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import RPi.GPIO as GPIO
from time import sleep
import os
import sys
import glob
import bluetooth
import re
# 3 Pins to communicate with Arduino
P1 = 17
P2 = 27
P3 = 23
GPIO.setmode(GPIO.BCM)
GPIO.setup(P1, GPIO.OUT)
GPIO.setup(P2, GPIO.OUT)
GPIO.setup(P3, GPIO.OUT)
GPIO.output(P1, False)
GPIO.output(P2, False)
GPIO.output(P3, False)
server_sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM)
server_sock.bind(("", bluetooth.PORT_ANY))
server_sock.listen(1)
port = server_sock.getsockname()[1]
print("Waiting for connection on RFCOMM channel %d..." % port)
recv_sock, client_info = server_sock.accept()
print("Connected to %s." % client_info[0])
read = "0"
while read != "1000":
read = recv_sock.recv(1024)
read = read.decode("utf-8").strip('\n')
print("Received: %s" % read)
print(f"Sending: 'Acknowledge: {read}'")
recv_sock.send(f"Acknowledge: {read}\n".encode()) # Remember NEW LINE for ÖS to be able to read lines.
if read == "0": # Do nothing
GPIO.output(P1, False)
GPIO.output(P2, False)
GPIO.output(P3, False)
elif read == "11": # Drive forward
GPIO.output(P1, True)
GPIO.output(P2, False)
GPIO.output(P3, False)
elif read == "22": # Drive backward
GPIO.output(P1, False)
GPIO.output(P2, True)
GPIO.output(P3, False)
elif read == "33": # Rotate right, 90 degrees
GPIO.output(P1, True)
GPIO.output(P2, True)
GPIO.output(P3, False)
elif read == "44": # Rotate left, 90 degrees
GPIO.output(P1, False)
GPIO.output(P2, False)
GPIO.output(P3, True)
elif read == "55": # Rotate right, 45 degrees
GPIO.output(P1, True)
GPIO.output(P2, False)
GPIO.output(P3, True)
elif read == "66": # Rotate left, 45 degrees
GPIO.output(P1, False)
GPIO.output(P2, True)
GPIO.output(P3, True)
elif read == "98": # Turn on light at landmark
GPIO.output(P1, True)
GPIO.output(P2, True)
GPIO.output(P3, True)
else: # Do nothing if command is not recognized
GPIO.output(P1, False)
GPIO.output(P2, False)
GPIO.output(P3, False)
GPIO.output(P1, False)
GPIO.output(P2, False)
GPIO.output(P3, False)
print("Shutting down...")
server_sock.close()
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