#!/usr/bin/env python3
import unittest
import sys
import os.path
import os

FAKE_SYS = os.path.join(os.path.dirname(__file__), 'fake-sys')
os.environ["FAKE_SYS"] = "1"

sys.path.append(FAKE_SYS)
sys.path.append(os.path.join(os.path.dirname(__file__), '..'))

from populate_arena import populate_arena  # noqa: E402
from clean_arena import clean_arena  # noqa: E402

import ev3dev2  # noqa: E402
import ev3dev2.stopwatch  # noqa: E402
from ev3dev2.motor import \
    OUTPUT_A, OUTPUT_B, \
    Motor, MediumMotor, LargeMotor, \
    MoveTank, MoveSteering, MoveJoystick, \
    SpeedPercent, SpeedDPM, SpeedDPS, SpeedRPM, SpeedRPS, SpeedNativeUnits   # noqa: E402
from ev3dev2.sensor.lego import InfraredSensor  # noqa: E402
from ev3dev2.stopwatch import StopWatch, StopWatchAlreadyStartedException  # noqa: E402
from ev3dev2.unit import (  # noqa: E402
    DistanceMillimeters, DistanceCentimeters, DistanceDecimeters, DistanceMeters, DistanceInches, DistanceFeet,
    DistanceYards, DistanceStuds)

ev3dev2.Device.DEVICE_ROOT_PATH = os.path.join(FAKE_SYS, 'arena')

_internal_set_attribute = ev3dev2.Device._set_attribute


def _set_attribute(self, attribute, name, value):
    # Follow the text with a newline to separate new content from stuff that
    # already existed in the buffer. On the real device we're writing to sysfs
    # attributes where there isn't any persistent buffer, but in the test
    # environment they're normal files on disk which retain previous data.
    attribute = _internal_set_attribute(self, attribute, name, value)
    attribute.write(b'\n')
    return attribute


ev3dev2.Device._set_attribute = _set_attribute

_internal_get_attribute = ev3dev2.Device._get_attribute


def _get_attribute(self, attribute, name):
    # Split on newline delimiter; see _set_attribute above
    attribute, value = _internal_get_attribute(self, attribute, name)
    return attribute, value.split('\n', 1)[0]


ev3dev2.Device._get_attribute = _get_attribute


def dummy_wait(self, cond, timeout=None):
    pass


Motor.wait = dummy_wait

# for StopWatch
mock_ticks_ms = 0


def _mock_get_ticks_ms():
    return mock_ticks_ms


ev3dev2.stopwatch.get_ticks_ms = _mock_get_ticks_ms


def set_mock_ticks_ms(value):
    global mock_ticks_ms
    mock_ticks_ms = value


class TestAPI(unittest.TestCase):
    def setUp(self):
        # micropython does not have _testMethodName
        try:
            print("\n\n{}\n{}".format(self._testMethodName, "=" * len(self._testMethodName, )))
        except AttributeError:
            pass

        # ensure tests don't depend on order based on StopWatch tick state
        set_mock_ticks_ms(0)

    def test_device(self):
        clean_arena()
        populate_arena([('medium_motor', 0, 'outA'), ('infrared_sensor', 0, 'in1')])

        ev3dev2.Device('tacho-motor', 'motor*')

        ev3dev2.Device('tacho-motor', 'motor0')

        ev3dev2.Device('tacho-motor', 'motor*', driver_name='lego-ev3-m-motor')

        ev3dev2.Device('tacho-motor', 'motor*', address='outA')

        with self.assertRaises(ev3dev2.DeviceNotFound):
            ev3dev2.Device('tacho-motor', 'motor*', address='outA', driver_name='not-valid')

        with self.assertRaises(ev3dev2.DeviceNotFound):
            ev3dev2.Device('tacho-motor', 'motor*', address='this-does-not-exist')

        ev3dev2.Device('lego-sensor', 'sensor*')

        with self.assertRaises(ev3dev2.DeviceNotFound):
            ev3dev2.Device('this-does-not-exist')

    def test_medium_motor(self):
        def dummy(self):
            pass

        clean_arena()
        populate_arena([('medium_motor', 0, 'outA')])

        # Do not write motor.command on exit (so that fake tree stays intact)
        MediumMotor.__del__ = dummy

        m = MediumMotor()

        self.assertEqual(m.device_index, 0)

        # Check that reading twice works:
        self.assertEqual(m.driver_name, 'lego-ev3-m-motor')
        self.assertEqual(m.driver_name, 'lego-ev3-m-motor')

        self.assertEqual(m.count_per_rot, 360)
        self.assertEqual(
            m.commands, ['run-forever', 'run-to-abs-pos', 'run-to-rel-pos', 'run-timed', 'run-direct', 'stop', 'reset'])
        self.assertEqual(m.duty_cycle, 0)
        self.assertEqual(m.duty_cycle_sp, 42)
        self.assertEqual(m.polarity, 'normal')
        self.assertEqual(m.address, 'outA')
        self.assertEqual(m.position, 42)
        self.assertEqual(m.position_sp, 42)
        self.assertEqual(m.ramp_down_sp, 0)
        self.assertEqual(m.ramp_up_sp, 0)
        self.assertEqual(m.speed, 0)
        self.assertEqual(m.speed_sp, 0)
        self.assertEqual(m.state, ['running'])
        self.assertEqual(m.stop_action, 'coast')
        self.assertEqual(m.time_sp, 1000)

        with self.assertRaises(Exception):
            m.command

    def test_infrared_sensor(self):
        clean_arena()
        populate_arena([('infrared_sensor', 0, 'in1')])

        s = InfraredSensor()

        self.assertEqual(s.device_index, 0)
        self.assertEqual(s.bin_data_format, 's8')
        self.assertEqual(s.bin_data('<b'), (16, ))
        self.assertEqual(s.num_values, 1)
        self.assertEqual(s.address, 'in1')
        self.assertEqual(s.value(0), 16)
        self.assertEqual(s.mode, "IR-PROX")

        s.mode = "IR-REMOTE"
        self.assertEqual(s.mode, "IR-REMOTE")

        val = s.proximity
        self.assertEqual(s.mode, "IR-PROX")
        self.assertEqual(val, 16)

        val = s.buttons_pressed()
        self.assertEqual(s.mode, "IR-REMOTE")
        self.assertEqual(val, [])

    def test_medium_motor_write(self):
        clean_arena()
        populate_arena([('medium_motor', 0, 'outA')])

        m = MediumMotor()

        self.assertEqual(m.speed_sp, 0)
        m.speed_sp = 500
        self.assertEqual(m.speed_sp, 500)

    def test_motor_on_for_degrees(self):
        clean_arena()
        populate_arena([('large_motor', 0, 'outA')])

        m = LargeMotor()

        # simple case
        m.on_for_degrees(75, 100)
        self.assertEqual(m.speed_sp, int(round(0.75 * 1050)))
        self.assertEqual(m.position_sp, 100)

        # various negative cases; values act like multiplication
        m.on_for_degrees(-75, 100)
        self.assertEqual(m.speed_sp, int(round(0.75 * 1050)))
        self.assertEqual(m.position_sp, -100)

        m.on_for_degrees(75, -100)
        self.assertEqual(m.speed_sp, int(round(0.75 * 1050)))
        self.assertEqual(m.position_sp, -100)

        m.on_for_degrees(-75, -100)
        self.assertEqual(m.speed_sp, int(round(0.75 * 1050)))
        self.assertEqual(m.position_sp, 100)

        # zero speed (on-device, this will return immediately due to reported stall)
        m.on_for_degrees(0, 100)
        self.assertEqual(m.speed_sp, 0)
        self.assertEqual(m.position_sp, 100)

        # zero distance
        m.on_for_degrees(75, 0)
        self.assertEqual(m.speed_sp, int(round(0.75 * 1050)))
        self.assertEqual(m.position_sp, 0)

        # zero speed and distance
        m.on_for_degrees(0, 0)
        self.assertEqual(m.speed_sp, 0)
        self.assertEqual(m.position_sp, 0)

    def test_motor_on_for_rotations(self):
        clean_arena()
        populate_arena([('large_motor', 0, 'outA')])

        m = LargeMotor()

        # simple case
        m.on_for_rotations(75, 5)
        self.assertEqual(m.speed_sp, int(round(0.75 * 1050)))
        self.assertEqual(m.position_sp, 5 * 360)

    def test_move_tank_relative_distance(self):
        clean_arena()
        populate_arena([('large_motor', 0, 'outA'), ('large_motor', 1, 'outB')])

        drive = MoveTank(OUTPUT_A, OUTPUT_B)

        # simple case (degrees)
        drive.on_for_degrees(50, 25, 100)
        self.assertEqual(drive.left_motor.position_sp, 100)
        self.assertEqual(drive.left_motor.speed_sp, 0.50 * 1050)
        self.assertEqual(drive.right_motor.position_sp, 50)
        self.assertAlmostEqual(drive.right_motor.speed_sp, 0.25 * 1050, delta=0.5)

        # simple case (rotations, based on degrees)
        drive.on_for_rotations(50, 25, 10)
        self.assertEqual(drive.left_motor.position_sp, 10 * 360)
        self.assertEqual(drive.left_motor.speed_sp, 0.50 * 1050)
        self.assertEqual(drive.right_motor.position_sp, 5 * 360)
        self.assertAlmostEqual(drive.right_motor.speed_sp, 0.25 * 1050, delta=0.5)

        # negative distance
        drive.on_for_rotations(50, 25, -10)
        self.assertEqual(drive.left_motor.position_sp, -10 * 360)
        self.assertEqual(drive.left_motor.speed_sp, 0.50 * 1050)
        self.assertEqual(drive.right_motor.position_sp, -5 * 360)
        self.assertAlmostEqual(drive.right_motor.speed_sp, 0.25 * 1050, delta=0.5)

        # negative speed
        drive.on_for_rotations(-50, 25, 10)
        self.assertEqual(drive.left_motor.position_sp, -10 * 360)
        self.assertEqual(drive.left_motor.speed_sp, 0.50 * 1050)
        self.assertEqual(drive.right_motor.position_sp, 5 * 360)
        self.assertAlmostEqual(drive.right_motor.speed_sp, 0.25 * 1050, delta=0.5)

        # negative distance and speed
        drive.on_for_rotations(-50, 25, -10)
        self.assertEqual(drive.left_motor.position_sp, 10 * 360)
        self.assertEqual(drive.left_motor.speed_sp, 0.50 * 1050)
        self.assertEqual(drive.right_motor.position_sp, -5 * 360)
        self.assertAlmostEqual(drive.right_motor.speed_sp, 0.25 * 1050, delta=0.5)

        # both speeds zero but nonzero distance
        drive.on_for_rotations(0, 0, 10)
        self.assertEqual(drive.left_motor.position_sp, 10 * 360)
        self.assertAlmostEqual(drive.left_motor.speed_sp, 0)
        self.assertEqual(drive.right_motor.position_sp, 10 * 360)
        self.assertAlmostEqual(drive.right_motor.speed_sp, 0)

        # zero distance
        drive.on_for_rotations(25, 50, 0)
        self.assertEqual(drive.left_motor.position_sp, 0)
        self.assertAlmostEqual(drive.left_motor.speed_sp, 0.25 * 1050, delta=0.5)
        self.assertEqual(drive.right_motor.position_sp, 0)
        self.assertAlmostEqual(drive.right_motor.speed_sp, 0.50 * 1050)

        # zero distance and zero speed
        drive.on_for_rotations(0, 0, 0)
        self.assertEqual(drive.left_motor.position_sp, 0)
        self.assertAlmostEqual(drive.left_motor.speed_sp, 0)
        self.assertEqual(drive.right_motor.position_sp, 0)
        self.assertAlmostEqual(drive.right_motor.speed_sp, 0)

    def test_tank_units(self):
        clean_arena()
        populate_arena([('large_motor', 0, 'outA'), ('large_motor', 1, 'outB')])

        drive = MoveTank(OUTPUT_A, OUTPUT_B)
        drive.on_for_rotations(SpeedDPS(400), SpeedDPM(10000), 10)

        self.assertEqual(drive.left_motor.position, 0)
        self.assertEqual(drive.left_motor.position_sp, 10 * 360)
        self.assertEqual(drive.left_motor.speed_sp, 400)

        self.assertEqual(drive.right_motor.position, 0)
        self.assertAlmostEqual(drive.right_motor.position_sp, 10 * 360 * ((10000 / 60) / 400))
        self.assertAlmostEqual(drive.right_motor.speed_sp, 10000 / 60, delta=0.5)

    def test_steering_units(self):
        clean_arena()
        populate_arena([('large_motor', 0, 'outA'), ('large_motor', 1, 'outB')])

        drive = MoveSteering(OUTPUT_A, OUTPUT_B)
        drive.on_for_rotations(25, SpeedDPS(400), 10)

        self.assertEqual(drive.left_motor.position, 0)
        self.assertEqual(drive.left_motor.position_sp, 10 * 360)
        self.assertEqual(drive.left_motor.speed_sp, 400)

        self.assertEqual(drive.right_motor.position, 0)
        self.assertEqual(drive.right_motor.position_sp, 5 * 360)
        self.assertEqual(drive.right_motor.speed_sp, 200)

    def test_steering_large_value(self):
        clean_arena()
        populate_arena([('large_motor', 0, 'outA'), ('large_motor', 1, 'outB')])

        drive = MoveSteering(OUTPUT_A, OUTPUT_B)
        drive.on_for_rotations(-100, SpeedDPS(400), 10)

        self.assertEqual(drive.left_motor.position, 0)
        self.assertEqual(drive.left_motor.position_sp, -10 * 360)
        self.assertEqual(drive.left_motor.speed_sp, 400)

        self.assertEqual(drive.right_motor.position, 0)
        self.assertEqual(drive.right_motor.position_sp, 10 * 360)
        self.assertEqual(drive.right_motor.speed_sp, 400)

    def test_joystick(self):
        clean_arena()
        populate_arena([('large_motor', 0, 'outA'), ('large_motor', 1, 'outB')])

        drive = MoveJoystick(OUTPUT_A, OUTPUT_B)

        # With the joystick at (x, y) of (0, 50) we should drive straigh ahead
        # at 50% of max_speed
        drive.on(0, 50)
        self.assertEqual(drive.left_motor.speed_sp, 1050 / 2)
        self.assertEqual(drive.right_motor.speed_sp, 1050 / 2)
        self.assertEqual(drive.left_motor._get_attribute(None, 'command')[1], 'run-forever')
        self.assertEqual(drive.right_motor._get_attribute(None, 'command')[1], 'run-forever')

        # With the joystick centered, motors should both be stopped
        drive.on(0, 0)
        self.assertEqual(drive.left_motor._get_attribute(None, 'command')[1], 'stop')
        self.assertEqual(drive.right_motor._get_attribute(None, 'command')[1], 'stop')

    def test_units(self):
        clean_arena()
        populate_arena([('large_motor', 0, 'outA'), ('large_motor', 1, 'outB')])

        m = Motor()

        self.assertEqual(SpeedPercent(35).to_native_units(m), 35 / 100 * m.max_speed)
        self.assertEqual(SpeedDPS(300).to_native_units(m), 300)
        self.assertEqual(SpeedNativeUnits(300).to_native_units(m), 300)
        self.assertEqual(SpeedDPM(30000).to_native_units(m), (30000 / 60))
        self.assertEqual(SpeedRPS(2).to_native_units(m), 360 * 2)
        self.assertEqual(SpeedRPM(100).to_native_units(m), (360 * 100 / 60))

        self.assertEqual(DistanceMillimeters(42).mm, 42)
        self.assertEqual(DistanceCentimeters(42).mm, 420)
        self.assertEqual(DistanceDecimeters(42).mm, 4200)
        self.assertEqual(DistanceMeters(42).mm, 42000)

        self.assertAlmostEqual(DistanceInches(42).mm, 1066.8)
        self.assertAlmostEqual(DistanceFeet(42).mm, 12801.6)
        self.assertAlmostEqual(DistanceYards(42).mm, 38404.8)

        self.assertEqual(DistanceStuds(42).mm, 336)

    def test_stopwatch(self):
        sw = StopWatch()
        self.assertEqual(str(sw), "StopWatch: 00:00:00.000")

        sw = StopWatch(desc="test sw")
        self.assertEqual(str(sw), "test sw: 00:00:00.000")
        self.assertEqual(sw.is_started, False)

        sw.start()
        self.assertEqual(sw.is_started, True)
        self.assertEqual(sw.value_ms, 0)
        self.assertEqual(sw.value_secs, 0)
        self.assertEqual(sw.value_hms, (0, 0, 0, 0))
        self.assertEqual(sw.hms_str, "00:00:00.000")
        self.assertEqual(sw.is_elapsed_ms(None), False)
        self.assertEqual(sw.is_elapsed_secs(None), False)
        self.assertEqual(sw.is_elapsed_ms(3000), False)
        self.assertEqual(sw.is_elapsed_secs(3), False)

        set_mock_ticks_ms(1500)
        self.assertEqual(sw.is_started, True)
        self.assertEqual(sw.value_ms, 1500)
        self.assertEqual(sw.value_secs, 1.5)
        self.assertEqual(sw.value_hms, (0, 0, 1, 500))
        self.assertEqual(sw.hms_str, "00:00:01.500")
        self.assertEqual(sw.is_elapsed_ms(None), False)
        self.assertEqual(sw.is_elapsed_secs(None), False)
        self.assertEqual(sw.is_elapsed_ms(3000), False)
        self.assertEqual(sw.is_elapsed_secs(3), False)

        set_mock_ticks_ms(3000)
        self.assertEqual(sw.is_started, True)
        self.assertEqual(sw.value_ms, 3000)
        self.assertEqual(sw.value_secs, 3)
        self.assertEqual(sw.value_hms, (0, 0, 3, 0))
        self.assertEqual(sw.hms_str, "00:00:03.000")
        self.assertEqual(sw.is_elapsed_ms(None), False)
        self.assertEqual(sw.is_elapsed_secs(None), False)
        self.assertEqual(sw.is_elapsed_ms(3000), True)
        self.assertEqual(sw.is_elapsed_secs(3), True)

        set_mock_ticks_ms(1000 * 60 * 75.5)  # 75.5 minutes
        self.assertEqual(sw.is_started, True)
        self.assertEqual(sw.value_ms, 1000 * 60 * 75.5)
        self.assertEqual(sw.value_secs, 60 * 75.5)
        self.assertEqual(sw.value_hms, (1, 15, 30, 0))
        self.assertEqual(sw.hms_str, "01:15:30.000")
        self.assertEqual(sw.is_elapsed_ms(None), False)
        self.assertEqual(sw.is_elapsed_secs(None), False)
        self.assertEqual(sw.is_elapsed_ms(3000), True)
        self.assertEqual(sw.is_elapsed_secs(3), True)

        try:
            # StopWatch can't be started if already running
            sw.start()
            self.fail()
        except StopWatchAlreadyStartedException:
            pass

        # test reset behavior
        sw.restart()
        self.assertEqual(sw.is_started, True)
        self.assertEqual(sw.value_ms, 0)
        self.assertEqual(sw.value_secs, 0)
        self.assertEqual(sw.value_hms, (0, 0, 0, 0))
        self.assertEqual(sw.hms_str, "00:00:00.000")
        self.assertEqual(sw.is_elapsed_ms(None), False)
        self.assertEqual(sw.is_elapsed_secs(None), False)
        self.assertEqual(sw.is_elapsed_ms(3000), False)
        self.assertEqual(sw.is_elapsed_secs(3), False)

        set_mock_ticks_ms(1000 * 60 * 75.5 + 3000)
        self.assertEqual(sw.is_started, True)
        self.assertEqual(sw.value_ms, 3000)
        self.assertEqual(sw.value_secs, 3)
        self.assertEqual(sw.value_hms, (0, 0, 3, 0))
        self.assertEqual(sw.hms_str, "00:00:03.000")
        self.assertEqual(sw.is_elapsed_ms(None), False)
        self.assertEqual(sw.is_elapsed_secs(None), False)
        self.assertEqual(sw.is_elapsed_ms(3000), True)
        self.assertEqual(sw.is_elapsed_secs(3), True)

        # test stop
        sw.stop()
        set_mock_ticks_ms(1000 * 60 * 75.5 + 10000)
        self.assertEqual(sw.is_started, False)
        self.assertEqual(sw.value_ms, 3000)
        self.assertEqual(sw.value_secs, 3)
        self.assertEqual(sw.value_hms, (0, 0, 3, 0))
        self.assertEqual(sw.hms_str, "00:00:03.000")
        self.assertEqual(sw.is_elapsed_ms(None), False)
        self.assertEqual(sw.is_elapsed_secs(None), False)
        self.assertEqual(sw.is_elapsed_ms(3000), True)
        self.assertEqual(sw.is_elapsed_secs(3), True)

        # test reset
        sw.reset()
        self.assertEqual(sw.is_started, False)
        self.assertEqual(sw.value_ms, 0)
        self.assertEqual(sw.value_secs, 0)
        self.assertEqual(sw.value_hms, (0, 0, 0, 0))
        self.assertEqual(sw.hms_str, "00:00:00.000")
        self.assertEqual(sw.is_elapsed_ms(None), False)
        self.assertEqual(sw.is_elapsed_secs(None), False)
        self.assertEqual(sw.is_elapsed_ms(3000), False)
        self.assertEqual(sw.is_elapsed_secs(3), False)

        set_mock_ticks_ms(1000 * 60 * 75.5 + 6000)
        self.assertEqual(sw.is_started, False)
        self.assertEqual(sw.value_ms, 0)
        self.assertEqual(sw.value_secs, 0)
        self.assertEqual(sw.value_hms, (0, 0, 0, 0))
        self.assertEqual(sw.hms_str, "00:00:00.000")
        self.assertEqual(sw.is_elapsed_ms(None), False)
        self.assertEqual(sw.is_elapsed_secs(None), False)
        self.assertEqual(sw.is_elapsed_ms(3000), False)
        self.assertEqual(sw.is_elapsed_secs(3), False)


if __name__ == "__main__":
    unittest.main()
    del os.environ["FAKE_SYS"]