//
//  PiLoader.swift
//  CarController
//
//  Created by Michael Pivato on 4/5/20.
//  Copyright © 2020 Michael Pivato. All rights reserved.
//

import Foundation
import SwiftUI
import GRPC
import NIO

class PiLoader: ObservableObject {
    // Find a cleaner way to handle these properties
    @Published var throttle: Float = 0.5
    @Published var steering: Float = 0.5
    let port: Int = 50051
    var stopped = false
    
    func makeClient(port: Int, group: EventLoopGroup) -> MotorControl_CarControlClient {
        let channel = ClientConnection.insecure(group: group)
            // TODO: Pass the host in based on the settings.
            .connect(host: "10.0.0.55", port: port)
        
        return MotorControl_CarControlClient(channel: channel)
    }
    
    func startUpdating() {
        let group = MultiThreadedEventLoopGroup(numberOfThreads: 1)
        defer {
            try? group.syncShutdownGracefully()
        }
        let client = makeClient(port: self.port, group: group)
        let options = CallOptions(timeout: .seconds(rounding: 10))
        let call = client.stream_vehicle_2d(callOptions: options)
        
        call.response.whenFailure { error in
            print("RecordRoute Failed: \(error)")
            self.stop()
        }
        
        call.status.whenComplete { _ in
            print("Finished RecordRoute")
            self.stop()
        }
        
        call.response.whenSuccess { summary in
            print("Finished")
            self.stop()
        }
        
        DispatchQueue.global(qos: .userInteractive).async{
            // Running in background. Do the update thread stuff.
            while (!self.stopped){
                call.sendMessage(self.createProto(), promise: nil)
                Thread.sleep(forTimeInterval: 0.2)
            }
        }
    }
    
    func stop(){
        stopped = true
    }
    
    func createProto() -> MotorControl_Vehicle2DRequest {
        return .with{
            $0.throttle = .with{
                $0.throttle = self.throttle
            }
            $0.steering = .with{
                $0.steering = self.steering
            }
        }
    }
}