#!/usr/bin/env python
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from __future__ import print_function
import rospy
import sys

from socket import error

from tornado.ioloop import IOLoop
from tornado.ioloop import PeriodicCallback
from tornado.web import Application

from rosbridge_server import RosbridgeWebSocket, ClientManager

from rosbridge_library.capabilities.advertise import Advertise
from rosbridge_library.capabilities.publish import Publish
from rosbridge_library.capabilities.subscribe import Subscribe
from rosbridge_library.capabilities.advertise_service import AdvertiseService
from rosbridge_library.capabilities.unadvertise_service import UnadvertiseService
from rosbridge_library.capabilities.call_service import CallService


def shutdown_hook():
    IOLoop.instance().stop()

if __name__ == "__main__":
    rospy.init_node("rosbridge_websocket")
    rospy.on_shutdown(shutdown_hook)    # register shutdown hook to stop the server

    ##################################################
    # Parameter handling                             #
    ##################################################
    retry_startup_delay = rospy.get_param('~retry_startup_delay', 2.0)  # seconds

    RosbridgeWebSocket.use_compression = rospy.get_param('~use_compression', False)

    # get RosbridgeProtocol parameters
    RosbridgeWebSocket.fragment_timeout = rospy.get_param('~fragment_timeout',
                                                          RosbridgeWebSocket.fragment_timeout)
    RosbridgeWebSocket.delay_between_messages = rospy.get_param('~delay_between_messages',
                                                                RosbridgeWebSocket.delay_between_messages)
    RosbridgeWebSocket.max_message_size = rospy.get_param('~max_message_size',
                                                          RosbridgeWebSocket.max_message_size)
    RosbridgeWebSocket.unregister_timeout = rospy.get_param('~unregister_timeout',
                                                          RosbridgeWebSocket.unregister_timeout)
    bson_only_mode = rospy.get_param('~bson_only_mode', False)

    if RosbridgeWebSocket.max_message_size == "None":
        RosbridgeWebSocket.max_message_size = None

    # SSL options
    certfile = rospy.get_param('~certfile', None)
    keyfile = rospy.get_param('~keyfile', None)
    # if authentication should be used
    RosbridgeWebSocket.authenticate = rospy.get_param('~authenticate', False)
    port = rospy.get_param('~port', 9090)
    address = rospy.get_param('~address', "")

    RosbridgeWebSocket.client_manager = ClientManager()

    # Get the glob strings and parse them as arrays.
    RosbridgeWebSocket.topics_glob = [
        element.strip().strip("'")
        for element in rospy.get_param('~topics_glob', '')[1:-1].split(',')
        if len(element.strip().strip("'")) > 0]
    RosbridgeWebSocket.services_glob = [
        element.strip().strip("'")
        for element in rospy.get_param('~services_glob', '')[1:-1].split(',')
        if len(element.strip().strip("'")) > 0]
    RosbridgeWebSocket.params_glob = [
        element.strip().strip("'")
        for element in rospy.get_param('~params_glob', '')[1:-1].split(',')