from pylgbst.comms import *
from pylgbst.constants import *
from pylgbst.peripherals import *

log = logging.getLogger('movehub')


class MoveHub(object):
    """
    :type connection: pylegoboost.comms.Connection
    :type led: LED
    :type devices: dict[int,Peripheral]
    """

    def __init__(self, connection=None):
        if not connection:
            connection = BLEConnection()

        self.connection = connection
        self.devices = {}

        # shorthand fields
        self.led = None
        self.motor_A = None
        self.motor_B = None
        self.motor_AB = None
        self.tilt_sensor = None
        self.color_distance_sensor = None
        self.external_motor = None
        self.button = Button(self)

        # enables notifications reading
        self.connection.set_notify_handler(self._notify)
        self.connection.write(ENABLE_NOTIFICATIONS_HANDLE, ENABLE_NOTIFICATIONS_VALUE)

        while None in (self.led, self.motor_A, self.motor_B, self.motor_AB, self.tilt_sensor):
            log.debug("Waiting to be notified about devices...")
            time.sleep(0.1)

        self.port_C = None
        self.port_D = None

        # transport.write(MOVE_HUB_HARDWARE_HANDLE, b'\x0a\x00\x41\x01\x08\x01\x00\x00\x00\x01')

    def get_name(self):
        # note: reading this too fast makes it hang
        return self.connection.read(DEVICE_NAME)

    def _notify(self, handle, data):
        """
        Using https://github.com/JorgePe/BOOSTreveng/blob/master/Notifications.md
        """
        orig = data
        log.debug("Notification on %s: %s", handle, str2hex(orig))
        data = data[3:]

        msg_type = ord(data[2])

        if msg_type == MSG_PORT_INFO:
            self._handle_port_info(data)
        elif msg_type == MSG_PORT_STATUS:
            self._handle_port_status(data)
        else:
            log.warning("Unhandled msg type 0x%x: %s", msg_type, str2hex(orig))

        pass

    def _handle_port_status(self, data):
        port = ord(data[3])
        status = ord(data[4])

        if status == STATUS_STARTED:
            self.devices[port].started()
        elif status == STATUS_FINISHED:
            self.devices[port].finished()
        elif status == STATUS_CONFLICT:
            log.warning("Command conflict on port %s", PORTS[port])
        else:
            log.warning("Unhandled status value: 0x%x", status)

    def _handle_port_info(self, data):
        port = ord(data[3])
        dev_type = ord(data[5])

        if port in PORTS and dev_type in DEVICE_TYPES:
            log.debug("Device %s at port %s", DEVICE_TYPES[dev_type], PORTS[port])
        else:
            log.warning("Device 0x%x at port 0x%x", dev_type, port)

        if dev_type == TYPE_MOTOR:
            self.devices[port] = EncodedMotor(self, port)
        elif dev_type == TYPE_IMOTOR:
            self.devices[port] = EncodedMotor(self, port)
            self.external_motor = self.devices[port]
        elif dev_type == TYPE_DISTANCE_COLOR_SENSOR:
            self.devices[port] = ColorDistanceSensor(self, port)
            self.color_distance_sensor = self.devices[port]
        elif dev_type == TYPE_LED:
            self.devices[port] = LED(self, port)
        elif dev_type == TYPE_TILT_SENSOR:
            self.devices[port] = TiltSensor(self, port)
        else:
            log.warning("Unhandled peripheral type 0x%x on port 0x%x", dev_type, port)
            self.devices[port] = Peripheral(self, port)

        if port == PORT_A:
            self.motor_A = self.devices[port]
        elif port == PORT_B:
            self.motor_B = self.devices[port]
        elif port == PORT_AB:
            self.motor_AB = self.devices[port]
        elif port == PORT_C:
            self.port_C = self.devices[port]
        elif port == PORT_D:
            self.port_D = self.devices[port]
        elif port == PORT_LED:
            self.led = self.devices[port]
        elif port == PORT_TILT_SENSOR:
            self.tilt_sensor = self.devices[port]
        else:
            log.warning("Unhandled port: %s", PORTS[port])