from random import randint
from kuukar_config import MOTOR_FL_F, MOTOR_FL_R, MOTOR_FR_F, MOTOR_FR_R, MOTOR_RL_F, MOTOR_RL_R, MOTOR_RR_F, MOTOR_RR_R, TURN_TIME_FS_90DEG_MS
import time
from kuukar_leds import leds
from kuukar_sensors import sensors
from telemetrix_rpi_pico import telemetrix_rpi_pico
import threading

class motion:

    roaming = False

    def __init__(self, driver_board: telemetrix_rpi_pico.TelemetrixRpiPico, leds: leds, sensors: sensors) -> None:
        self.driver = driver_board
        self.leds = leds
        self.sensors = sensors
        self.roam_thread = threading.Thread(target = self.roam_loop)
        self.roam_thread.start()
        
        drive_pins = [MOTOR_FL_F,MOTOR_FL_R,MOTOR_FR_F,MOTOR_FR_R,MOTOR_RL_F,MOTOR_RL_R,MOTOR_RR_F,MOTOR_RR_R]
        for drive_pin in drive_pins:
            self.driver.set_pin_mode_pwm_output(drive_pin)

    def motor_write(self, forward_pin: int,reverse_pin: int, speed: int):
        if speed < 0:
            self.driver.pwm_write(forward_pin,0)
            self.driver.pwm_write(reverse_pin,-speed)
        elif speed >= 0:
            self.driver.pwm_write(forward_pin,speed)
            self.driver.pwm_write(reverse_pin,0)

    def drive(self, speed: int):
        self.motor_write(MOTOR_FL_F,MOTOR_FL_R,speed)
        self.motor_write(MOTOR_FR_F,MOTOR_FR_R,speed)
        self.motor_write(MOTOR_RL_F,MOTOR_RL_R,speed)
        self.motor_write(MOTOR_RR_F,MOTOR_RR_R,speed)
        
    def turn(self, speed: int, duration: float):
        self.motor_write(MOTOR_FL_F,MOTOR_FL_R,speed)
        self.motor_write(MOTOR_FR_F,MOTOR_FR_R,-speed)
        self.motor_write(MOTOR_RL_F,MOTOR_RL_R,speed)
        self.motor_write(MOTOR_RR_F,MOTOR_RR_R,-speed)
        time.sleep(duration)
        self.stop()

    def stop(self):
        self.drive(0)

    def roam_start(self):
        self.roaming = True

    def roam_stop(self):
        self.roaming = False

    def __roam_looper__(self):
        while True:
            if self.roaming:
                self.__roam_handle__()

    def __roam_handle__(self):
        self.drive(50)
        f_dist = self.sensors.sonar_get_distance(2)
        if f_dist > 0 and f_dist < 20: # Close to collision, turn the vehicle
            l_dist = self.sensors.sonar_get_distance
            r_dist = self.sensors.sonar_get_distance
            if l_dist < 20: #Left side is blocked
                if r_dist < 20: #Both side are blocked, do a full 180deg turn
                    self.turn(100,2*TURN_TIME_FS_90DEG_MS)
                    self.drive(50)
                    time.sleep(3)
                else:
                    #Right Side is Free, turn right
                    self.turn(100,TURN_TIME_FS_90DEG_MS)
                    self.drive(50)
                    time.sleep(3)
            elif r_dist < 20: #Right side is blocked, left side is free, turn left
                self.turn(-100,TURN_TIME_FS_90DEG_MS)
            else: #Both Side are free, randomize a direction
                right: bool = randint(0,1)
                if right:
                    self.turn(100,TURN_TIME_FS_90DEG_MS)
                    self.drive(50)
                    time.sleep(3)
                else:
                    self.turn(-100,TURN_TIME_FS_90DEG_MS)
                    self.drive(50)
                    time.sleep(3)
        time.sleep(0.5)