# import the libraries so that we can create a socket
import socket
import re

def cmuCamParse(string, split):
	string1 = list(string)
	string2 = ""

	x = 0
	#flag = 1
	for s in string1:
		s1 = s
		if str(s).isdigit():
			string2 += s
			string2 += split
			#flag = 1
			x += 1
			continue

	string2 = string2.split(split)

	return string2

def cmuCamGetInts(sock):
	return cmuCamParse(cmuCamReadline(sock), ' ')
	
def cmuCamConnect(server, port):
	# create a socket object
	sock = socket.socket ( socket.AF_INET, socket.SOCK_STREAM )
	# now connect the the server
	sock.connect ( ( server, port ) )

	return sock

def cmuCamClose(sock):
	sock.close()

def cmuCamSend(sock, message, newline):
	returnVal  = sock.send(message)
	returnVal2 = 0
	if (newline):
		returnVal2 = sock.send('\r')
	if ((returnVal > -1) & (returnVal2 > -1)):
		return (returnVal + returnVal2)
	return -1

def cmuCamReadCheck(sock):
	line = cmuCamReadline(sock)
	return cmuCamCheck(line)

def cmuCamReadline(sock):
	line = ""
	char = ""
	while 1:
		if ((char == '\n') | (char == '\r')):
			return (line + char)
		else:
			char = sock.recv(1) # Get a character
			line = line + char
			#print(line)

def cmuCamCheck(line):
	result = re.search("ACK\n",line)
	if (result != None):
		return 1
	else:
		return 0

# This function checks to see if the cmuCam is ready. It will also exit out of a looping command
def cmuCam_ping(sock):
	cmuCamSend(sock,"\r",0)
	return(cmuCamReadCheck(sock))

def cmuCam_bufferMode(sock, mode):
	message = "bm "
	mode = str(mode)
	cmuCamSend(sock,message+mode,1)
	return(cmuCamReadCheck(sock))

def cmuCam_cameraRegister(sock,reg,value):
	message = "cr "

	reg   = str(reg)
	value = str(value)

	cmuCamSend(sock,message+reg+" "+value,1)
	return(cmuCamReadCheck(sock))

def cmuCam_cameraPower(sock,value):
	message = "cp "

	value = str(value)

	cmuCamSend(sock,message+value,1)
	return(cmuCamReadCheck(sock))

def cmuCam_cameraType(sock,value):
	message = "cp "

	value = str(value)

	cmuCamSend(sock,message+value,1)
	return(cmuCamReadCheck(sock))

def cmuCam_differencingChannel(sock,channel):
	message = "dc "

	channel = str(channel)

	cmuCamSend(sock,message+channel,1)
	return(cmuCamReadCheck(sock))

def cmuCam_delayMode(sock,value):
	message = "dm "

	value = str(value)

	cmuCamSend(sock,message+value,1)
	return(cmuCamReadCheck(sock))

def cmuCam_downSampling(sock,x_factor,y_factor):
	message = "ds "

	x_factor = str(x_factor)
	y_factor = str(y_factor)

	cmuCamSend(sock,message+x_factor+" "+y_factor,1)
	return(cmuCamReadCheck(sock))

def cmuCam_frameDifferencing(sock,threshold):
	message = "fd "

	threshold = str(threshold)

	cmuCamSend(sock,message+threshold,1)
	return(cmuCamReadCheck(sock))

def cmuCam_frameStreaming(sock,value):
	message = "fs "

	value = str(value)

	cmuCamSend(sock,message+value,1)
	return(cmuCamReadCheck(sock))

def cmuCam_getButton(sock):
	message = "gb"

	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_getHistrogram(sock,channel):
	message = "gh "

	channel = str(channel)

	if channel == "-1":
		channel = ""

	cmuCamSend(sock,message+channel,1)
	return(cmuCamReadCheck(sock))

def cmuCam_getInput(sock):
	message = "gi"
	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_getMean(sock):
	message = "gm"
	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_getServo(sock,servo):
	message = "gs "

	servo = str(servo)

	cmuCamSend(sock,message+servo,1)
	return(cmuCamReadCheck(sock))

def cmuCam_getTracking(sock):
	message = "gt"
	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_getVersion(sock):
	message = "gv"
	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_getWindow(sock):
	message = "gw"
	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_histogramConfigure(sock,bins,scale):
	message = "hc"

	bins = str(bins)
	scale = str(scale)

	cmuCamSend(sock,message+bins+" "+scale,1)
	return(cmuCamReadCheck(sock))

def cmuCam_hiresDifferencing(sock,mode):
	message = "hd "

	mode = str(mode)

	cmuCamSend(sock,message+mode,1)
	return(cmuCamReadCheck(sock))

def cmuCam_hiresMode(sock,mode):
	message = "hr "

	mode = str(mode)

	cmuCamSend(sock,message+mode,1)
	return(cmuCamReadCheck(sock))

def cmuCam_histogramTracking(sock,mode):
	message = "ht "

	mode = str(mode)

	cmuCamSend(sock,message+mode,1)
	return(cmuCamReadCheck(socsock))

def cmuCam_led(sock,led,mode):
	message = "l"

	led = str(led)
	mode = str(mode)

	cmuCamSend(sock,message+led+" "+mode,1)
	return(cmuCamReadCheck(sock))

def cmuCam_loadFrame(sock):
	message ="lf"
	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_lineMode(sock,type,mode):
	message = "lm "

	type = str(type)
	mode = str(mode)

	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_maskDifferences(sock,threshold):
	message = "md "

	threshold = str(threshold)

	cmuCamSend(sock,message+threshold,1)
	return(cmuCamReadCheck(sock))

def cmuCam_noiseFilter(sock,threshold):
	message = "nf "

	threshold = str(threshold)

	cmuCamSend(sock,message+threshold,1)
	return(cmuCamReadCheck(sock))

def cmuCam_outputMask(sock,output,mask):
	message = "om "

	output = str(output)
	mask = str(mask)

	cmuCamSend(sock,message+mask,1)
	return(cmuCamReadCheck(sock))

def cmuCam_pixelDifferencing(sock,mode):
	message = "pd "

	mode = str(mode)

	cmuCamSend(sock,message+mode,1)
	return(cmuCamReadCheck(sock))

def cmuCam_packetFiltering(sock,mode):
	message = "pf "
	
	mode = str(mode)

	cmuCamSend(sock,message+mode,1)
	return(cmuCamReadCheck(sock))

def cmuCam_pollMode(sock,mode):
	message = "pm "
	
	mode = str(mode)

	cmuCamSend(sock,message+mode,1)
	return(cmuCamReadCheck(sock))

def cmuCam_packetSkipping(sock,number):
	message = "ps "

	number = str(number)

	cmuCamSend(sock,message+number,1)
	return(cmuCamReadCheck(sock))

def cmuCam_readFrame(sock):
	message = "rf"
	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_rawMode(sock,bit_flags):
	message = "rm "
	cmuCamSend(sock,message+bit_flags,1)
	return(cmuCamReadCheck(sock))

def cmuCam_reset(sock):
	message = "rs"
	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_sleepDeeply(sock):
	message = "sd"
	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_sendFrame(sock,channel):
	message = "sf "

	channel = str(channel)

	if (channel > "-1"):
		channel = ""
	cmuCamSend(sock,message+channel,1)
	return(cmuCamReadCheck(sock))

def cmuCam_sleep(sock):
	message = "sl 1"
	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_servoMask(sock,bit_mask):
	message = "sm "
	strcat(message, bit_mask)
	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_servoOutput(sock, servo, level):
	message = "so "

	servo = str(servo)
	level = str(level)

	cmuCamSend(sock,message+servo+" "+level,1)
	return(cmuCamReadCheck(sock))

def cmuCam_servoParameters(sock, pan_range_far, pan_range_near, pan_step, tilt_range_far, tilt_range_near, tilt_step):
	message = "sp "

	pan_range_far = str(pan_range_far)
	pan_range_near = str(man_range_near)
	pan_step = str(pan_step)
	tilt_range_far = str(tilt_range_far)
	tilt_range_near = str(tilt_range_near)
	tile_step = str(tilt_step)

	cmuCamSend(sock,message+pan_range_far+" "+pan_range_near+" "+pan_step+" "+tilt_range_far+" "+tilt_range_near+" "+tilt_step,1)
	return(cmuCamReadCheck(sock))

def cmuCam_setTracking(sock, rMin, rMax, gMin, gMax, bMin, bMax):
	message = "st "

	rMin = str(rMin)
	rMax = str(rMax)
	gMin = str(gMin)
	gMax = str(gMax)
	bMin = str(bMin)
	gMax = str(bMax)

	cmuCamSend(sock,message+rMin+" "+rMax+" "+gMin+" "+gMax+" "+bMin+" "+bMax,1)
	return(cmuCamReadCheck(sock))

def cmuCam_servo(sock, servo, position):
	message = "sv "

	servo = str(servo)
	position = str(position)

	cmuCamSend(sock,message+servo+" "+position,1)
	return(cmuCamReadCheck(sock))

def cmuCam_trackColor(sock, rMin, rMax, gMin, gMax, bMin, bMax):
	message = "tc "

	rMin = str(rMin)
	rMax = str(rMax)
	gMin = str(gMin)
	gMax = str(gMax)
	bMin = str(bMin)
	gMax = str(bMax)

	cmuCamSend(sock,message+rMin+" "+rMax+" "+gMin+" "+gMax+" "+bMin+" "+bMax,1)
	return(cmuCamReadCheck(sock))

def cmuCam_trackInverted(sock,mode):
	message = "ti "

	mode = str(mode)

	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_trackWindow(sock):
	message = "tw"
	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_uploadDifferencing(sock, data):
	message = "ud "

	data = str(data)

	strcat(data,message)
	cmuCamSend(sock,message,1)
	return(cmuCamReadCheck(sock))

def cmuCam_virtualWindow(sock, x, y, x2, y2):
	message = "vw "

	x = str(x)
	y = str(y)
	x2 = str(x2)
	y2 = str(y2)

	cmuCamSend(sock,message+x+" "+y+" "+x2+" "+y2,1)
	return(cmuCamReadCheck(sock))