from machine import Pin, I2C
from i2c_lcd import I2cLcd
from rotary import Rotary
from utime import ticks_ms, sleep_ms
import gc 
from screens import Lcd_Screens
from network import WLAN, STA_IF

#############################################################################
# setups e funções

selection = Rotary(5, 17, 16)
cursor = 0
cx = 0
cy = 0

bufferDict = {"ganhos": [[0,0,0,0], [0,0,0,0], [0,0,0,0]],
              "setpoint": [0,0,0]} # ganho, sp

values = {"ganhos": {"kp": 0.0, 'ki': 0.0, 'kd': 0.0},
		  "setpoint": 0, "modo": "offline"}

state = "none"

lcd = I2cLcd(I2C(0), 0x27, 4, 20) 

def clamp(value: int, maxValue: int) -> int:
	value %= maxValue+1
	if value < 0:
		velue = maxValue
	return value

def rotary_changed(change): # máquina de estados

	global tela, state, cursor, block, lcd, values, cx, cy

	if tela == "ganho" or tela == "setpoint":

		cursor_tuples = {"ganho":(7, 8, 10, 11), "setpoint":(10, 11, 12)}

		buff = bufferDict[tela]

		if change == Rotary.ROT_CW:
			buff[cursor] = (buff[cursor] + 1) % 10
		
		elif change == Rotary.ROT_CCW:
			buff[cursor] -= 1

		elif change == Rotary.SW_PRESS:
			state = "confirm_init"

		elif change == Rotary.SW_RELEASE:
			state = "none"
			if block: return
			cursor += 1
			cursor = (cursor +1) % len(cursor_tuples[tela])
			lcd.move_to(cursor_tuples[tela][cursor], 0)
			return
		
		if tela != "setpoint":
			buff[cursor] = clamp(buff[cursor], 9)


		else: # 0 - 270 máximo
			buff = bufferDict[tela]
			if cursor == 0:
				buff[cursor] = clamp(buff[cursor], 2)

				if buff[0] == 2 and buff[1] > 7:
					lcd.hide_cursor()
					lcd.move_to(11,0)
					lcd.overwrite("7")
					if buff[2] > 0:
						lcd.move_to(12, 0)
						lcd.overwrite("0")
					buff[1] = 7
					buff[2] = 0
					lcd.move_to(10,0)
					lcd.show_cursor()

			elif cursor == 1:
				if buff[0] == 2:
					buff[cursor] = clamp(buff[cursor], 7)

					if buff[cursor] == 7 and buff[2] > 0:
						lcd.hide_cursor()
						lcd.move_to(12,0)
						lcd.overwrite("0")
						lcd.move_to(11,0)
						lcd.show_cursor()
						buff[2] = 0
				else:
					buff[cursor] = clamp(buff[cursor], 9)

			elif cursor == 2:
				if buff[0] == 2 and buff[1] == 7:
					buff[2] = 0
				else:
					buff[cursor] = clamp(buff[cursor], 9)

		if block == False:
			lcd.overwrite(str(buff[cursor]))


	elif tela.name == "modo_on_offline":
		cursor_tuple = (1, 11)

		cursorHist = cursor
		if change == Rotary.ROT_CW:
			cursor += 1
			if cursor > 1: cursor = 0
		
		elif change == Rotary.ROT_CCW:
			cursor -= 1
			if cursor < 0: cursor = 1

		elif change == Rotary.SW_PRESS:
			state = "confirm_init"

		elif change == Rotary.SW_RELEASE and tela.block == False:
			state = "none"

		if cursor: values["modo"] = "online"
		else: values["modo"] = "offline"

		print(values["modo"])

		if tela.block == False:
			lcd.hide_cursor()
			if cursorHist != cursor: lcd.overwrite(' ')
			lcd.move_to(cursor_tuple[cursor], 2)
			lcd.overwrite("~")
	
	elif tela.name == "online":

		if change == Rotary.SW_PRESS:
			state = "confirm_init"

		elif change == Rotary.SW_RELEASE and tela.block == False:
			state = "none"

	elif tela.name == "offline":
		# 9, 10, 12, 13

		cursor_tuple = (9,10,12,13)
		buff = bufferDict['ganhos']

		cursorHist = cursor
		if change == Rotary.ROT_CW:
			buff[cy][cx] = clamp(buff[cy][cx] + 1, 9)
			print("oi")
		
		elif change == Rotary.ROT_CCW:
			buff[cy][cx] = clamp(buff[cy][cx] - 1, 9)
			print("oi")

		elif change == Rotary.SW_PRESS:
			state = "confirm_init"

		elif change == Rotary.SW_RELEASE and tela.block == False:
			state = "none"
			cx += 1
			if cx > 3: cy +=1
			cx %= 4
			cy %= 3
			print(cx)

		if tela.block == False:
			lcd.hide_cursor()
			lcd.move_to(cursor_tuple[cx], cy+1)
			lcd.overwrite(str(buff[cy][cx]))
			lcd.show_cursor()
			print("oi")
	gc.collect()

selection.add_handler(rotary_changed) # passa o callback para o objeto do encoder

tela = Lcd_Screens(lcd)
tela.inicializacao()

wifi = WLAN(STA_IF)

print(tela.name)

#############################################################################
# loop principal e máquina de estados

print("________________________________________________")

# delay = 0
while True:
	if state == "confirm_init":
		delay = ticks_ms() + 3000
		state = "countdown"
	
	if state != "countdown" or ticks_ms() < delay:
		continue

	state = "none"
	if tela.name == "modo_on_offline":
		if values["modo"] == "online":
			tela.selecao_wifi()
		else:
			tela.offline()

	elif tela.name == "online":
		values["modo"] = "offline"
		tela.modo_on_offline()

	elif tela.name == "offline":
		valores = values['ganhos']
		valores['kp'] = float(''.join(str(i) for i in bufferDict['ganhos'][0])) / 100
		valores['ki'] = float(''.join(str(i) for i in bufferDict['ganhos'][1])) / 100
		valores['kd'] = float(''.join(str(i) for i in bufferDict['ganhos'][2])) / 100

		print(valores['kp'], valores['ki'], valores['kd'])
		
	elif tela.name == "ganho":
		values[tela.name] = ''.join((str(i) for i in bufferDict[tela]))
		print(values[tela])
		tela = lcd_screens("setpoint")

	elif tela.name == "setpoint":
		values[tela.name] = ''.join((str(i) for i in bufferDict[tela]))
		print(values[tela])

	gc.collect()