#include <fcntl.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netdb.h> 
#include <errno.h>
#include <sys/wait.h>
#include <sys/time.h>
             


#define POWER 1
#define ENGINE 2
#define FORWARD 4
#define TURN 8
#define LEFTRIGHT 16
#define LIGHTS 32
#define PROX 64
#define UNKNOWN 128

#define MAXDATASIZE 1024

//#define PONIEIP "192.168.1.20"
#define PONIEIP "192.168.1.200"
//#define PONIEIP "10.0.2.15"
#define PONIEPORT 4500
#define SERVERPORT 4501

int pipes[2];
char sendbits;
int sockfd;
int newsockfd;

char* substring(const char* str, size_t begin, size_t len) { 
  if (str == 0 || strlen(str) == 0 || strlen(str) < begin || strlen(str) < (begin+len)) 
    return 0; 

  return strndup(str + begin, len); 
} 
void error(const char *msg) {
    perror(msg);
    exit(0);
}
const char *byte_to_binary (int x) {
    static char b[9];
    b[0] = '\0';

    int z;
    for (z = 128; z > 0; z >>= 1)
    {
        strcat(b, ((x & z) == z) ? "1" : "0");
    }

    return b;
}
void setbit(int bittoset) {
  sendbits = sendbits | bittoset;
}  
void unsetbit(int bittounset) {
  sendbits = sendbits & ~bittounset;
}













//int main(int argc, char *argv[])
int start_client(void)
{

    int portno, n, nbytes;
    struct sockaddr_in serv_addr;
    struct hostent *server;
    bool send = false;
    
    char sendbuffer[1];
    char recvbuffer[4];
   
    sockfd = socket(AF_INET, SOCK_STREAM, 0);
    if (sockfd < 0) {
        error("ERROR opening socket");
    } else {
	printf("Client says:  Socket opened\n");
	fflush(stdout);
    }

    server = gethostbyname(PONIEIP);
    
    if (server == NULL) {
        fprintf(stderr,"ERROR, no such host\n");
	fflush(stdout);
        exit(0);
    } else {
	printf("Client says:  Got host information\n");
	fflush(stdout);
    }

    bzero((char *) &serv_addr, sizeof(serv_addr));  //  Zero out the server address
    printf("Client says:  Server info flushed\n");
    fflush(stdout);
    
    serv_addr.sin_family = AF_INET;  // set the connection type to TCP
    printf("Client says:  Connection type - TCP\n");
    fflush(stdout);
    
    bcopy((char *)server->h_addr, (char *)&serv_addr.sin_addr.s_addr, server->h_length);  // copy the server address
    printf("Client says:  Server info copied\n");
    fflush(stdout);
    
    serv_addr.sin_port = htons(PONIEPORT);
    printf("Client says:  Server port set (%i)\n", PONIEPORT);
    fflush(stdout);
    
    if (connect(sockfd,(struct sockaddr *) &serv_addr,sizeof(serv_addr)) < 0) {
        error("ERROR connecting");
    } else {
	printf("Client says:  Connection to PoNIE established\n");
	fflush(stdout);
    }
    
    setbit(POWER);
    
    int x;
    for (x = 1; x < 1000; x++) {
      nbytes = read(pipes[0], recvbuffer, sizeof(recvbuffer));

      if(nbytes == 4) {
	
	printf("< Client Received: \"%s\"\n",recvbuffer);
	fflush(stdout);
	
	//setbit(UNKNOWN);
	if(strcmp(recvbuffer, "FORW") == 0) {
	  setbit(ENGINE + FORWARD);
	  unsetbit(TURN);
	  send = true;
	}
	
	if(strcmp(recvbuffer, "BAKW") == 0) {
	  setbit(ENGINE);
	  unsetbit(FORWARD + TURN);
	  send = true;
	}
	
	if(strcmp(recvbuffer, "BAKL") == 0) {
	  setbit(ENGINE + TURN + LEFTRIGHT);
	  unsetbit(FORWARD);
	  send = true;
	}
	
	if(strcmp(recvbuffer, "BAKR") == 0) {
	  setbit(ENGINE + TURN);
	  unsetbit(FORWARD + LEFTRIGHT);
	  send = true;
	}
	
	if(strcmp(recvbuffer, "FORR") == 0) {
	  setbit(FORWARD + ENGINE + TURN);
	  unsetbit(LEFTRIGHT);
	  send = true;
	}

	if(strcmp(recvbuffer, "FORL") == 0) {
	  setbit(FORWARD + ENGINE + TURN + LEFTRIGHT);
	  send = true;
	}
	
	if(strcmp(recvbuffer, "PROF") == 0) {
	  unsetbit(POWER + FORWARD + ENGINE + TURN + LEFTRIGHT + PROX + LIGHTS);
	  send = true;
	}
	
	if(strcmp(recvbuffer, "PRON") == 0) {
	  setbit(POWER);
	  send = true;
	}
	
	if(strcmp(recvbuffer, "STOP") == 0) {
	  unsetbit(FORWARD + ENGINE + TURN + LEFTRIGHT);
	  send = true;
	}
	
	if(strcmp(recvbuffer, "LGON") == 0) {
	  setbit(LIGHTS);
	  send = true;
	}
	
	if(strcmp(recvbuffer, "LGOF") == 0) {
	  unsetbit(LIGHTS);
	  send = true;
	}	
	
	if(send == true) {
	  printf("> Client Sending: %s\n", byte_to_binary(sendbits));
	  fflush(stdout);
	  send = false;
	  
	  sendbuffer[0] = sendbits;
	  n = write(sockfd,sendbuffer,1);
	  if (n < 0) error("ERROR writing to socket");
	}
      }
      
      

      
      sleep(1);
      bzero(recvbuffer,5);  //  Clear the buffer
    }

    n = read(sockfd,recvbuffer,16);
    if (n < 0) error("ERROR reading from socket");
    
    return 0;
    
    
}























int start_server(void)
{
     int newsockfd, portno, rc, result, i, n;
     char buffer[16], outbuffer[4];
     socklen_t clilen;
     struct timeval timeout;
     fd_set fds;
     char * nl;
     
     struct sockaddr_in serv_addr, cli_addr;

     sockfd = socket(AF_INET, SOCK_STREAM, 0);
     if (sockfd < 0) 
        error("ERROR opening socket");
     bzero((char *) &serv_addr, sizeof(serv_addr));
     portno = SERVERPORT;
     
     serv_addr.sin_family = AF_INET;
     serv_addr.sin_addr.s_addr = INADDR_ANY;
     serv_addr.sin_port = htons(portno);
     if (bind(sockfd, (struct sockaddr *) &serv_addr,
              sizeof(serv_addr)) < 0) 
              error("ERROR on binding");

     listen(sockfd,5);
     clilen = sizeof(cli_addr);

     while(1) {
       
	newsockfd = accept(sockfd, (struct sockaddr *) &cli_addr, &clilen);
	if (newsockfd < 0) error("ERROR on accept");
	
	printf("Server says:  Client connected\n");
	fflush(stdout);
	
	while(fcntl(newsockfd, F_GETFL) != -1) {
	  
	  timeout.tv_sec = 3;
	  timeout.tv_usec = 0;
	  
	  FD_ZERO(&fds);
	  FD_SET(newsockfd, &fds);

	  rc = select(sizeof(fds)*8, &fds, NULL, NULL, &timeout);

	  if (rc==-1) {
	    printf("Server says:  Pipe select error!\n");
	    fflush(stdout);
	    return -1;
	  }
	  
	  result = 0;
	  
	  //  If a client sends data within three seconds (the timeout), do this
	  if (rc > 0) {
	    
	    if (FD_ISSET(newsockfd, &fds)) {
	  	
	      n = read(newsockfd,buffer,16);

	      if (n < 0) error("ERROR reading from socket");

	      if (n == 0) {
	      	close(newsockfd);
		printf("Server says:  Client disconnected\n");
		fflush(stdout);
		continue;
	      }
	      
	      strncpy(outbuffer, buffer, 4);
	      
	      printf("Server says:  Received [%s]\n", outbuffer);
	      fflush(stdout);
	      
	      write(pipes[1], outbuffer, (strlen(outbuffer) + 1));
	      
	      // If we receive the shutdown signal, exit the loop function
	      if(strcmp(substring(buffer, 0, 4), "SHDN") == 0) {
		  return 0;
	      }	
	      
	    }
	
	
	  //  If the client doesn't send data within three seconds, do this.
	  } else {

	  }
	  
	}
	

     }
     

     
     close(sockfd);
     return 0; 
}



void shutdown( void )
{
    printf("Cleaning up\n");
    fflush(stdout);
    close(sockfd);
    close(newsockfd);
    printf("Shutting down\n");
    fflush(stdout);
}




void consoleout(char* output) {
  printf("%s\n", output);
  fflush(stdout);
}


int main(int argc, char** argv) { 
  
    int childpid;
 
     if(pipe2(pipes, O_NONBLOCK) < 0) { 
	      perror("Pipe allocation failed");
	     exit(0); 
      }
 
     switch(childpid=fork()){
         case -1:
             perror("Problem with fork\n");
             break;
 
         case 0:  //Child
	    start_server();
	    shutdown();
            break;
	    
         default: //Parent
	    start_client();
            waitpid(childpid,0,0);
            break;
     }



}