (self.UDP_IP_ADDRESS, self.UDP_PORT_NO))

class Receiver(threading.Thread):
  def __init__(self, UDP_IP_ADDRESS="127.0.0.1", UDP_PORT_NO=8888):
    self.result = None
    self.UDP_IP_ADDRESS = UDP_IP_ADDRESS
    self.UDP_PORT_NO = UDP_PORT_NO
    self.messages = Queue.Queue(64)
    threading.Thread.__init__(self)

  def run(self):
    self._socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
    self._socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
    self._socket.bind((self.UDP_IP_ADDRESS, self.UDP_PORT_NO))
    while True:
    	response = self._socket.recv(2048)
    	# self.messages.put(msgpack.unpackb(response), True)
    	pp.pprint(response)
    	# pp.pprint(self.getNewMessage())

  def getNewMessage(self):
  	return self.messages.get_nowait() if not self.messages.empty() else None


def main():
  # sends messages from application to pipeline
  def producer():
  	sender = Sender()
  	while True:
      # does not get the correct data
  		sender.sendMessage(b'\x01'+b'\x08') # messageHeader=1, messageType=8 for imu batch

  # receives messages from pipeline to application
  def consumer():
  	thread = Receiver()
  	thread.start()

  cons_thread = threading.Thread(target=consumer)
  prod_thread = threading.Thread(target=producer)

  cons_thread.start()
  prod_thread.start()

  cons_thread.join()
  prod_thread.join()

if __name__ == '__main__':
  main()