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!7

cmodule RunVectorSDK > DynPrintLogAndEnabled {
  transient Process process;
  transient PrintStream out;
  switchable bool printImages;
  S toSay;
  
  start-thread {
    dm_reloadOnFieldChange enabled();
    if (!enabled) ret;
    //File script = userDir("vector-sdk/cam-stream-to-stdout.py");
    File script = userDir("vector-sdk/control-from-java-v2.py");
    assertFileExists(script);
    makeExecutable(script);

    print("Calling " + script);
    process = Runtime.getRuntime().exec(platformQuoteOpt(script));
    print("SDK process started");
    print("PID: " + getOpt(process, "pid"));
  
    drainErrorStreamToConsole(process, line -> enabled, lambda0 enter);
    out = new PrintStream(process.getOutputStream());
    
    dm_registerAs_direct vectorSDK();
    
    DataInputStream in = new(process.getInputStream());
    S line;
    while ((line = in.readLine()) != null) {
      if (enabled) {
        vmBus_send vectorSDK_gotLine(module(), line);
        if (eqic(line, "Connected to vector"))
          vmBus_send vectorSDK_connected(module());
        if (printImages || !startsWith(line, "img:"))
          print("Got line: " + takeFirst(100, line));
      }
    }
  }

  void cleanMeUp_process {
    if (process != null) {
      print("Stopping SDK process");
      process.destroy/*Forcibly*/();
      print("Stopped SDK process, hopefully");
    }
  }
  
  visual centerAndSouthWithMargin(super, withMargin(
    dm_textFieldAndSubmit_q toSay(r { say(toSay) }, buttonText := "Say")));

  // API
  
  void eval(S pythonCode) {
    if (empty(pythonCode)) ret;
    out.println(jsonEncode(pythonCode));
    out.flush();
  }
  
  void evalWithControl(S pythonCode) {
    eval("with anki_vector.Robot() as robot2:\n" +
      indent(4, jreplace(pythonCode, "robot", "robot2")));
  }

  // returns true if (probably) successful
  bool say(S s) {
    if (out == null) false;
    s = newLinesToSpaces_trim(s);
    if (empty(s)) true;
    print("Making Vector say: " + s);
    // with release_control, there is "unknown error" after first utterance
    /*eval(autoUnindent(linesLL(
      "robot.conn.request_control(timeout=5.0)",
      "robot.behavior.say_text(" + pythonQuote(s) + ")",
      //"robot.conn.release_control()"
    )));*/
    /*eval("with anki_vector.Robot() as robot2:\n" +
      "    robot2.behavior.say_text(" + pythonQuote(s) + ")");*/
    evalWithControl("robot.behavior.say_text(" + pythonQuote(s) + ")");
    true;
  }
  
  void playWAV(File wav) {
    print("Playing: " + wav);
    if (!is16KMonoWAVFile(wav)) {
      print("Converting to 16k");
      File wav2 = javaxCachesDir("vector.wav");
      deleteFile(wav2);
      ffmpeg_toMonoAudio_16k(wav, wav2);
      if (!fileExists(wav2)) fail("Conversion failed");
      wav = wav2;
    }
    int volume = 75;
    evalWithControl("robot.audio.stream_wav_file(" + pythonQuote(f2s(wav)) + ", " + volume + ")";
  }
  
  void startCamStream {
    eval("camFeedOn()");
  }
  
  void checkBeingTouched() {
    eval([[print("is_being_touched: " + robot.touch.last_sensor_reading.is_being_touched)]]);
  }
}