from socket import *
import time
import subprocess
# import pigpio
# from controlServer import ControlServer
from videoServer import VideoServer
# 控制服务配置
HOST = '0.0.0.0'
PORT = 49800
ADDR = (HOST, PORT)
# 电调+舵机配置
MSLIST = [
    {
        "name": 'MOTOR',
        "pinList": [13, 16]
    },
    {
        "name": 'SERVO',
        "pinList": [12, 19]
    },
]
# 用户列表配置
USERLIST = []
# PI配置
PI = None
# 视频服务配置
VPORT = 49700
VADDR = (HOST, VPORT)
FX = 0.5  # 缩放
SPD = 0.1  # fps=>越小，FPS越高，cpu消耗越大


# def Calibration():
#     # 自动校准
#     global PI, MSLIST
#     # 启动pigpiod服务
#     port = subprocess.check_output(
#         "ps -ef |grep pigpiod |awk '{print $2}'", shell=True).decode().split('\n')
#     if '' in port and len(port) <= 3:
#         subprocess.run('pigpiod', shell=True)
#     time.sleep(0.5)
#     PI = pigpio.pi()
#     print('开始自动校准')
#     # 校准服务
#     speed = 0
#     while True:
#         speed += 1
#         for s in MSLIST:
#             for d in s['pinList']:
#                 if s['name'] == 'MOTOR':
#                     # Set ESC speed via PWM
#                     PI.set_servo_pulsewidth(
#                         d, speed * 1000 / 7 + 1000)
#                 else:
#                     PI.set_servo_pulsewidth(d, 1500)
#         time.sleep(2)
#         print(speed)
#         if speed > 2:
#             break


def loopServer(SOCK):
    # 服务监听
    global USERLIST
    while True:
        print('Waiting For Contorl Client Connection ...')
        client, addr = SOCK.accept()  # 会阻塞
        print('New control User', addr)
        # 增加线程
        if client not in USERLIST and len(USERLIST) < 2:
            USERLIST.append(client)
            # 接收
            # contrl = ControlServer(client, USERLIST, MSLIST, PI)
            # contrl.start()
        else:
            # 不允许连接
            print('不允许连接')
            client.close()


if __name__ == '__main__':
    # 启动校准服务
    # Calibration()
    print('1S后启动视频服务')
    time.sleep(1)
    # 视频服务
    VideoServer(VADDR, SPD, FX).start()
    print('1S后启动控制服务')
    time.sleep(1)
    # 启动socket服务
    SOCK = socket(AF_INET, SOCK_STREAM)
    SOCK.bind(ADDR)
    SOCK.listen(1)
    loopServer(SOCK)