from astirrer import AStirrer
import serial
import time

class Pololu1376(AStirrer):
	def __init__(self, params, com_port='/dev/ttyUSB0', com_baud=9600):
		self.params = params
		self.speed = 0
		self.cycleTime = 1
		self.dutyCycle = 1
		self.cycleCounter = 0
		self.isOn = 0
		self.isMasterOn = 0

		self.ser = serial.Serial(com_port, com_baud)
		self.ser.set_output_flow_control(False)

		try:
			self.ser.open()
		except:
			self.ser.close()
			self.ser.open()

		self.ser_send('V')
		print(self.ser_recv())

	def ser_send(self, cmd):
		self.ser.write((cmd + '\r\n').encode())

	def ser_recv(self):
		s = self.ser.readline().decode("utf-8").replace("\n", '').replace("\r", '')
		return s

	def process(self):
		dt = self.params["dt"]

		self.cycleCounter -= dt
		if self.cycleCounter <= 0:
			self.cycleCounter = self.cycleTime

		if self.cycleCounter <= (self.cycleTime * self.dutyCycle):
			if not self.isOn:
				self.__setMotorSpeed(self.speed)
				self.log ("Stirrer: On")
				self.isOn = 1
		else:
			if self.isOn:
				self.__setMotorSpeed(0)
				self.log ("Stirrer: Off")
				self.isOn = 0

	def setSpeed(self, speed):
		self.log ("Stirrer: Set speed to {} %".format(speed))
		self.speed = speed
		if self.isOn:
			self.__setMotorSpeed(speed)

	def setCycleTime(self, time):
		self.log ("Stirrer: Set cycle time to {} s".format(time))
		self.cycleTime = time

	def setDutyCycle(self, dutyCycle):
		self.log ("Stirrer: Set duty cycle to {} %".format(100*dutyCycle))
		self.dutyCycle = dutyCycle

	def getSpeed(self):
		if self.isOn and self.isMasterOn:
			return self.speed
		return 0

	def start(self):
		self.isMasterOn = 1
		self.log("Stirrer: switched On")
		self.ser_send("go")

	def stop(self):
		self.isMasterOn = 0
		self.log("Stirrer: switched Off")
		self.ser_send("x")

	def __setMotorSpeed(self, speed):
		self.ser_send("F" + str(speed) + "%")

if __name__ == '__main__':
	s = Pololu1376(None, "/dev/ttyACM0", "115200")
	s.start()
	s.setSpeed(1000)
	time.sleep(2)
	s.setSpeed(2000)
	time.sleep(2)
	s.setSpeed(3000)
	time.sleep(2)
	s.setSpeed(2000)
	time.sleep(2)
	s.setSpeed(1000)
	time.sleep(2)
	s.stop()