# Path: pypot/server/server.py
# class AbstractServer(object):
#     def __init__(self, robot, host, port):
#         self.restful_robot = RESTRobot(robot)
#         self.host, self.port = host, port
# 
#     def run(self):
#         raise NotImplementedError


import time
import json
from threading import Timer
from tornado.ioloop import IOLoop
from tornado.websocket import WebSocketHandler
from tornado.web import Application
from .server import AbstractServer

    def on_message(self, message):
        if not self.quiet:
            print('{}: Received {}'.format(time.time(), message))

        self.handle_command(json.loads(message))

    def publish_robot_state(self):
        state = {
            m.name: {
                'present_position': m.present_position,
                'present_speed': m.present_speed,
                'present_load': m.present_load,
                'led': m.led,
                'present_temperature': m.present_temperature,
            }
            for m in self.robot.motors
        }
        self.write_message(json.dumps(state))

    def handle_command(self, command):
        for motor, values in command.items():
            m = getattr(self.robot, motor)

            for register, value in values.items():
                setattr(m, register, value)


class WsRobotServer(AbstractServer):
    def __init__(self, robot, host='0.0.0.0', port='9009', quiet=True):

# Path: pypot/server/server.py
# class AbstractServer(object):
#     def __init__(self, robot, host, port):
#         self.restful_robot = RESTRobot(robot)
#         self.host, self.port = host, port
# 
#     def run(self):
#         raise NotImplementedError


# Path: pypot/server/ws.py
import time
import json
from threading import Timer
from tornado.ioloop import IOLoop
from tornado.websocket import WebSocketHandler
from tornado.web import Application
from .server import AbstractServer


    def on_message(self, message):
        if not self.quiet:
            print('{}: Received {}'.format(time.time(), message))

        self.handle_command(json.loads(message))

    def publish_robot_state(self):
        state = {
            m.name: {
                'present_position': m.present_position,
                'present_speed': m.present_speed,
                'present_load': m.present_load,
                'led': m.led,
                'present_temperature': m.present_temperature,
            }
            for m in self.robot.motors
        }
        self.write_message(json.dumps(state))

    def handle_command(self, command):
        for motor, values in command.items():
            m = getattr(self.robot, motor)

            for register, value in values.items():
                setattr(m, register, value)


class WsRobotServer(AbstractServer):
    def __init__(self, robot, host='0.0.0.0', port='9009', quiet=True):

        AbstractServer.__init__(self, robot, host, port)