'''
worker模块包含两个类：Motor和port_enaMotor
前者就是普通的马达，后者多了一个启用的端口。
'''
from time import sleep
import RPi.GPIO as GPIO


class Motor():
    '''
    步进电机
    '''

    def __init__(self, port_dir, port_pul, degree_per_cycle, steps):
        self.port_dir = port_dir
        self.port_pul = port_pul
        self.degree_per_cycle = degree_per_cycle
        self.steps = steps
        GPIO.setup(port_dir, GPIO.OUT, initial=GPIO.HIGH)
        GPIO.setup(port_pul, GPIO.OUT, initial=GPIO.HIGH)

    def turn_degree(self, degree, direction):
        '''
        转动角度
        '''
        GPIO.output(self.port_dir, direction)
        cycle = int(degree / self.degree_per_cycle * self.steps)
        for _ in range(cycle):
            GPIO.output(self.port_pul, GPIO.LOW)
            sleep(0.0001)
            GPIO.output(self.port_pul, GPIO.HIGH)
            sleep(0.0001)


class ENAMotor(Motor):
    '''
    带有port_ena信号的步进电机
    '''

    def __init__(self, port_dir, port_pul, degree_per_cycle, steps, port_ena):
        super(ENAMotor, self).__init__(
            port_dir, port_pul, degree_per_cycle, steps)
        self.port_ena = port_ena
        GPIO.setup(port_ena, GPIO.OUT, initial=GPIO.HIGH)

    def enable(self):
        '''
        启用电机
        '''
        GPIO.output(self.port_ena, GPIO.LOW)

    def disable(self):
        '''
        停用电机
        '''
        GPIO.output(self.port_ena, GPIO.HIGH)


class VibratorMotor:
    '''震动马达'''

    def __init__(self, port):
        '''
        初始化
        '''
        self.port = port
        GPIO.setup(port, GPIO.OUT, initial=GPIO.LOW)

    def enable(self):
        '''开始震动'''
        GPIO.output(self.port, GPIO.HIGH)

    def disable(self):
        '''停止震动'''
        GPIO.output(self.port, GPIO.LOW)


class Servo:
    '''舵机'''

    def __init__(self, port):
        '''初始化'''
        self.port = port
        GPIO.setup(port, GPIO.OUT, initial=GPIO.LOW)

    def degree(self, degree):
        '''转到某个角度'''
        dc = (degree / 180 * 2 + 0.5) * 5
        p = GPIO.PWM(self.port, 50)
        p.start(dc)
        sleep(1)
        p.stop()


class Relay:
    "继电器"

    def __init__(self, port):
        self.port = port
        GPIO.setup(port, GPIO.OUT, initial=GPIO.LOW)

    def enable(self):
        GPIO.output(self.port, GPIO.HIGH)

    def disable(self):
        GPIO.output(self.port, GPIO.LOW)