# Reads the positions of all sorted balls from the database and calls create_instr so the robot sorts them

import MySQLdb
from create_instructions import create_instr

db = MySQLdb.connect("localhost","root","root","rpr_robot" )	# Open database connection
cursor = db.cursor()							     # Prepare a cursor object using cursor() method

# Write the sql-query for later proceeding
# Get the initial and final position as well as the id of all balls which are placed and not sorted by the robot yet, ordered by the priority ascending
sql = "SELECT pos_x, pos_y, ball_targetPos, pos_id FROM ball_positions WHERE ball_targetPos!=0 AND sorted_by_robot=0 ORDER BY ball_prio ASC"

try:
	cursor.execute(sql)					# Execute the SQL command
	results = cursor.fetchall()			# Fetch all the rows
	for row in results:
		posX = row[0]
		posY = row[1]
		ball_targetPos = row[2]
		id = row[3]
		print ball_targetPos
		create_instr(posX, posY, ball_targetPos)										# Create movement-instructions for every sorted ball
		sql = "UPDATE ball_positions SET sorted_by_robot=1 WHERE pos_id = %i" % (id)	# Write to database, that the robot moved this ball in real life
		cursor.execute(sql)		# Execute the SQL command
		db.commit()				# Commit your changes in the database
except:
	print "Error: unable to fetch data"
	db.rollback()				# Rollback in case there is any error

db.close()		# disconnect from server

# For debugging
file = open("testfile.txt", "w")
file.write("readBalls")
file.close