from digi.xbee.models.address import XBee64BitAddress, XBee16BitAddress, XBeeIMEIAddress 
from digi.xbee.devices import RemoteXBeeDevice, ZigBeeDevice 
from digi.xbee.exception import InvalidOperatingModeException, XBeeException, TimeoutException
import time
import RPi.GPIO as GPIO
import traceback

from digi.xbee.util import utils
import sys

from digi.xbee.models.status import TransmitStatus
import digi.xbee.packets.common

# XBee Communicaton Parameters
PORT = "/dev/serial0"
BAUD_RATE = 57600
RESET_GPIO_NUM = 16

MAX_BYTES_PER_PACKET = 255

# XBee reset pin initialisation
GPIO.setmode(GPIO.BOARD)
GPIO.setup(RESET_GPIO_NUM,GPIO.OUT) 




'''
-------------------- Rover Communication Methods --------------------
'''
def chunkArray(array, chunkSize):
    return [array[i:chunkSize+i] for i in range(0, len(array), chunkSize)]

def sendXbeeUnicast(macID,message):
    try:
        
        
        
        # Unicast Request
        remote_device = RemoteXBeeDevice(zcXBeeDevice, XBee64BitAddress.from_hex_string(macID)) 
        zcXBeeDevice.send_data_async(remote_device, message)
        print("[*] Sent unicast!")

        
        '''
        broadcast
        zcXBeeDevice.send_data_broadcast(json.dumps(request))
        '''
    except Exception as e:

        print("[!] Error sending xbee unicast!")
        print("[!] type error: " + str(e))
        print(traceback.format_exc())

        

def my_data_received_callback(xbee_message):
  
    try:
        address = xbee_message.remote_device.get_64bit_addr()
        data = xbee_message.data.decode("ascii")
        print("[*] Received :"+str(data)+". From :"+str(address))

    except Exception as e:
        print("type error: " + str(e))
        print(traceback.format_exc())    

def packet_received_callback(packet):
    global transmitStatusReceived, transmitSuccess
    if debugMode:
        print("[*] Received Packet :"+str(type(packet)))
        print(packet.__dict__)
    
    if type(packet) == digi.xbee.packets.common.TransmitStatusPacket :
        transmitSuccess = packet.__dict__["_TransmitStatusPacket__transmit_status"] == TransmitStatus.SUCCESS 
        transmitStatusReceived = True 
        print("[*] Transmit Status OK!")
'''
-------------------- XBEE Setup --------------------
'''
    
    
try:        
    # Perform Zigbee Device Reset 
    GPIO.output(RESET_GPIO_NUM, False)
    time.sleep(2)
    GPIO.output(RESET_GPIO_NUM, True)
    time.sleep(3)
    GPIO.cleanup()
except Exception as e:
    print("[!] Error resetting GPIO pin")
    print("[!] type error: " + str(e))
    print(traceback.format_exc())

retriesLeft = 5
while retriesLeft > 0:
    try:
        # Connect and initialise ZigBee Device instance
        zcXBeeDevice = ZigBeeDevice(PORT, BAUD_RATE)
        zcXBeeDevice.open()
        zcXBeeDevice.add_data_received_callback(my_data_received_callback)
        zcXBeeDevice.add_packet_received_callback(packet_received_callback)
        print("[*] Succesfully initialised zigbee device.")
        break
    except Exception as e:
        print("[!] Error initialising zigbee device. Retries Left:"+str(retriesLeft))
        print("[!] type error: " + str(e))
        print(traceback.format_exc())
        retriesLeft = retriesLeft -1
        time.sleep(2)
                
if retriesLeft == 0:
    print("[!] Failed to initialise zigbee device. Quitting now...")
    sys.exit()


'''
-------------------- Main --------------------
'''


if __name__ == "__main__": 
    if len(sys.argv)>1:
        print("[*] Debug MODE!!!")
        global debugMode
        debugMode = True
    else:
        debugMode = False
    
    print("[*] USAGE: DESTINATION_MAC_ADDR MESSAGE ")


    while True:
        try:
            userInput = input()
            macID,message = userInput.split(" ")

            sendXbeeUnicast(macID,message)

        except Exception as e:
            print("[!] Error occurred while reading/parsing user input")
            print("[!] type error: " + str(e))
            print(traceback.format_exc())