from contextlib import contextmanager
from components import AStirrer
import time
import serial


class StirrerPololu1376(AStirrer):
	def name(self):
		return "Pololu1376"

	def __init__(self, params):
		AStirrer.__init__(self, params['dt'])
		self.isMasterOn = 0

		self.ser_speed = params['speed']
		self.ser_port = params['port']
		self.ser = serial.Serial(self.ser_port, self.ser_speed)
		self.ser.set_output_flow_control(False)
		try:
			self.ser.open()
		except serial.SerialException:
			self.ser.close()
			self.ser.open()

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

		self.activate(False)

	@contextmanager
	def remote_open(self):
		try:
			self.activate(True)
			yield None
		finally:
			self.activate(False)

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

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

	def get_speed(self):
		if self.isOn and self.is_activated():
			return self.speed
		return 0

	def activate(self, enable):
		print("activate {}".format(enable))
		if enable:
			self.ser_send("go")
		else:
			self.ser_send("X")

	def on_set_speed(self, speed):
		self.ser_send("F" + str(int(speed)) + "%")
		print("Set speed to {} %".format(speed))


if __name__ == '__main__':
	s = StirrerPololu1376({'dt': 1.0, 'port': "/dev/ttyACM0", 'speed': 115200})

	with s.remote_open():

		print("Set some speeds")
		s.set_speed(50)
		time.sleep(2)
		s.set_speed(20)
		time.sleep(2)
		s.set_speed(50)
		time.sleep(2)

		print("Pulsed operation, duty cycle = 50%")
		s.set_duty_cycle(0.5)
		s.set_cycle_time(10)
		for i in range(1, 30):
			s.process()
			time.sleep(1)

		print("Pulsed operation, duty cycle = 20%")
		s.set_duty_cycle(0.2)
		s.set_cycle_time(10)
		for i in range(1, 30):
			s.process()
			time.sleep(1)

		print("Continious operation")
		s.set_duty_cycle(1.0)
		s.set_speed(50)
		time.sleep(3.0)

		print("Leaving context")