From e5864eeec5aa5f1bbe28445e0a2efe2579caeed3 Mon Sep 17 00:00:00 2001
From: Siwat Sirichai <siwat@siwatinc.com>
Date: Wed, 26 Oct 2022 15:10:08 +0700
Subject: [PATCH] implement leds

---
 kuukar_collision.py   |  4 ++--
 kuukar_environment.py |  4 ++--
 kuukar_lcd.py         | 15 ---------------
 kuukar_leds.py        | 31 ++++++++++++++++++++++++++++---
 kuukar_sensors.py     |  2 +-
 5 files changed, 33 insertions(+), 23 deletions(-)

diff --git a/kuukar_collision.py b/kuukar_collision.py
index 01e1d2b..25a5dc6 100644
--- a/kuukar_collision.py
+++ b/kuukar_collision.py
@@ -13,5 +13,5 @@ class collision:
     def collision_handle(self, data):
         val = data[2]
         if val == 1:
-            self.leds.flash(r=255,g=0,b=0,duration_ms=250)
-            self.lcd.keke_hurt()
\ No newline at end of file
+            self.leds.__flasher__(r=255,g=0,b=0,duration=250)
+            self.lcd.play_video("keke_hurt")
\ No newline at end of file
diff --git a/kuukar_environment.py b/kuukar_environment.py
index 3f46747..d72dcc3 100644
--- a/kuukar_environment.py
+++ b/kuukar_environment.py
@@ -18,14 +18,14 @@ class environment:
         while True:
             if self.sensors.get_temperature() > 38.0:
                 if not self.t_alerted:
-                    lcd.keke_died()
+                    lcd.play_video("keke_died")
                     self.t_alerted = True
             else:
                 self.t_alerted = False
 
             if self.sensors.get_humidity_pct() > 60.0:
                 if not self.h_alerted:
-                    lcd.keke_cute_noise()
+                    lcd.play_video("keke_cute_noise")
                     self.h_alerted = True
             else:
                 self.h_alerted = False
diff --git a/kuukar_lcd.py b/kuukar_lcd.py
index c5c3250..ae9146e 100644
--- a/kuukar_lcd.py
+++ b/kuukar_lcd.py
@@ -4,21 +4,6 @@ class lcd:
         self.nextion = kuukar_nextion.nextion()
         self.nextion.send_command("page home")
 
-    def keke_uwu(self):
-        pass
-
-    def keke_cute_noise(self):
-        pass
-
-    def keke_hurt(self):
-        self.play_video("keke_hurt")
-
-    def keke_died(self):
-        pass
-
-    def takina_noise(self):
-        pass
-
     def play_video(self,filename: str) -> None:
         self.nextion.send_command("page video_player")
         self.nextion.send_command("video.path=\"sd0/"+filename+".video\"")
diff --git a/kuukar_leds.py b/kuukar_leds.py
index a9c6278..ee2b654 100644
--- a/kuukar_leds.py
+++ b/kuukar_leds.py
@@ -1,12 +1,37 @@
+import threading
+from time import perf_counter
 from telemetrix_rpi_pico import telemetrix_rpi_pico
-
+import time
 from kuukar_config import LEDS_DATA_PIN, LEDS_NUM
 
 
 class leds:
+    flashing = False
+    start_time = perf_counter()
     def __init__(self, aux_board: telemetrix_rpi_pico.TelemetrixRpiPico) -> None:
         self.aux_board = aux_board
         self.aux_board.set_pin_mode_neopixel(LEDS_DATA_PIN, LEDS_NUM)
 
-    def flash(self, r: int, g: int, b: int, duration_ms: int):
-        pass
+    def flash(self,r: int, g: int, b: int, duration: int):
+        if not self.flashing:
+            self.flashing = True
+            self.start_time = perf_counter()
+            threading.Thread(target=self.__flasher__,args=(r,g,b,duration))
+        
+        
+    @staticmethod
+    def __blink_func__(t: float,dur: float):
+        if t>dur:
+            return 0
+        return (-1/(dur/2.0)**2)*(t-dur/2.0)**2+1
+
+    def __get_time__(self) -> float:
+        return perf_counter()-self.start_time
+
+    def __flasher__(self, r: int, g: int, b: int, duration: int):
+        while True:
+            print(leds.__blink_func__(self.__get_time__(),duration))
+            time.sleep(0.05)
+            if self.__get_time__ > duration:
+                flashing = False
+                break
\ No newline at end of file
diff --git a/kuukar_sensors.py b/kuukar_sensors.py
index 1fa61c7..1fb07d4 100644
--- a/kuukar_sensors.py
+++ b/kuukar_sensors.py
@@ -28,7 +28,7 @@ class sensors:
     def __sonar_callback__(self, data):
         pin = data[1]
         distance = data[2]
-        sonar_id = self.sonar_pins.index(pin)
+        sonar_id = self.__sonar_trig_pins__.index(pin)
         self.__sonar_distances__[sonar_id] = distance
 
     def get_temperature(self) -> float: