#!/usr/bin/env python

# Requires PyHLA, see http://www.nongnu.org/certi/PyHLA
import hla.rti
import hla.omt as fom

import struct


class MyFedAmbassador(hla.rti.FederateAmbassador):
    def initialize(self):
        print "Initialize"
        self.currTime = 0.0
        self.deltaTime = 1.0
        self.lookahead = 0.001
        self.timeAdvanceGranted = False
        self.isRegulating = False
        
        print "Set regulating"
        myRtiAmb.enableTimeRegulation(self.currTime, self.lookahead)
        while (self.isRegulating == False):
            myRtiAmb.tick()
            print "Regulating set."

        self.interactionClassHandle = myRtiAmb.getInteractionClassHandle("SampleInteractionClass")

        self.textParameterHandle = myRtiAmb.getParameterHandle("TextParameter", self.interactionClassHandle)
        self.structParameterHandle = myRtiAmb.getParameterHandle("StructParameter", self.interactionClassHandle)
        self.fomParameterHandle = myRtiAmb.getParameterHandle("FOMParameter", self.interactionClassHandle)
        self.hlaasciistringParameterHandle = myRtiAmb.getParameterHandle("HLAASCIIstringParameter", self.interactionClassHandle)

        myRtiAmb.publishInteractionClass(self.interactionClassHandle)

    def terminate(self):
        print "Terminate"

    # RTI callbacks
                
    def timeRegulationEnabled(self, time):
        print "timeRegulationEnabled"
        self.isRegulating = True
        
    def timeAdvanceGrant(self, time):
        self.currTime = time
        self.timeAdvanceGranted = True


print "Create RTI ambassador"
myRtiAmb = hla.rti.RTIAmbassador()
print myRtiAmb

try:
    print "Create federation"
    myRtiAmb.createFederationExecution("si", "si.fed")
    print "Federation created."
except hla.rti.FederationExecutionAlreadyExists:
    print "Federation already exists."

print "Create federate ambassador"
myFedAmb = MyFedAmbassador()
print myFedAmb

print "Join federation"
myRtiAmb.joinFederationExecution("si-send", "si", myFedAmb)
print "Federation joined."

myFedAmb.initialize()

try:
    for i in range(3):

        reqTime = myFedAmb.currTime + myFedAmb.deltaTime
        myFedAmb.timeAdvanceGranted = False
        myRtiAmb.timeAdvanceRequest(reqTime)
        while (myFedAmb.timeAdvanceGranted == False):
            myRtiAmb.tick()
        
        print "Send interaction"
        myRtiAmb.sendInteraction(myFedAmb.interactionClassHandle,
                                 {myFedAmb.textParameterHandle:"this is text",
                                  myFedAmb.structParameterHandle:struct.pack('hhl', 1, 2, 3),
                                  myFedAmb.fomParameterHandle:fom.HLAfloat32BE.pack(3.1416),
                                  myFedAmb.hlaasciistringParameterHandle:fom.HLAASCIIstring.pack("this is an HLA ASCII string")},
                                 "sendInteraction",
                                 myFedAmb.currTime + myFedAmb.lookahead)
except KeyboardInterrupt:
    pass

myFedAmb.terminate()

print "Resign from federation"
myRtiAmb.resignFederationExecution(hla.rti.ResignAction.DeleteObjectsAndReleaseAttributes)
print "Resigned from federation."

print "Done."