from pyControl.utility import *
from devices import PumpController, Breakout_dseries_1_6

bb = Breakout_dseries_1_6()  # breakout board
syringes = PumpController(port=bb.port_11)

states = ["state_A"]
events = ["check_for_message"]

initial_state = "state_A"


def run_start():
    set_timer("check_for_message", 200, output_event=False)


def all_states(event):
    if event == "check_for_message":
        set_timer("check_for_message", 200, output_event=False)
        msg = syringes.read_serial()
        if msg == "syringe_empty":
            stop_framework()
        else:
            print(msg)


def state_A(event):
    pass

from pyControl.utility import *
from devices import PumpController, Breakout_dseries_1_6

bb = Breakout_dseries_1_6()  # breakout board
syringes = PumpController(port=bb.port_11, event_name="msg_received")

states = ["state_A"]
events = ["msg_received"]

initial_state = "mystate"


def all_states(event):
    if event == "msg_received":
        msg = syringes.read_serial()
        if msg == "syringe_empty":
            stop_framework()
        else:
            print(msg)


def state_A(event):
    pass

from machine import UART
from pyControl.hardware import UART_handler


class PumpController:
    def __init__(self, port, event_name, pybv1=False):
        assert port.UART is not None, "! Pump needs port with UART."

        self.uart = UART(port.UART)
        self.uart.init(115200, bits=8, parity=None, stop=1, timeout=100, rxbuf=130)

        handler = UART_handler(event_name, first_char_interrupt=pybv1)
        self.uart.irq(trigger=UART.IRQ_RXIDLE, handler=handler.ISR)

        # default pump settings
        self.configure_pump(
            steps_per_rev=200,
            syringe_id_mm=26.7,
            lead_mm=2,
            acceleration=5000,
            max_velocity=180_000,
        )
        self.uart.read()  # clear buffer
        self._send("reset")

        self._left = "l1"
        self._right = "r1"

    def _send(self, command, payload=""):
        self.uart.write(f"{command};{payload}\n")

    def configure_pump(
        self,
        steps_per_rev,
        syringe_id_mm,
        lead_mm,
        acceleration,
        max_velocity,
        pump="all",
    ):
        if pump == "all":
            for pump in ["l1", "l2", "r1", "r2"]:
                self._send(
                    "eval",
                    f"{pump}.configure({steps_per_rev}, {syringe_id_mm}, {lead_mm}, {acceleration}, {max_velocity})",
                )
        else:
            self._send(
                "eval", f"{pump}.configure({steps_per_rev}, {syringe_id_mm}, {lead_mm}, {acceleration}, {max_velocity})"
            )

    def display_animal_number(self, number):
        self._send("animal", number)

    def stop(self):
        self._send("stop")

    def infuse(self, pump, volume):
        self._send("eval", f"{pump}.dispense({volume})")

    def left_infuse(self, volume):
        self.infuse(self._left, volume)

    def right_infuse(self, volume):
        self.infuse(self._right, volume)

    def get_version(self):
        self._send("version")

    def read_serial(self):
        if self.uart.any():
            return self.uart.readline().decode("utf-8").strip("\n")
        return None