import socket
import math

from robot import Robot
from gait import Creep


def main():
    robot = Robot()
    gait = Creep(robot)
    run = gait.run()

    sock = socket.socket()
    addr = socket.getaddrinfo("0.0.0.0", 1010)[0][4]
    sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
    sock.setblocking(False)
    sock.bind(addr)
    sock.listen(1)
    try:
        while True:
            try:
                client, addr = sock.accept()
            except OSError:
                next(run)
            else:
                try:
                    client.setblocking(False)
                    while True:
                        command = client.read(1)
                        if command == b' ':
                            gait.dx = 0
                            gait.dy = 0
                            gait.rotation = 0
                        elif command == b'w':
                            gait.dy = min(3, gait.dy + 0.25)
                        elif command == b's':
                            gait.dy = max(-3, gait.dy - 0.25)
                        elif command == b'a':
                            gait.rotation = min(math.pi/90,
                                                gait.rotation + math.pi/360)
                        elif command == b'd':
                            gait.rotation = max(-math.pi/90,
                                                gait.rotation - math.pi/360)
                        next(run)
                finally:
                    client.close()
    finally:
        sock.close()