var express = require('express');
var engines = require('consolidate');
var nodecr = require('nodecr');
var drone = require('dronestream');
var fs = require('fs');
var app = express();
app.engine('html', engines.hogan);
app.set('view engine', 'html');
app.set('views', __dirname);

var lastPng;

app.get('/', function (req, res) {
    res.render('index');
});

app.get('/image', function (req, res) {
    if(lastPng) {
        //console.log('has last png');
        res.writeHead(200, {'Content-Type:': 'image/png' });
        res.end(lastPng);
    }
});
var lastCommand = "";
app.get('/land', function (req, res) {
    client.land();
    res.render('index');
    lastCommand = "LAND";
});

app.get('/takeoff', function (req, res) {
    takeoff();
    res.render('index');
    lastCommand = "TAKEOFF";
});

var arDrone = require('ar-drone');
var client = arDrone.createClient();
var pngStream;
client.disableEmergency();

    pngStream = client.getPngStream();
    pngStream.on('error', console.log).on('data', function (pngBuffer) {
        lastPng = pngBuffer;
        var filename = new Date() * 1 + '.png';
        fs.open(filename, "wx", function (err, fd) {
            fs.write(fd, pngBuffer, 0, pngBuffer.length, null, function () {
                fs.close(fd, function () {
                    scan(filename);

                });
            });
        });

    });

var takeoff = function () {
    client.takeoff();
};

var scanning = false;
var scan = function (filename) {
    if(!scanning) {
        scanning = true;
        nodecr.process(__dirname + '/' + filename, function (err, text)
            //nodecr.process(lastPng, function(err, text)
        {
            if(err) {
                //    console.error(err);
            } else {
                var tidiedUp = text.replace("0", "O").replace(/\W/g, "");
                doAction(tidiedUp);
            }
        });
        scanning = false;
    }
};

app.listen(8076);

var lastRun = new Date() - 5000;
var doAction = function (command) {
    findCommand(command, function (res) {
            if(res) {
                // console.log("COMMAND: " + res);
                var commands = {
                    'LAND': function () {
                        client.land();
                        isFlying = false;
                    },
                    'TAKEOFF': function () {

                        lastRun = new Date() + 10000;
                        takeoff();

                    },
                    'TAKE OFF': function () {
                        lastRun = new Date() + 10000;
                        takeoff();
                    },
                    'PARTY': function () {
                        client.animateLeds('redSnake', 5, 5);
                        //client.clockwise(2);
                        client.animate('doublePhiThetaMixed', 5);
                    },
                    'FLIP': function () {
                        client.animate('flipBehind', 2000);
                    },

                    'LEFT': function () {
                        client.left(0.5).after(1000, function () {
                            client.stop();
                        });
                    },

                    'UP': function () {
                        client.up(0.5).after(1000, function () {
                            client.stop();
                        });
                    },

                    'DOWN': function () {
                        client.down(0.5).after(1000, function () {
                            client.stop();
                        });
                    },

                    'RIGHT': function () {
                        client.right(0.5).after(1000, function () {
                            client.stop();
                        });
                    }

                }

                var upper = command.toUpperCase();
                if(typeof commands[upper] == 'function') {
                    var delta = new Date() - lastRun;

                    if(!lastRun || delta > 5000){
                        console.log(lastCommand);
                        if(lastCommand != upper.replace(" ", ""))
                        {
                            console.log('Running: ' + upper + 'Delta:'+ delta);
                            commands[upper]();
                            lastRun = new Date();
                            lastCommand = upper;
                        }else
                        {
                            console.log('dup command');
                        }
                    }else{
                        console.log('Too Soon: ' + delta);
                    }
                } else {
                    // console.log("BAD Command: " + command);
                }
            } else {
                //console.log("BAD Command: " + command);
            }
        }

    );
};
var findCommand = function (command, callback) {
    nn = require('nearest-neighbor');
    var items = [
        { name: "TAKE OFF"},
        { name: "LAND"},
        { name: "UP"},
        { name: "DOWN"},
        { name: "LEFT"},
        { name: "RIGHT"},
        { name: "PARTY"},
        { name: "FLIP"}
    ];

    var query = { name: command};

    var fields = [
        { name: "name", measure: nn.comparisonMethods.word }
    ];

    nn.findMostSimilar(query, items, fields, function (nearestNeighbor, probability) {
        //console.log(query);
        //console.log(nearestNeighbor);
        //console.log(probability);
        if(probability > 0.4) {
            callback(nearestNeighbor.name);
        } else {
            callback('');
        }
    });
}