chessbot

if __name__ == "__main__": print('''test with \nmosquitto_pub -t /robotmoves -m 'g4a4''')
import paho.mqtt.client as mqtt
SIZE = 30


# to only take latest quickly (and be idempotent if unplugged), we'll loop seperately
def square_to_coordinates(square): # Converts chess square to coordinates (e.g., "a1" -> (0, 0))
    # Converts chess square to coordinates (e.g., "a1" -> (0, 0))
    #column = ord(square[0]) - ord('a')
    row = square[0] - ord('a')
    column = (square[1]) - ord('1')
    if 0 > column or 8 < column or 0 > row or 8 < row: # allow rows 0 through 8 (0th row is for storing dead pieces)
        return None
    return (column * SIZE, row * SIZE)


def on_message(client, userdata, message):
    
    if (message.topic == "/robotmoves"):
        print("hi")
        mes = message.payload
        from_square, to_square = mes[:2], mes[2:]
      
      
        from_square = square_to_coordinates(from_square)
        to_square = square_to_coordinates(to_square)
        if from_square is None or to_square is None:#invalid positions
            client.publish("/path", b"home")
            return

        combined_string = str(from_square[0])+ "," +str(from_square[1]) 
        #either goes up half a square or down half a square then moves horizontal to coordinate half a square from final y
        #then moves up or down to be half a square a way from final postion
        #if from_square[0] == to_square[0]:
            #combined_string =combined_string+ ","+str(from_square[0]+.5)+ "," +str(from_square[1]) 
            #combined_string =combined_string+ ","+str(from_square[0]+.5)+ "," +str(to_square[1]) 
        #else:
        y_diff = from_square[1] - to_square[1]
        x_diff = from_square[0] - to_square[0]
        y_diff = abs(y_diff)
        x_diff = abs(x_diff)
        print(x_diff)
        print(y_diff)
        if(x_diff == 2*SIZE and y_diff ==1*SIZE) or (x_diff ==1*SIZE and y_diff ==2*SIZE):
            if from_square[1] < to_square[1]: 
                if from_square[0] != to_square[0]:
                    combined_string =combined_string+ ","+str(from_square[0])+ "," +str(from_square[1]+.5 * SIZE) 
                if from_square[0] < to_square[0]:
                    combined_string =combined_string+ ","+str(to_square[0]-.5 * SIZE)+ "," +str(from_square[1]+.5 * SIZE) 
                    combined_string = combined_string+ ","+str(to_square[0]-.5 * SIZE)+ "," +str(to_square[1])
                elif from_square[0] > to_square[0]:
                    combined_string =combined_string+ ","+str(to_square[0]+.5 *SIZE )+ "," +str(from_square[1]+.5 *SIZE)
                    combined_string = combined_string+ ","+str(to_square[0]+.5*SIZE)+ "," +str(to_square[1]) 
            




            elif from_square[1] > to_square[1]:
                if from_square[0] != to_square[0]:
                    combined_string =combined_string+ ","+str(from_square[0])+ "," +str(from_square[1]-.5*SIZE) 
                if from_square[0] < to_square[0]:
                    combined_string =combined_string+ ","+str(to_square[0]-.5*SIZE)+ "," +str(from_square[1]-.5*SIZE) 
                    combined_string = combined_string+ ","+str(to_square[0]-.5*SIZE)+ "," +str(to_square[1]) 
                elif from_square[0] > to_square[0]:
                    combined_string =combined_string+ ","+str(to_square[0]+.5*SIZE)+ "," +str(from_square[1]-.5*SIZE) 
                    combined_string = combined_string+ ","+str(to_square[0]+.5*SIZE)+ "," +str(to_square[1]) 

        #else:
            #if from_square[0] != to_square[0]:
                #combined_string =combined_string+ ","+str(from_square[0])+ "," +str(from_square[1]+.5) +  ","+str(1)
                #combined_string =combined_string+ ","+str(to_square[0])+ "," +str(from_square[1]+.5) +  ","+str(1)
        combined_string = combined_string+ ","+str(to_square[0])+ "," +str(to_square[1]) 
        #combined_string = "{},{},{},{},{},{}".format(from_square[0], from_square[1], 1, to_square[0], to_square[1], 1)
        print(combined_string)
        print(list(from_square), list(to_square))
        print(mes)
        client.publish("/path",combined_string)




        

def on_connect(client, userdata, flags, reason_code, properties):
    if reason_code.is_failure:
        print(f"Failed to connect: {reason_code}. loop_forever() will retry connection")
    else:
        print(f"Successfully connected")
        # we should always subscribe from on_connect callback to be sure
        # our subscribed is persisted across reconnections.
        client.subscribe("$SYS/#")
        client.subscribe("/robotmoves")
        


if __name__ == "__main__":
    mqttc = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2)
    mqttc.on_connect = on_connect
    mqttc.on_message = on_message
    print("connecting")
    #print(mqttc.connect("localhost"))
    print(mqttc.connect("chessbot"))

    
    mqttc.loop_forever()