#!/usr/bin/env python3

"""
Test cube connection interactions
"""

import time

import anki_vector  # pylint: disable=wrong-import-position


def main():
    args = anki_vector.util.parse_command_args()

    print("------ begin cube interactions ------")

    def test_subscriber(event_type, event):
        """output when a face is seen"""
        # Print the stream data received
        print(f"Subscriber called for: {event_type} = {event}")

    # The robot shall drive straight, stop and then turn around
    with anki_vector.Robot(args.serial) as robot:
        print("disconnecting from any connected cube...")
        robot.world.disconnect_cube()

        time.sleep(2)

        robot.events.subscribe(test_subscriber, anki_vector.events.Events.object_appeared)
        robot.events.subscribe(test_subscriber, anki_vector.events.Events.object_disappeared)
        robot.events.subscribe(test_subscriber, anki_vector.events.Events.object_tapped)
        robot.events.subscribe(test_subscriber, anki_vector.events.Events.object_moved)

        print("connect to a cube...")
        connectionResult = robot.world.connect_cube()
        print(connectionResult)

        connected_cube = robot.world.connected_light_cube
        if connected_cube:
            print("connected to cube {0}, clearing preferred cube for 1 second...".format(connected_cube.factory_id))
            robot.world.forget_preferred_cube()
            time.sleep(1)

            print("resetting preferred cube to the one we connected to...")
            robot.world.set_preferred_cube(connected_cube.factory_id)
            time.sleep(1)

            robot.world.flash_cube_lights()

        print("for the next 8 second, please tap, move, or allow Vector to observe the cube, events will be logged to console.")
        for _ in range(16):
            connected_cube = robot.world.connected_light_cube
            if connected_cube:
                print(connected_cube)
                print("last observed timestamp: " + str(connected_cube.last_observed_time) + ", robot timestamp: " + str(connected_cube.last_observed_robot_timestamp))
            time.sleep(0.5)

        print("disconnecting...")
        robot.world.disconnect_cube()
        time.sleep(1)

    print("------ finish cube interactions ------")


if __name__ == "__main__":
    main()