from time import sleep
from pyjuni.robodog import *
from pyjuni.deflib import *
from pyjuni.jkeyevent import *

down_cmd = "DOWN"
down_bytes = down_cmd.encode('utf-8')
up_cmd = "UP"
up_bytes = up_cmd.encode('utf-8')
go_cmd = "GO"
go_bytes = go_cmd.encode('utf-8')
stop_cmd = "STOP"
stop_bytes = stop_cmd.encode('utf-8')
ready_cmd = "READY"
ready_bytes = ready_cmd.encode('utf-8')

if __name__ == "__main__":
    robodog = RoboDog()
    jkey = JKeyEvent()  

    robodog.Open()
    robodog.headLEDDraw(bytearray(8), bytearray(8))
    runfile = robodog.rb_runfile("ocr.py")
    print(runfile)
    sleep(0.5)

    while (not jkey.isKeyEscPressed()) and robodog.is_rb_alive():
        rb_msg = robodog.get_rb_bytearray()

        if up_bytes in rb_msg:
            robodog.leg_bend(60, 60, 60, 60)
        if down_bytes in rb_msg:
            robodog.leg_bend(40, 40, 40, 40)
        if go_bytes in rb_msg:
            robodog.move(50)
        if stop_bytes in rb_msg:
            robodog.move(0)
        if ready_bytes in rb_msg:
            robodog.gesture(0)
        sleep(0.05)

    robodog.Close()