from astirrer import AStirrer
import serial

class Pololu1376(AStirrer):
	def __init__(self, params, com_port='/dev/ttyUSB0', com_baud=115200):
		self.params = params
		self.rpm = 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.write("V")
		print(self.ser.read())

	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.log ("Stirrer: On")
				self.isOn = 1
		else:
			if self.isOn:
				self.log ("Stirrer: Off")
				self.isOn = 0

	def setRpm(self, rpm):
		self.log ("Stirrer: Set RPM to {} rpm".format(rpm))
		self.rpm = rpm
		self.ser.write("F" + str(rpm))

	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 getRpm(self):
		if self.isOn and self.isMasterOn:
			return self.rpm
		return 0

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

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

if __name__ == '__main__':
	s = Pololu1376(None, "/dev/ttyACM0", "115200")