#!/usr/bin/python3
from ev3dev.ev3 import *
from time import sleep
from subprocess import call

from PIL import Image
import zbarlight

from socket import *

def getCode(file_path):
	"This function gets text from QR code"
	with open(file_path,'rb') as image_file:
		image = Image.open(image_file)
		image.load()
	code = zbarlight.scan_codes('qrcode', image)
	return code

def initMailbox():
	"This function creates mailbox and opens socket"
	mbx = socket(AF_INET, SOCK_DGRAM)
	mbx.bind(('',12345))
	return mbx

def sendMessage(message):
	s=socket(AF_INET, SOCK_DGRAM)
	s.setsockopt(SOL_SOCKET, SO_BROADCAST, 1)
	s.sendto(message.encode('utf-8'),('255.255.255.255',12345))


mB = MediumMotor('outB')
mC = MediumMotor('outC')
mA = LargeMotor('outA')

encB = mB.position

btn = Button()

ir = InfraredSensor('in1')
ir.mode = 'IR-PROX'

mC.reset()
mB.reset()

mC.run_to_rel_pos(position_sp=-360, speed_sp=200)
mC.stop(stop_action='hold')

mailbox = initMailbox()

while not btn.backspace:
	sendMessage('test!')
	m = mailbox.recv(1024).decode('utf-8')
	print(m)

while not btn.backspace:
	print(ir.value())
	#print(mC.position)
	#mB.run_forever(speed_sp=-200)
	distance = 0.7 * ir.value()
	if distance < 10:
		mB.stop(stop_action="hold")
		sleep(3)
		call(['fswebcam','/home/robot/qr-code.gif'])
		s = getCode('/home/robot/qr-code.gif')
		print(s)
mB.stop(stop_action='hold')
mC.run_to_rel_pos(position_sp=360, speed_sp=200)
sleep(2)
mC.stop(stop_action='hold')