#coding:utf-8
import os
import time
import RPi.GPIO as GPIO
from base_ctrl import BaseController
#######################################
#############信号引脚定义##############
#######################################
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
def is_raspberry_pi5():
    with open('/proc/cpuinfo', 'r') as file:
        for line in file:
            if 'Model' in line:
                if 'Raspberry Pi 5' in line:
                    return True
                else:
                    return False

base = BaseController('/dev/ttyAMA0', 115200)

class CAR:
    def __init__(self):
        self.LED0 = 10		    #LED0的IO口定义
        self.LED1 = 9			#LED1的IO口定义
        self.LED2 = 25			#LED2的IO口定义
        self.ENA = 13           #//L298 使能A
        self.ENB = 20           #//L298 使能B
        self.IN1 = 19           #//电机接口1
        self.IN2 = 16           #//电机接口2
        self.IN3 = 21           #//电机接口3
        self.IN4 = 26           #//电机接口4
        GPIO.setup(self.LED0, GPIO.OUT, initial=GPIO.HIGH)  ##led0初始化为高电平
        GPIO.setup(self.LED1, GPIO.OUT, initial=GPIO.HIGH)  ##led1初始化为高电平
        GPIO.setup(self.LED2, GPIO.OUT, initial=GPIO.HIGH)  ##led2初始化为高电平
        GPIO.setup(self.ENA,  GPIO.OUT, initial=GPIO.LOW)   ##ENA初始化为低电平
        GPIO.setup(self.ENB,  GPIO.OUT, initial=GPIO.LOW)   ##ENB初始化为低电平
        GPIO.setup(self.IN1,  GPIO.OUT, initial=GPIO.LOW)   ##IN1初始化为低电平
        GPIO.setup(self.IN2,  GPIO.OUT, initial=GPIO.LOW)   ##IN2初始化为低电平
        GPIO.setup(self.IN3,  GPIO.OUT, initial=GPIO.LOW)   ##IN3初始化为低电平
        GPIO.setup(self.IN4,  GPIO.OUT, initial=GPIO.LOW)   ##IN4初始化为低电平

    def led(self):
        GPIO.output(self.LED0,False)
        GPIO.output(self.LED1,False)
        GPIO.output(self.LED2,False)###LED0,LED1,LED2 = 亮 亮 亮
        time.sleep(0.5)
        GPIO.output(self.LED0,True)
        GPIO.output(self.LED1,False)
        GPIO.output(self.LED2,False)###LED0,LED1,LED2 = 灭 亮 亮
        time.sleep(0.5)
        GPIO.output(self.LED0,False)
        GPIO.output(self.LED1,True)
        GPIO.output(self.LED2,False)###LED0,LED1,LED2 = 亮 灭 亮
        time.sleep(0.5)
        GPIO.output(self.LED0,False)
        GPIO.output(self.LED1,False)
        GPIO.output(self.LED2,True)###LED0,LED1,LED2 = 亮 亮 灭
        time.sleep(0.5)
        GPIO.output(self.LED0,False)
        GPIO.output(self.LED1,False)
        GPIO.output(self.LED2,False)###LED0,LED1,LED2 = 亮 亮 亮
        time.sleep(0.5)
        GPIO.output(self.LED0,True)
        GPIO.output(self.LED1,True)
        GPIO.output(self.LED2,True)###LED0,LED1,LED2 = 灭 灭 灭
        time.sleep(0.5)
        print("run: led")

    def led_light(self):
        GPIO.output(self.LED0,False)
        GPIO.output(self.LED1,False)
        GPIO.output(self.LED2,False)###LED0,LED1,LED2 = 亮 亮 亮
        print("run: led_light")

    def led_dark(self):
        GPIO.output(self.LED0,True)
        GPIO.output(self.LED1,True)
        GPIO.output(self.LED2,True)###LED0,LED1,LED2 = 灭 灭 灭
        print("run: led_dark")

    def stop(self):                 # 停止运行
        GPIO.output(self.ENA,False)
        GPIO.output(self.ENB,False)
        GPIO.output(self.IN1,False)
        GPIO.output(self.IN2,False)
        GPIO.output(self.IN3,False)
        GPIO.output(self.IN4,False)
        print("run: stop move")

    def Q(self):                    # 停止的快捷键
        self.stop()
    def q(self):
        self.stop()
    
    def forward(self):              # 前进
        base.send_command({"T":1,"L":0.2,"R":0.2})
        time.sleep(2)
        base.send_command({"T":1,"L":0,"R":0})
        print("run: move !!!!forward")

    def W(self):                    # 前进的快捷键
        self.forward()
    def w(self):
        self.forward()

    def back(self):                 # 后退
        GPIO.output(self.ENA,True)
        GPIO.output(self.ENB,True)
        GPIO.output(self.IN1,True)
        GPIO.output(self.IN2,False)
        GPIO.output(self.IN3,True)
        GPIO.output(self.IN4,False)
        print("run: move back")

    def S(self):                    # 后退的快捷键
        self.back()
    def s(self):
        self.back()

    def left(self):                 # 左转
        GPIO.output(self.ENA,True)
        GPIO.output(self.ENB,True)
        GPIO.output(self.IN1,False)
        GPIO.output(self.IN2,True)
        GPIO.output(self.IN3,True)
        GPIO.output(self.IN4,False)
        print("run: move left")
    
    def A(self):                    # 左转的快捷键
        self.left()
    def a(self):
        self.left()

    def right(self):                # 右转
        GPIO.output(self.ENA,True)
        GPIO.output(self.ENB,True)
        GPIO.output(self.IN1,True)
        GPIO.output(self.IN2,False)
        GPIO.output(self.IN3,False)
        GPIO.output(self.IN4,True)
        print("run: move right")

    def D(self):                    # 右转的快捷键
        self.right()
    def d(self):
        self.right()