import math
from .pca9685 import ServoController, map_range
from .dc_motor_controller import DcMotor, setup_gpio

try:
    from RPi import GPIO
except ImportError:
    from .mockGpio import GPIO

PIN_MOTOR_A_ENABLE = 6
PIN_MOTOR_A_REVERSE = 12

PIN_MOTOR_B_ENABLE = 0
PIN_MOTOR_B_REVERSE = 5

SERVO_ARM_L = 15
SERVO_ARM_R = 14
SERVO_EYE_L = 13
SERVO_EYE_R = 12
SERVO_NECK_ROTATE = 11
SERVO_NECK_TOP = 10
SERVO_NECK_BOTTOM = 9


class WallE:
    def __init__(self):
        setup_gpio()
        self.motor_a = DcMotor(PIN_MOTOR_A_ENABLE, PIN_MOTOR_A_REVERSE)
        self.motor_b = DcMotor(PIN_MOTOR_B_ENABLE, PIN_MOTOR_B_REVERSE)
        self.servo_controller = ServoController()
        self.servo_controller.setup()

    def set_movement(self, angle: float, force: float):
        if force > 1:
            force = 1.0

        x = math.cos(angle) * force
        y = math.sin(angle) * force

        if y >= 0:
            n_mot_premix_l = 1.0 if x >= 0 else 1.0 + x
            n_mot_premix_r = 1.0 - x if x >= 0 else 1.0
        else:
            n_mot_premix_l = 1.0 - x if x >= 0 else 1.0
            n_mot_premix_r = 1.0 if x >= 0 else 1.0 + x

        n_mot_premix_l = n_mot_premix_l * y / 1.0
        n_mot_premix_r = n_mot_premix_r * y / 1.0
        n_piv_speed = x
        f_piv_scale = 0.0 if abs(y) > .4 else 1.0 - abs(y) / .4
        mot_mix_l = (1.0 - f_piv_scale) * n_mot_premix_l + f_piv_scale * n_piv_speed
        mot_mix_r = (1.0 - f_piv_scale) * n_mot_premix_r + f_piv_scale * (-n_piv_speed)
        self.motor_a.set(mot_mix_l)
        self.motor_b.set(mot_mix_r)

    def set_eye_velocity(self, angle: float, distance: float):
        if distance > 1:
            distance = 1
        up_down = distance * math.sin(angle)
        left_right = distance * math.cos(angle)
        min_arm_r = 60
        max_arm_r = 160  # 80
        min_arm_l = 20
        max_arm_l = 100  # 80
        self.servo_controller.write(SERVO_ARM_L, map_range(up_down, -1.0, 1.0, min_arm_l, max_arm_l))
        self.servo_controller.write(SERVO_ARM_R, map_range(left_right, -1.0, 1.0, min_arm_r, max_arm_r))