from machine import Pin
from machine import Timer


class Button:
    def __init__(self, pin, debounce_time=5):
        self.pin = Pin(pin, mode=Pin.IN, pull=Pin.PULL_UP)
        self.state = False
        self.state_last = None
        self.counter = 0
        self.debounce_time = debounce_time
        self.ft = False

    def force_trigger(self):
        if not self.state:
            self.ft = True

    def trigger(self):
        self.state_last = self.state

        if self.ft:
            self.state = True
            self.ft = False
            return True

        if self.pin.value() == 0:  # PULL_UP -> 0 = pressed
            if not self.state:
                self.counter += 1
        if self.pin.value() == 1:  # PULL_UP -> 1 = not pressed
            self.state = False
            self.counter = 0
        if self.counter == self.debounce_time:
            self.state = True

        return self.state_last != self.state


class SoftTimer:
    def __init__(self):
        self.counter = 0
        self.ft = False

    def force_trigger(self):
        self.counter = 0
        self.ft = True

    def run(self, time):
        self.counter = time

    def trigger(self):
        if self.ft:
            self.ft = False
            return True
        elif self.counter > 0:
            self.counter -= 1
            if self.counter == 0:
                return True

        return False


class Controller:
    def __init__(self):
        self.pin_inhibit = Pin(12, Pin.OUT, value=0)
        self.pin_forward_reverse = Pin(13, Pin.OUT, value=0)
        self.pin_speed0 = Pin(33, Pin.OPEN_DRAIN, value=0)
        self.pin_speed1 = Pin(32, Pin.OPEN_DRAIN, value=0)
        self.pin_speed2 = Pin(0, Pin.OPEN_DRAIN, value=0)

        #
        self.pin_led_mode = Pin(4, Pin.OUT, value=0)

        #
        self.button_start_stop = Button(2)

        #
        self.button_start_stop_pressed = False

        #
        self.state = "IDLE"
        self.state_last = None

        #
        self.timer = SoftTimer()

        #
        Timer(1).init(period=10, mode=Timer.PERIODIC, callback=self.loop)

        #
        print()
        print()
        print("*" * 60)
        print("* Controller ready")
        print("*" * 60)
        print()
        print()

    def goto_state_end_of_run(self):
        self.timer.run(200)
        self.state = "END_OF_RUN"

    def loop(self, t):
        self.state_last = self.state

        #
        button_start_stop_trigger = self.button_start_stop.trigger()
        button_start_stop_pressed = (
            button_start_stop_trigger and self.button_start_stop.state
        )

        #
        timer_trigger = self.timer.trigger()

        # ----------------------------------------------------------
        if self.state == "IDLE":
            if button_start_stop_pressed:
                self.pin_led_mode.on()
                self.timer.run(200)
                self.state = "RUN"
        # ----------------------------------------------------------
        elif self.state == "RUN":
            if button_start_stop_pressed:
                self.pin_led_mode.off()
                self.state = "IDLE"
            elif timer_trigger:
                self.goto_state_end_of_run()
        # ----------------------------------------------------------
        elif self.state == "END_OF_RUN":
            if timer_trigger:
                self.pin_led_mode.off()
                self.state = "IDLE"

        #
        if self.state_last != self.state:
            print("*" * 30, f" New state {self.state} ", "*" * 30)


controller = Controller()