use std::env;

extern crate serial;
extern crate robust_arduino_serial;
use std::time::Duration;
use std::thread;
use serial::prelude::*;
use robust_arduino_serial::*;

// Default settings of Arduino
// see: https://www.arduino.cc/en/Serial/Begin
const SETTINGS: serial::PortSettings = serial::PortSettings {
    baud_rate:    serial::Baud115200,
    char_size:    serial::Bits8,
    parity:       serial::ParityNone,
    stop_bits:    serial::Stop1,
    flow_control: serial::FlowNone,
};


fn main() {

    let args: Vec<String> = env::args().skip(1).collect();

    if args.len() < 1
    {
        panic!("Please provide a serial port as argument (ex: /dev/ttyACM0)");
    }
    let serial_port = &args[0];

    println!("Opening port: {:?}", serial_port);
    let mut port = serial::open(&serial_port).unwrap();
    port.configure(&SETTINGS).unwrap();
    // timeout of 30s
    port.set_timeout(Duration::from_secs(30)).unwrap();

    loop
    {
        println!("Waiting for Arduino...");
        let order = Order::HELLO as i8;
        write_i8(&mut port, order).unwrap();
        let received_order = Order::from_i8(read_i8(&mut port).unwrap()).unwrap();
        if received_order == Order::ALREADY_CONNECTED
        {
            break;
        }
        thread::sleep(Duration::from_secs(1));
    }

    println!("Connected to Arduino");

    let motor_order = Order::MOTOR as i8;
    let motor_speed: i8 = -56;
    write_i8(&mut port, motor_order).unwrap();
    write_i8(&mut port, motor_speed).unwrap();

    write_i8(&mut port, Order::SERVO as i8).unwrap();
    write_i16(&mut port, 120_i16).unwrap();

    for _ in 0..10 {
        let order = read_i8(&mut port).unwrap();
        println!("Order received: {:?}", order);

        if let Some(received_order) = Order::from_i8(order)
        {
            println!("Known order: {:?}", received_order);
        }
        else
        {
            println!("Unknown order: {:?}", order);
        }
    }
}