#!/usr/bin/env python

import ipaaca
import time

class PingSender(object):
	def __init__(self):
		self.pings = []
		self.times = []
		self.ob = ipaaca.OutputBuffer('IpaacaPing')
		self.ob.register_handler(self.iu_event_handler)
	
	def iu_event_handler(self, iu, event_type, local):
		recv_t = time.time()
		if event_type=='UPDATED':
			print('OK')
			send_t = float(iu.payload['sender_local_t'])
			receiver_recv_t = float(iu.payload['receiver_local_t'])
			round_trip_t = recv_t - send_t
			locally_estimated_receiver_recv_t = (recv_t + send_t) / 2
			estimated_clock_skew = receiver_recv_t - locally_estimated_receiver_recv_t
			self.times.append(estimated_clock_skew)
			average_clock_difference = sum(self.times) / len(self.times)
			self.pings.append(500.0 * round_trip_t)
			average_estimated_single_trip = sum(self.pings) / len(self.pings)
			print('Received ping reply')
			print('  measured round trip time [ms]: %0.3f'%(1000.0 * round_trip_t))
			print('  estimated single trip [ms]: %0.3f'%(500.0 * round_trip_t))
			print('  averaged single trip [ms]: %0.3f'%(average_estimated_single_trip))
			print('  estimated system clock difference [s]: %0.3f'%(average_clock_difference))

	def send_ping(self):
		t = time.time()
		iu = ipaaca.IU('ipaacaPing')
		iu.payload['sender_local_t'] = t
		self.ob.add(iu)


ps = PingSender()
while True:
	ps.send_ping()
	time.sleep(1)