# ESP32-espnow-receiver-ADXL345-robocar2w.py
import network, espnow, time, machine
from robocar2w import *

wlan_sta = network.WLAN(network.STA_IF)
wlan_sta.active(True)

e = espnow.ESPNow()
e.active(True)

peer = b'\xff'*6     # alle Sender
e.add_peer(peer)

led = machine.Pin(2,machine.Pin.OUT)
#      'f -1023 -1023', 'f -1023 -1023', 'f -1023 -1023', 'f -1023 -1023', 'f -1023 -1023', 'f -1023 -1023', 'f -1023 -1023'
#             -3               -2               -1                0                1                2                3
fw =[ ['f 700 1023',    'f 850 1023',    'f 950 1023',    'f 1023',        'f 1023 950',    'f 1023 850',    'f 1023 700'], 
      ['f 650 900',     'f 750  900',    'f 850 900',     'f 850',         'f 900 950',     'f 900 850',     'f 900 700'],
      ['f 600 800',     'f 700  800',    'f 750 800',     'f 700',         'f 800 750',     'f 800 700',     'f 800 650'],
      ['f  0 -800 ',    'f 0 -750',      'f 0 -666',      'f 0',           'f 666 0',       'f 750 0',       'f 850 0'],
      ['f -600 -800',   'f -700  -800',  'f -750 -800',   'f -700',        'f -800 -750',   'f -800 -700',   'f -800 -650'],
      ['f -650 -900',   'f -750  -900',  'f -850 -900',   'f -850',        'f -900 -850',   'f -900 -800',   'f -900 -650'],
      ['f -700 -1000',  'f -800  -1000', 'f -850 -1000',  'f -1000',       'f -1000 -850',  'f -1000 -800',  'f -1000 -700']
    ]

ende = False
while not ende:
    host, msg = e.irecv(500)   # ms bis Timeout
    if msg:
        tmp = msg.decode().replace("\x00","").split(",")
        if len(tmp)!=5:
            print(".", end="")
            continue
        #ADXL345-a,68,15,-20,281
        kennung = tmp[0]
        if kennung != "ADXL345-a":
            print("Falsche Kennung: " + kennung)
            continue 
        cnt     = int(tmp[1])
        ac_x    = int(tmp[2])
        ac_y    = int(tmp[3])
        ac_z    = int(tmp[4])

        dw = 100
        spa = (ac_x+dw//2)//dw; zei = (ac_y+dw//2)//dw
        # formatierte Ausgabe mit der f'-Strings
        eingabe = fw[3-zei][3+spa]
        print(f'{ac_x:6}, {ac_y:6}, {ac_z:6}, {zei:2}, {spa:2}, {eingabe}')
        led.value(not led.value())
        if ac_z<-100:
            print("Ende")
            eingabe="e"
        if eingabe=="":
            print("Nix passiert!")
            continue
        elif eingabe == "e":
            print("'Ende' wird eingeleitet!")
            ende = True
            continue
        elif eingabe == "h":
            halt()
        else:
            werte = eingabe.split(" ")
            l = len(werte)
            print( "werte: ", werte )
            if werte[0]=="f":
                if l==2:
                    fahre( int(werte[1]) )
                elif l==3:
                    fahre( int(werte[1]), int(werte[2]))
                else:
                    pass
    else:
        print(".", end="")