#!/usr/bin/env python3

import shepherd.config as shconf
import shepherd.plugin

import sys
import os
import time
import argparse



class MothtrapPlugin(shepherd.plugin.Plugin):
    @staticmethod
    def define_config(confdef):
        confdef.add_def('servo_open_pulse', shconf.IntDef(default=1200, minval=800, maxval=2200))
        confdef.add_def('servo_closed_pulse', shconf.IntDef(default=1800, minval=800, maxval=2200))
        confdef.add_def('servo_open_time', shconf.IntDef(default=5))

    def __init__(self, pluginInterface, config):
        super().__init__(pluginInterface, config)
        self.config = config
        self.interface = pluginInterface
        self.plugins = pluginInterface.other_plugins
        self.hooks = pluginInterface.hooks

        self.root_dir = os.path.expanduser(pluginInterface.coreconfig["root_dir"])
        self.id = pluginInterface.coreconfig["id"]

        print("Mothtrap config:")
        print(self.config)

        
        
        #servo_max = self.config["servo_open_pulse"] / 1000000
        #servo_min = self.config["servo_closed_pulse"] / 1000000

        #if servo_min > servo_max:
        #    servo_min, servo_max = servo_max, servo_min


        #print(F"Supplied min: {servo_min}, max: {servo_max}")


        self.interface.attach_hook("usbcam", "pre_cam", self.led_on)
        self.interface.attach_hook("usbcam", "post_cam", self.led_off)
        self.interface.attach_hook("usbcam", "post_cam", self.run_servo)

        self.interface.register_function(self.test)

    def led_on(self):
        self.plugins["scout"].set_out1(True)
        #self.led_power.on()

    def led_off(self):
        self.plugins["scout"].set_out1(False)
        #self.led_power.off()

    def run_servo(self):
        self.plugins["scout"].set_aux5v(True)
        #self.door_servo_power.on()
        time.sleep(0.5)
        
        self.plugins["scout"].set_pwm1(True, self.config["servo_open_pulse"])
        #self.door_servo.pulse_width = self.config["servo_open_pulse"] / 1000000
        time.sleep(self.config["servo_open_time"])
        
        self.plugins["scout"].set_pwm1(True, self.config["servo_closed_pulse"])
        #self.door_servo.pulse_width = self.config["servo_closed_pulse"] / 1000000
        time.sleep(self.config["servo_open_time"])
        self.plugins["scout"].set_pwm1(False, self.config["servo_closed_pulse"])
        #self.door_servo.detach()
        self.plugins["scout"].set_aux5v(False)
        #self.door_servo_power.off()

    def test(self):
        self.led_on()
        time.sleep(1)
        self.led_off()
        self.run_servo()