def get_distance(self, sensor):
        #wiringpi.digitalWrite(30,HIGH)
        wiringpi.digitalWrite(sensor.echo, LOW)
        wiringpi.delay(1000)
        wiringpi.digitalWrite(sensor.trigger, HIGH)
        wiringpi.delay(1)
        wiringpi.digitalWrite(sensor.trigger, LOW)
        #start = time.time()
	print "Trying to get distance of sensor " , sensor.position, "Trig: ", sensor.trigger, " Echo:", sensor.echo
	status = LOW
	while(wiringpi.digitalRead(sensor.echo) == LOW):
		status = LOW
	start = time.time()
	while(wiringpi.digitalRead(sensor.echo) == HIGH):
		status = LOW
	end = time.time()	

#	while status == LOW:
#	    feedback = wiringpi.digitalRead(sensor.echo)
#	    if(feedback == HIGH):
#		while(feedback == HIGH):
#		    status = LOW
#		end = time.time()
#		print("Time Elapsed: ", end-start)
#		status = HIGH
#	    if((time.time() - start) > 1):
#		end = time.time()
#		status = HIGH

        # Below divide by 340.29 for air distance, or divide by 1484 for water distance
        return (end - start)*(340.29/2)

def writedisplay(whattodisplay):
    for pos in range(0, 8):
        if 1 & pos <> 0:
            wiringpi.digitalWrite(A0, HIGH)
        else:
            wiringpi.digitalWrite(A0, LOW)
        if 2 & pos <> 0:
            wiringpi.digitalWrite(A1, HIGH)
        else:
            wiringpi.digitalWrite(A1, LOW)
        if 4 & pos <> 0:
            wiringpi.digitalWrite(A2, HIGH)
        else:
            wiringpi.digitalWrite(A2, LOW)
        wiringpi.digitalWrite(latch, LOW)
        wiringpi.shiftOut(SER, CLK, 1, ord(whattodisplay[pos]))
        wiringpi.digitalWrite(latch, HIGH)
    wiringpi.delay(1)
    whichdisplay(255)
    wiringpi.delay(1)
    wiringpi.digitalWrite(WR, LOW)
    wiringpi.delay(1)
    wiringpi.digitalWrite(WR, HIGH)
    wiringpi.delay(1)
    whichdisplay(254)
    wiringpi.delay(1)
    return

def Init():
	wiringpi2.pinMode(data_pin, 0)
	wiringpi2.pinMode(clock_pin, 0)
	wiringpi2.wiringPiSetup()
	
	SendData(cmdlist["led_cmd"])
	wiringpi2.delay(50)

 def foo_callback(self, path, args):
     wiringpi2.digitalWrite(args[0],1)
     #sleep(0.03)
     scaled = args[1] / 127.0
     wiringpi2.delay(int(scaled*15 + 4)) # five is min, max is uhhh 20 ish?
     wiringpi2.digitalWrite(args[0],0)
     print("received message '%s' with arguments: %d, %d" % (path, args[0], args[1]))

def readData(pin):
    hum = 0
    temp = 0
    crc = 0
    GPIO.pinMode(pin, 1)
    GPIO.digitalWrite(pin, 1)
    GPIO.digitalWrite(pin, 0)
    GPIO.delay(20)
    GPIO.digitalWrite(pin, 1)
    GPIO.pinMode(pin, 0)
    GPIO.delayMicroseconds(40)
    if GPIO.digitalRead(pin) == 0:
        untilHigh(pin)
        for i in range(16):
            hum <<= 1
            untilLow(pin)
            untilHigh(pin)
            GPIO.delayMicroseconds(28)
            hum += GPIO.digitalRead(pin)
        for i in range(16):
            temp <<= 1
            untilLow(pin)
            untilHigh(pin)
            GPIO.delayMicroseconds(28)
            temp += GPIO.digitalRead(pin)
        for i in range(8):
            crc <<= 1
            untilLow(pin)
            untilHigh(pin)
            GPIO.delayMicroseconds(28)
            crc += GPIO.digitalRead(pin)
        return [True, hum, temp, crc]
    else:
        return [False, hum, temp, crc]

def winningAnimation(winningLine):
    # convert line to pins
    winningPins = winningLine
    if Turn == GREEN:
        for i in range(0, 3):
            winningPins[i] = winningLine[i] + 9

    wiringpi.delay(LONG_PAUSE)
    led.ledsOff(winningPins, MED_PAUSE)

    # flash all three
    for i in range(0, 2):
        led.ledsOnOff(winningPins, MED_PAUSE)

    led.ledsOn(winningPins, LONG_PAUSE)

    # flash one at a time
    for i in range(0, 2):
        led.ledsOff(winningPins, SHORT_PAUSE)
        for j in range(0, 3):
            led.ledOn(winningPins[j], MED_PAUSE)
        wiringpi.delay(SHORT_PAUSE)

    led.ledsOff(winningPins, SHORT_PAUSE)

    # flash all three again
    for i in range(0, 2):
        led.ledsOnOff(winningPins, SHORT_PAUSE)

    # turn back on for final board
    led.ledsOn(winningPins)

def lcd_write(dc, data):
  wiringpi.digitalWrite(PIN_DC, dc)
  wiringpi.digitalWrite(PIN_SCE, LOW)
  wiringpi.delay(SLOW_DOWN)
  #wiringpi.shiftOut(PIN_SDIN, PIN_SCLK, MSBFIRST, data)
  slow_shift_out(PIN_SDIN, PIN_SCLK, data)
  wiringpi.digitalWrite(PIN_SCE, HIGH)
  wiringpi.delay(SLOW_DOWN)

def delayMs(ms):
    """   
       Delay specified number of milliseconds
       
       Params:
           [in] ms - number of milliseconds to delay
    
    """
    wiringpi2.delay(ms)

def spiral( duration ):
  trail = [0, 3, 6, 7, 8, 5, 2, 4, 1 ]
  for pin in trail:
    ledOn( pin, duration )

  wiringpi.delay( duration )

  trail.reverse()
  for pin in trail:
    ledOff( pin, duration )

def clear(fd):
	type = False
	writeByte = 0x00          # display on, cursor on (blink)
	LCD8bit(writeByte, type, fd)
	wp.delayMicroseconds(100)

	writeByte = 0x10
	LCD8bit(writeByte, type, fd)
	wp.delay(5)
	return

def Bruteforce(begin=0, end=255, ignore_known=True):
  while begin <= end:
	binstr = "00" + "{0:b}".format(begin)
	binstr = "0" * (7-(len(binstr)-3)) + binstr
	if binstr not in cmdlist.values() or ignore_known == False:
		SendData(binstr)
		print(binstr + " : " + str(begin))
	else:
		print(binstr + " : " + cmdlist_reversed[binstr])
	wiringpi2.delay(1000)
	begin += 1

def softPwm():
	print "SoftPwm Mode"

	wiringpi2.wiringPiSetup()
	wiringpi2.pinMode(PIN_TO_PWM,SET_PWM)
	wiringpi2.pwmSetMode(PWM_MODE_MS)	
	#wiringpi2.softPwmCreate(PIN_TO_PWM,0,100) # Setup PWM using Pin, Initial Value and Range parameters
	#wiringpi2.softServoSettup()
	#softServoWrite()
	wiringpi2.pwmWrite(PIN_TO_PWM, 900) 	
	wiringpi2.delay(150)
	print "PWM is in NEUTRAL"

 def fade(self, red, green, blue, delay=500, step=5):
     for i in range(0, delay, step):
         f = (0.0+i)/delay
         r = self.red   + (red  -self.red)   * f
         wiringpi2.softPwmWrite(self.r_pin, int(r))
         g = self.green + (green-self.green) * f
         wiringpi2.softPwmWrite(self.g_pin, int(g))
         b = self.blue  + (blue -self.blue)  * f
         wiringpi2.softPwmWrite(self.b_pin, int(b))
         wiringpi2.delay(step)
     self.red = red
     self.blue = blue
     self.green = green

def get_distance(sensor):
    #wiringpi.digitalWrite(30,HIGH)
    wiringpi.digitalWrite(sensor.echo, LOW)
    wiringpi.delay(1000)
    wiringpi.digitalWrite(sensor.trigger, HIGH)
    wiringpi.delay(1)
    wiringpi.digitalWrite(sensor.trigger, LOW)
    start = time.time()
    while wiringpi.digitalRead(sensor.echo) == LOW:
        wait = True
        #print( "Pin Echo: " + str(wiringpi.digitalRead(sensor.echo)))

    # Below divide by 340.29 for air distance, or divide by 1484 for water distance
    return (time.time() - start)*(340.29/2)

def softPwm():
	print "SoftPwm Mode"

	wiringpi2.wiringPiSetup()
	wiringpi2.pinMode(PIN_TO_PWM,OUTPUT)
	wiringpi2.softPwmCreate(PIN_TO_PWM,0,100) # Setup PWM using Pin, Initial Value and Range parameters

	for time in range(0,4):
        	for brightness in range(0,100): # Going from 0 to 100 will give us full off to full on
                	wiringpi2.softPwmWrite(PIN_TO_PWM,brightness) # Change PWM duty cycle
                	wiringpi2.delay(10) # Delay for 0.2 seconds
        	for brightness in reversed(range(0,100)):
                	wiringpi2.softPwmWrite(PIN_TO_PWM,brightness)
                	wiringpi2.delay(10)

    def run(self):
	while self.run_temp_control:
		#time.sleep(0.001)
		wiringpi2.delay(100)
		if self.queue_set.empty() != True:
			temp = self.queue_set.get(0)
			if temp == -100:
				self.run_temp_control = 0
			else:
				self.temp_set = int(temp) 
		
		#self.temp_read = self.temp_set + 2
		self.temp_read = self.temp_controller.read_thermo_temp()
		self.temp_controller.regulate_temp(self.temp_set, self.temp_read)		
		wiringpi2.delay(100)
		self.queue_read.put(self.temp_read)

def animations():
  allOff()

  while 1:
    flashEach( 125 )
    flashRows( 150 )
    flashCols( 150 )
    snake( 100 )
    flatWipe( 200 )
    spiral( 75 )
    diagWipe( 150 )

    for i in range( 0, 3 ):
      flashAll( 125 )

    wiringpi.delay( 750 )

def piglow_set_white(b):
	#global INTENSITY, saved_hue
	global saved_white
	delay = 2 #500/abs(b-saved_white)
	#INTENSITY=b
	#piglow_set_hue(saved_hue)
	
	if(b > saved_white):
		for i in range(saved_white,b):
			wpi.piGlowRing(WHITE,i)
			wpi.delay(delay)
	else:
		for i in reversed(range(b,saved_white)):
			wpi.piGlowRing(WHITE,i)
			wpi.delay(delay)

	saved_white = b

def lcd_initialise():
  wiringpi.pinMode(PIN_BACKLIGHT,OUTPUT)
  wiringpi.digitalWrite(PIN_BACKLIGHT, HIGH)
  wiringpi.pinMode(PIN_SCE, OUTPUT)
  wiringpi.pinMode(PIN_RESET, OUTPUT)
  wiringpi.pinMode(PIN_DC, OUTPUT)
  wiringpi.pinMode(PIN_SDIN, OUTPUT)
  wiringpi.pinMode(PIN_SCLK, OUTPUT)
  wiringpi.digitalWrite(PIN_RESET, LOW)
  wiringpi.delay(SLOW_DOWN)
  wiringpi.digitalWrite(PIN_RESET, HIGH)
  wiringpi.delay(SLOW_DOWN)
  lcd_write(LCD_C, 0x21 )  # LCD Extended Commands.
  lcd_write(LCD_C, 0xCC )  # Set LCD Vop (Contrast). 
  lcd_write(LCD_C, 0x04 )  # Set Temp coefficent. //0x04
  lcd_write(LCD_C, 0x14 )  # LCD bias mode 1:48. //0x13
  lcd_write(LCD_C, 0x0C )  # LCD in normal mode.
  lcd_write(LCD_C, 0x20 )
  lcd_write(LCD_C, 0x0C )

    def main(self):
        wiringpi2.pwmSetClock(int(self.divisor))

        for i, note in enumerate(Music.melody):
            if len(note) == 0:
                wiringpi2.pwmWrite(self.SPEAKER, 0)
            else:
                period, dutyCycle = self.calcParams(note)
                wiringpi2.pwmSetRange(period)
                wiringpi2.pwmWrite(self.SPEAKER, dutyCycle)

            wiringpi2.delay(Music.delay*(Music.beats[i]+1))

            if note[len(note)-1:] == ':':
                wiringpi2.pwmWrite(self.SPEAKER, 0)
                wiringpi2.delay(Music.delay)

        curses.endwin()
        wiringpi2.pinMode(self.SPEAKER, 0)