#!/usr/bin/env python3
# -*- coding: utf-8 -*-

"""armcCtl.py: control your robot arm."""

__author__ = "Kevin Matz"
__copyright__ = "Copyright 2019, Company 235, LLC"
__credits__ = ["Kevin Matz"]

__license__ = "MIT"
__version__ = "0.1"
__maintainer__ = "Kevin Matz"
__email__ = "kevin@company235.com"

__status__ = "Prototype"

import configparser
import logging
import sys

from antlr4 import CommonTokenStream
from antlr4 import InputStream
from antlr4 import ParseTreeWalker
from antlr4.error.ErrorListener import ErrorListener
from ArmControlLexer import ArmControlLexer
from ArmControlParser import ArmControlParser
from ArmCtlListener import ArmCtlListener
from robot import Robot


# define an error listener that raises SyntaxError exceptions
class SyntaxErrorListener(ErrorListener):
    def syntaxError(self, recognizer, offendingSymbol, line, column, msg, e):
        raise SyntaxError("line "+str(line)+":"+str(column)+" "+msg)


# instantiate a robot
r = Robot()

# setup logging
logger = logging.getLogger(__name__)
logger.setLevel(logging.DEBUG)
ch = logging.StreamHandler()                # create console handler and
ch.setLevel(logging.INFO)                   # set console log level to INFO
logger.addHandler(ch)                       # add console log handler

# load configuration
config = configparser.ConfigParser(allow_no_value=True)
config.read('robot.cfg')                    # open config file
r.config = config['robot']                  # section of config file
r.start()                                   # open port, start read thread

script = ArmCtlListener(r)
walker = ParseTreeWalker()


def command(text):
    input_stream = InputStream(text)
    lexer = ArmControlLexer(input_stream)
    stream = CommonTokenStream(lexer)
    parser = ArmControlParser(stream)
    parser._listeners.append(SyntaxErrorListener())
    try:
        tree = parser.prog()
        walker.walk(script, tree)
    except SyntaxError as e:
        logger.debug(e)     # antlr internal listener prints the error
#                           # log it to the debug logger anyway


if __name__ == '__main__':
    if len(sys.argv) > 1:
        logger.debug("found macro at argv[1]")
        comment(sys.argv[1])
    else:
        import readline     # for input history and line editing
        while True:
            try:
                text = input("command# ")
            except (KeyboardInterrupt, EOFError):
                text = 'exit'
                print(text)
            if text == 'exit' or text == 'quit':
                break
            else:
                command(text)