boatdctl

#!/usr/bin/env python
'''
boatdctl - boatd control

Usage:
    boatdctl status
    boatdctl heading
    boatdctl position
    boatdctl spin
    boatdctl rudder <angle>
    boatdctl sail <angle>

Options:
    -h --help     Show this screen.
    --version     Show boatd version

'''

import argparse
import sys

from boatdclient import Boat
from boatdclient import Boatd
from boatdclient import Behaviour

if __name__ == '__main__':
    arger = argparse.ArgumentParser()
    arger.add_argument('--host', default='localhost',
                        help='host boatd is listening on')
    arger.add_argument('--port', type=int, default=2222,
                        help='port boatd is listening on')

    subparsers = arger.add_subparsers(dest='command')

    help_parser = subparsers.add_parser('help')
    info_parser = subparsers.add_parser('status')
    quit_parser = subparsers.add_parser('quit')

    behaviour_list_parser = subparsers.add_parser('behaviour-list')
    behaviour_start_parser = subparsers.add_parser('behaviour-start')
    behaviour_stop_parser = subparsers.add_parser('behaviour-stop')
    behaviour_start_parser.add_argument('behaviour')

    heading_parser = subparsers.add_parser('heading')
    position_parser = subparsers.add_parser('position')
    spin_parser = subparsers.add_parser('spin')

    rudder_parser = subparsers.add_parser('rudder')
    rudder_parser.add_argument('angle')

    sail_parser = subparsers.add_parser('sail')
    sail_parser.add_argument('angle')

    opts = arger.parse_args()

    boatd = Boatd(host=opts.host, port=opts.port)
    boat = Boat(boatd=boatd)

    if opts.command == 'help':
        print(__doc__)

    if opts.command == 'status':
        try:
            v = boat.boatd.version
        except Exception as e:
            print('Problem talking to boatd: "{}"'.format(e))
            sys.exit(1)
        print('boatd version \'{}\' responding to requests on {}'.format(v,
              boat.boatd.url('/')))

    if opts.command == 'quit':
        boat.boatd.quit()

    if opts.command == 'behaviour-list':
        behaviour = Behaviour()
        for name in behaviour.list():
            print(name)

    if opts.command == 'behaviour-start':
        behaviour = Behaviour()
        name = opts.behaviour
        message = behaviour.start(name)
        print(message)

    if opts.command == 'behaviour-stop':
        behaviour = Behaviour()
        behaviour.stop()

    if opts.command == 'heading':
        print('heading: {}'.format(boat.heading))

    if opts.command == 'position':
        print('position: {0:.9f}, {0:.9f}'.format(*boat.position))

    if opts.command == 'rudder':
        print('setting rudder to', opts.angle)
        boat.set_rudder(float(opts.angle))

    if opts.command == 'sail':
        print('setting sail to', opts.angle)
        boat.set_sail(float(opts.angle))

    if opts.command == 'spin':
        import time
        for i in range(90):
            a = 45 - (i)
            boat.set_rudder(a)