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# leftSensor and broker file
 
#Preliminary code for an outer pi, definitely not finished just an idea
 
import time
import board
import os
import threading
from gpiozero import MotionSensor
from gpiozero import Servo
from paho.mqtt import client as mqtt
from paho.mqtt import publish
from paho.mqtt import subscribe
 
IRSensor = MotionSensor(4)
 
servo = Servo(16)
 
ThermalCamOff = 1  #temp variable at the moment
stopLSensorReading = False
 
broker = '192.168.1.15'
port = 1883
topic = "peripheralSensor/leftSensor"
clientID = "leftPumpkin"
subscription = ("servoPosition", 2)
 
def subscribe(client, subscription):
    r = client.subscribe(subscription)
    if r[0] == 0:
        print(f"Successfully subscribed to {subscription}")
    else:
        print(f"Failed to subscribe to {subscription}")
 
def connect_mqtt():
    def on_connect(client, userdata, flags, rc):
        if rc==0:
            print("connected to MQTT Broker!")
        else:
            print("failed to connect")
    client = mqtt.Client(clientID)
    client.on_connect = on_connect
    client.on_message = on_message
    client.connect(broker, port)
    subscribe(client, subscription)
    return client
 
 
def publish(client, msg):
    print("in publish")
    result = client.publish(topic, msg)
    status = result[0]
    if status == 0:
        print(f"sent `{msg}` to topic `{topic}`")
    else:
        print(f"failed to send message to topic {topic}")
    time.sleep(5)
 
def on_message(client, userdata, message):
    print("in response to subscription")
    global stopLSensorReading
    if (message.payload == "0enmasse"):
        stopLSensorReading = True
        servo.value = 0
        print("0enmasse")
        time.sleep(60)
        stopLSensorReading = False
        LSensor()
    else:
        servo.value = message.payload
        print(f'{message.payload}')
        
def LSensor(client):
    print("in LSensor")
    global stopLSensorReading
    while(True):
        print("loop")
        if stopLSensorReading:
            break
        IRSensor.wait_for_motion()
        print('seen')
        publish(client, 1)
 
def run():
    leftSensorThread = threading.Thread(target = LSensor)
    client = connect_mqtt()
    client.loop_start()
    LSensor(client)
    
    
if __name__ == '__main__':
    run()