import time

import compLib.CompLib_pb2 as CompLib_pb2

from compLib.CompLibClient import CompLibClient


class IRSensor(object):
    """Ermöglicht den Zugriff auf die einzelnen IRSensoren des Roboters
    """

    @staticmethod
    def read_all():
        """Auslesen aller Sensoren gleichzeitig

        :return: Array aller Sensorwerte
        """
        request = CompLib_pb2.IRSensorsReadAllRequest()
        request.header.message_type = request.DESCRIPTOR.full_name

        response = CompLib_pb2.IRSensorsReadAllResponse()
        response.ParseFromString(CompLibClient.send(
            request.SerializeToString(), request.ByteSize()))

        return [i for i in response.data]

    @staticmethod
    def enable():
        """Aktivieren Infrarot-Sender. Muss bei jedem Programmstart ausgeführt werden.
        """
        request = CompLib_pb2.IRSensorsEnableRequest()
        request.header.message_type = request.DESCRIPTOR.full_name

        CompLibClient.send(request.SerializeToString(), request.ByteSize())
        time.sleep(0.1)  # IR sensor reading is async -> Wait a bit

    @staticmethod
    def disable():
        """Deaktivieren der Infrarot-Sender
        """
        request = CompLib_pb2.IRSensorsDisableRequest()
        request.header.message_type = request.DESCRIPTOR.full_name

        CompLibClient.send(request.SerializeToString(), request.ByteSize())
        time.sleep(0.1)  # IR sensor reading is async -> Wait a bit