import time
import network
import socket
from machine import Pin
from machine import I2C
import VL53L0X
import MPU6050

ssid = "cruise"
password = "rust"

ap = network.WLAN(network.AP_IF)
ap.config(essid=ssid)
ap.active(True)

i2c_tof = I2C(1, scl=Pin(27), sda=Pin(26))
tof = False
try:
    tof = VL53L0X.VL53L0X(i2c_tof, address=0x29)
except Exception as e:
    tof = False

i2c_gyro = machine.I2C(0, sda=machine.Pin(20), scl=machine.Pin(21));
mpu = False
try:
    mpu = MPU6050.MPU6050(i2c_gyro, address = 0x68)
    mpu.wake()
except Exception as e:
    mpu = False

while (ap.active() == False):
    pass
print("network active")
print("ip: "+ap.ifconfig()[0])

s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.bind(('', 1337))
s.listen(5)

while True:
    try: 
        cl, addr = s.accept()
        request = cl.recv(1024)
        print(request)
        cl.send("recvd")
        cl.close()
    except OSError as e:
        cl.close()
        print("closed")

    pass


while True:
    if tof:
        tof.start()
        print(tof.read())

    if mpu:
        gyro = mpu.read_gyro_data()
        accel = mpu.read_accel_data()
        print("Gyro: " + str(gyro) + ", Accel: " + str(accel))
    time.sleep(0.1)