!7

cmodule RunVectorSDK > DynPrintLogAndEnabled {

  switchable bool printImages;

  switchable bool keepControl;

  switchable double checkTouchedInterval = 30.0; // seconds. also for checking connection liveness

  S toSay;

  transient Process process;

  transient PrintStream out;

  transient WithTimestamp<Bool> isBeingTouched;

  start-thread {

    dm_registerAs_direct vectorSDK();

    dm_reloadOnFieldChange enabled();

    dm_onFieldChange keepControl(r { if (keepControl) requestControl(); else releaseControl(); });

    doEvery(checkTouchedInterval, r {

      checkBeingTouched();

      restartIfNoEvents();

    });

    _startSDK();

  }

  void _startSDK q {

    cleanMeUp_process();

    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());

    isBeingTouched = WithTimestamp(null);

    dm_startThread("SDK Input", r {

      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 (keepControl)

              requestControl();

            checkBeingTouched();

          }

          if (printImages || !startsWith(line, "img:"))

            print("Got line: " + takeFirst(100, line));

          if (eq(line, "Unknown error"))

            _startSDK();

          if (startsWith(line, "touch:"))

            isBeingTouched = WithTimestamp(match("true", afterColon(line)));

        }

      }

    });

  }

  void cleanMeUp_process {

    if (process != null) {

      print("Stopping SDK process");

      process.destroy/*Forcibly*/();

      process = null;

      print("Stopped SDK process, hopefully");

    }

  }

  visual centerAndSouthWithMargin(super,

    westAndCenterWithMargins(

      dm_checkBox keepControl(),

      dm_textFieldAndSubmit_q toSay(r { say(toSay) }, buttonText := "Say")));

  // API

  void eval(S pythonCode) {

    if (out == null || empty(pythonCode)) ret;

    out.println(jsonEncode(pythonCode));

    out.flush();

  }

  void evalWithControl(S pythonCode) {

    if (keepControl)

      ret with eval(pythonCode);

    print("evalWithControl: " + 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("touch: " + str(robot.touch.last_sensor_reading.is_being_touched))]]);

  }

  // request control in main connection. currently not sure how to undo

  void requestControl() {

    eval("robot.conn.request_control()");

  }

  // Not working in tests?

  void releaseControl() {

    eval("robot.conn.release_control()");

  }

  void restartIfNoEvents() {

    if (isBeingTouched != null && isBeingTouched.olderThanSeconds(checkTouchedInterval*2.0)) {

      isBeingTouched = WithTimestamp(null);

      _startSDK();

    }

  }

}