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import sys
import time
import rpyc

host = '192.168.198.70' #host name or IP address of the EV3

try:
    conn = rpyc.classic.connect(host) 
    ev3 = conn.modules['ev3dev.ev3'] #import ev3dev.ev3 remotely
except:
    print(sys.exc_info()[1])
finally:
    from ev3dev import ev3 #RPyC failed so we must be running on the EV3
    
ev3.Sound.beep() #success!


    

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#WORKING WITH SOUND:

ev3.Sound.set_volume(100) #set volume to 100%

ev3.Sound.beep().wait() #wait for the finish before continuing with the program

ev3.Sound.tone(1000, 2000).wait() # play a single 1000Hz tone for 2 seconds

#musical note to frequecy lookup: http://pages.mtu.edu/~suits/notefreqs.html
G =(392, 500, 50) #( frequency in Hz, duration in ms, delay in ms)
E = (329.63, 2000, 50)
F = (349.23, 500, 50)
D = (293.66, 2000, 50)
ev3.Sound.tone([G, G, G, E, F, F, F, D]).wait() #Bethoven Symphony #5

ev3.Sound.play_song((
    ('G4', 'e3'), ('G4', 'e3'), ('G4', 'e3'), ('E4', 'h'),
    ('F4', 'e3'), ('F4', 'e3'), ('F4', 'e3'), ('D4', 'h')))

#use pydub to convert mp3 to wav
ev3.Sound.play('sounds/r2d2.wav').wait() 

ev3.Sound.speak("Luke, I am your father")


    

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# A long time ago in a galaxy far, far away
ev3.Sound.play_song((
    ('D4', 'e3'),      # intro anacrouse
    ('D4', 'e3'),
    ('D4', 'e3'),
    ('G4', 'h'),       # meas 1
    ('D5', 'h'),
    ('C5', 'e3'),      # meas 2
    ('B4', 'e3'),
    ('A4', 'e3'),
    ('G5', 'h'),
    ('D5', 'q'),
    ('C5', 'e3'),      # meas 3
    ('B4', 'e3'),
    ('A4', 'e3'),
    ('G5', 'h'),
    ('D5', 'q'),
    ('C5', 'e3'),      # meas 4
    ('B4', 'e3'),
    ('C5', 'e3'),
    ('A4', 'h.')
))


    

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#WORKING WITH LEDs:

#configure the settings for the left LEDs
ev3.Leds.set(ev3.Leds.LEFT, brightness_pct=0.5, trigger='timer') #check ev3.Leds.triggers for options
ev3.Leds.set(ev3.Leds.LEFT, delay_on=3000, delay_off=500)

#possible colors are RED, GREEN, AMBER, ORGANGE, YELLOW
ev3.Leds.set_color(ev3.Leds.LEFT, ev3.Leds.RED)

#set the right LEDs to green at 100% brightness
ev3.Leds.set_color(ev3.Leds.RIGHT, ev3.Leds.GREEN, pct=100) 
    
ev3.Leds.all_off()


    

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#WORKING WITH BUTTONS:

btn = ev3.Button()

say = lambda sentence: ev3.Sound.speak(sentence)

def left(state):
    say('Left button {0}'.format('pressed' if state else 'released'))
    
def right(state):
    say('Right button {0}'.format('pressed' if state else 'released'))
    
def up(state):
    say('Up button {0}'.format('pressed' if state else 'released'))
    
def down(state):
    say('Down button {0}'.format('pressed' if state else 'released'))
    
def enter(state):
    say('Enter button {0}'.format('pressed' if state else 'released'))
    
def backspace(state):
    say('Backspace button {0}'.format('pressed' if state else 'released'))


    

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#WORKING WITH BUTTONS (continued): 

btn.on_left = left
btn.on_right = right
btn.on_up = up
btn.on_down = down
btn.on_enter = enter
btn.on_backspace = backspace

while True:
    #Check for currenly pressed buttons. 
    #If the new state differs from the old state, 
    #call the appropriate button event handlers.
    btn.process() 
    
    #exit if both the left and right buttons are pressed simultaneously
    if btn.check_buttons(buttons=['left','right']):
        break
    time.sleep(0.1)


    

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#WORKING WITH SCREEN:

#run change foreground virtual terminal (chvt) command to get exclusive use of the screen
!sudo chvt 6

from PIL import Image, ImageDraw, ImageFont

screen = ev3.Screen()
screen.clear()

#(0, 0) is top left and (177, 127) is bottom right coordinates
screen.draw.text((60,40), 'Help me Obi Wan Kenobi!', font=ImageFont.load('ncenB24'))
screen.update()

time.sleep(5)

logo = Image.open('/home/robot/images/tree.bmp')
screen.image.paste(logo, (0,0))
screen.update()

time.sleep(5)


    

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#WORKING WITH SCREEN (continued):

screen.clear()

width, height = screen.shape
#screen.draw returns PIL.ImageDraw instance
screen.draw.line((0, 0, width, height), fill='black') #diagonal from top left to bottom right
screen.draw.line((0, height, width, 0), fill='black') #diagonal from bottom left to top right
screen.update()

time.sleep(5)

screen.draw.rectangle((0, 0, 177, 127), fill='black')
screen.update()

time.sleep(5)

#there are also: arc, ellipse, pieslice, point, polygon, ... all the PIL/Pillow goodness

#release screen
!sudo chvt 1


    

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#WORKING WITH TOUCH SENSOR:

ts = ev3.TouchSensor()
assert ts.connected

while not ts.is_pressed:
    time.sleep(0.5)


    

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#WORKING TO COLOR SENSOR:

ts = ev3.TouchSensor()

cl = ev3.ColorSensor()
cl.mode = 'COL-COLOR' #returns an integer [0,7]
#cl.mode='COL-REFLECT' #measures reflected light intensity and returns an integer [0,100]
#cl.mode='COL-AMBIENT' #measures ambient light intensity and returns an integer [0,100]
#cl.mode='RGB-RAW' #returns RGB tuple ([0,1020], [0,1020], [0,1020])

colors = ('unknown black blue green yellow red white brown'.split())

while not ts.value():
    ev3.Sound.speak(colors[cl.value()]).wait()
    time.sleep(1)


    

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#WORKING WITH INFRARED SENSOR:

ir = ev3.InfraredSensor()
ir.mode = 'IR-PROX'
#A measurement of the distance between the sensor and the remote, as a percentage. 
#100% is approximately 70cm

lm = ev3.LargeMotor('outB')
rm = ev3.LargeMotor('outC')

lm.run_forever(speed_sp=360)
rm.run_forever(speed_sp=360)

while True:
    if ir.proximity < 10: #or ir.value()
        lm.stop(stop_action='brake')
        rm.stop(stop_action='brake')
        break
    time.sleep(0.1)


    

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#WORKING WITH REMOTE CONTROL:

remote1 = ev3.RemoteControl(channel=1) 
remote2 = ev3.RemoteControl(channel=2)

say = lambda sentence: ev3.Sound.speak(sentence)

remote1.on_red_up = lambda x: say("Red up pressed")
remote1.on_red_down = lambda x: say("Red down pressed")
remote1.on_blue_up = lambda x: say("Blue up pressed")
remote1.on_blue_down = lambda x: say("Blue up pressed")

remote2.on_red_up = sys.exit
remote2.on_red_down = sys.exit
remote2.on_blue_up = sys.exit
remote2.on_blue_down = sys.exit

while True:
    remote1.process()
    remote2.process()
    time.sleep(0.01)


    

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# WORKING WITH LARGE MOTORS:

m = ev3.LargeMotor('outB')

print(m.count_per_m) #number of tacho counts in one meter of travel of the motor
print(m.count_per_rot) #number of tacho counts in one rotation of the motor
#guideline: 1 tacho count = 1 degree, so speed of 360 = 1 revolution per second

#speed_sp is in tacho counts, recommended range is [-1000, 1000]
#stop_action in [break, hold, coast]
m.run_timed(time_sp=5000, speed_sp=250, stop_action="hold")

m.wait_while('running') #wait for the motor to stop moving

m.run_timed(time_sp=5000, speed_sp=-250, stop_action="coast") #go back to initial position


    

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#WORKING WITH MEDIUM MOTOR:

mm = ev3.MediumMotor()

#shoot a ball in the specified direction
#speed_sp recommended range is [-1400, 1400]

mm.run_to_rel_pos(speed_sp=900, position_sp=-1080)

while 'running' in mm.state:
    time.sleep(0.1)


    

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import sys
import time
import threading
import signal 

import rpyc

host = '192.168.1.4' 

conn = rpyc.classic.connect(host) 
ev3 = conn.modules['ev3dev.ev3'] 

ev3.Sound.beep()

#The 'done' event will be used to signal the threads to stop:
done = threading.Event()


    

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def move(done):
    lm = ev3.LargeMotor('outB'); assert lm.connected
    
    rm = ev3.LargeMotor('outC'); assert rm.connected
    
    cl = ev3.ColorSensor(); assert cl.connected
    cl.mode='COL-AMBIENT'
    
    speed = -250 #cl.value() is too low

    lm.run_forever(speed_sp=speed)
    rm.run_forever(speed_sp=speed)

    while not done.is_set():
        time.sleep(1)  
    
    #stop both motors
    lm.stop(stop_action='brake')
    rm.stop(stop_action='brake')
    lm.wait_while('running')
    rm.wait_while('running')
    
    #run around in a circle
    done.clear()
    lm.run_forever(speed_sp=speed)
    
    while not done.is_set():
        time.sleep(1)
        
    lm.stop(stop_action='brake')
    lm.wait_while('running')


    

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def feel(done):
    ir = ev3.InfraredSensor(); assert ir.connected
    ts = ev3.TouchSensor(); assert ts.connected

    screen = ev3.Screen()
    sound = ev3.Sound()

    screen.draw.text((60,40), 'Going for a walk')
    screen.update()

    while ir.proximity > 30:
        if done.is_set(): 
            break
        time.sleep(0.1)

    done.set() #this will set it running in a circle
    
    ev3.Leds.set_color(ev3.Leds.LEFT, ev3.Leds.RED)
    ev3.Leds.set_color(ev3.Leds.RIGHT, ev3.Leds.RED)
    
    screen.clear()
    screen.draw.text((60,20), 'There is something is front of me')
    screen.update()
    
    while not ts.is_pressed:
        sound.speak("Where should I go next?").wait()
        time.sleep(0.5)
    
    done.set() #will stop the circle dance


    

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# We also need to catch SIGINT (keyboard interrup) and SIGTERM (termination
# signal from brickman) and exit gracefully:
def signal_handler(signal, frame):
    done.set()

signal.signal(signal.SIGINT,  signal_handler)
signal.signal(signal.SIGTERM, signal_handler)

# Now that we have the worker functions defined, lets run those in separate
# threads.
move_thread = threading.Thread(target=move, args=(done,))
feel_thread = threading.Thread(target=feel, args=(done,))

move_thread.start()
feel_thread.start()

# The main thread will wait for the 'back' button to be pressed.  When that
# happens, it will signal the worker threads to stop and wait for their completion.
btn = ev3.Button()
while not btn.backspace and not done.is_set():
    time.sleep(1)

done.set()
move_thread.join()
feel_thread.join()  

ev3.Sound.speak('Farewell and good bye!').wait()
ev3.Leds.all_off()