import sys
#sys.path.append('../vrep_api')
#sys.path.append('../toolkit')
try:
    import vrep
except:
    print ('--------------------------------------------------------------')
    print ('"vrep.py" could not be imported. This means very probably that')
    print ('either "vrep.py" or the remoteApi library could not be found.')
    print ('Make sure both are in the same folder as this file,')
    print ('or appropriately adjust the file "vrep.py"')
    print ('--------------------------------------------------------------')
    print ('')
#from toolkit import *

class VREPClient:
    def __init__(self, host, port):
        self.host = host
        self.port = port
        self.client_id = -1
        self.console_id = -1
        self.debug = False
        print("connecting to ", host, port)
        self.client_id = vrep.simxStart(self.host, 20000, True, True, 5000,5)
        print("connected!")
        if not self.is_connected():
            if self.debug:
                err_print(prefix="COMPONENT CREATION",
                          message=["CANNOT CONNECT TO REMOTE API"])
            raise Exception("CANNOT CONNECT TO REMOTE API")

    def is_debug_mode(self):
        return self.debug

    def set_debug(self, mode):
        self.debug = mode

    def is_connected(self):
        return self.client_id != -1       
        
    def init_terminal(self):
        err_list = []
        res, self.console_id = vrep.simxAuxiliaryConsoleOpen(
            self.client_id, "CONSOLA", 4, 5, None, None, None, None,
            vrep.simx_opmode_blocking)
        if res != 0:
            err_list = parse_error(res)
        return res, err_list

    def write_on_terminal(self, mess):
        res = vrep.simxAuxiliaryConsolePrint(self.client_id, self.console_id,
                                             mess, vrep.simx_opmode_blocking)
        return res, parse_error(res)
