import compLib.CompLib_pb2 as CompLib_pb2
from compLib.CompLibClient import CompLibClient

MOTOR_COUNT = 4


class Motor(object):
    """Klasse zum Ansteuern der Motoren
    """

    @staticmethod
    def power(port: int, percent: float):
        """Motor auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen

        :param port: Port, an welchen der Motor angesteckt ist. 0-3
        :param percent: Prozentsatz der Höchstgeschwindigkeit. zwischen -100 und 100
        :raises: IndexError
        """

        if port < 0 or port >= MOTOR_COUNT:
            raise IndexError("Invalid Motor port specified!")

        if percent < -100 or percent > 100:
            raise IndexError(
                "Invalid Motor speed specified! Speed is between -100 and 100 percent!")

        request = CompLib_pb2.MotorSetPowerRequest()
        request.header.message_type = request.DESCRIPTOR.full_name
        request.port = port
        request.power = percent

        CompLibClient.send(request.SerializeToString(), request.ByteSize())

    @staticmethod
    def multiple_power(*arguments: tuple[int, float]):
        """Mehrere Motoren auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen

        :param arguments: tuple von port, percentage
        :raises: IndexError
        """
        request = CompLib_pb2.MotorsSetPowerRequest()
        request.header.message_type = request.DESCRIPTOR.full_name

        for port, percent in arguments:
            if port < 0 or port >= MOTOR_COUNT:
                raise IndexError("Invalid Motor port specified!")

            if percent < -100 or percent > 100:
                raise IndexError(
                    "Invalid Motor speed specified! Speed is between -100 and 100 percent!")

            inner_request = CompLib_pb2.MotorSetPowerRequest()
            inner_request.port = port
            inner_request.power = percent

            request.requests.append(inner_request)

        CompLibClient.send(request.SerializeToString(), request.ByteSize())

    @staticmethod
    def speed(port: int, speed: float):
        """Geschwindigkeit des Motors einstellen

        :param port: Port, an welchen der Motor angesteckt ist. 0-3
        :param speed: Drehzahl, mit der sich ein Motor dreht, in Centimeter pro Sekunde (cm/s)
        :raises: IndexError
        """

        if port < 0 or port >= MOTOR_COUNT:
            raise IndexError("Invalid Motor port specified!")

        request = CompLib_pb2.MotorSetSpeedRequest()
        request.header.message_type = request.DESCRIPTOR.full_name
        request.port = port
        request.speed = speed

        CompLibClient.send(request.SerializeToString(), request.ByteSize())

    @staticmethod
    def multiple_speed(*arguments: tuple[int, float]):
        """Geschwindigkeit mehrerer Motoren einstellen

        :param arguments: tuple von port, Geschwindigkeit in Radianten pro Sekunde (rad/s)
        :raises: IndexError
        """

        request = CompLib_pb2.MotorsSetSpeedRequest()
        request.header.message_type = request.DESCRIPTOR.full_name

        for port, speed in arguments:
            if port < 0 or port >= MOTOR_COUNT:
                raise IndexError("Invalid Motor port specified!")

            inner_request = CompLib_pb2.MotorSetSpeedRequest()
            inner_request.port = port
            inner_request.speed = speed

            request.requests.append(inner_request)

        CompLibClient.send(request.SerializeToString(), request.ByteSize())

    @staticmethod
    def pulse_width(port: int, percent: float):
        """Setzen den Pulsbreite eines Motors in Prozent der Periode

        :param port: Port, an welchen der Motor angesteckt ist. 0-3
        :param percent: Prozent der Periode zwischen -100 und 100
        :raises: IndexError
        """

        if port < 0 or port >= MOTOR_COUNT:
            raise IndexError("Invalid Motor port specified!")

        request = CompLib_pb2.MotorSetPulseWidthRequest()
        request.header.message_type = request.DESCRIPTOR.full_name
        request.port = port
        request.percent = percent

        CompLibClient.send(request.SerializeToString(), request.ByteSize())

    @staticmethod
    def multiple_pulse_width(*arguments: tuple[int, float]):
        """Setzen den Pulsbreite mehrerer Motoren in Prozent der Periode

        :param arguments: tuple von port, prozent
        :raises: IndexError
        """

        request = CompLib_pb2.MotorsSetPulseWidthRequest()
        request.header.message_type = request.DESCRIPTOR.full_name

        for port, percent in arguments:
            if port < 0 or port >= MOTOR_COUNT:
                raise IndexError("Invalid Motor port specified!")

            inner_request = CompLib_pb2.MotorSetPulseWidthRequest()
            inner_request.port = port
            inner_request.percent = percent

            request.requests.append(inner_request)

        CompLibClient.send(request.SerializeToString(), request.ByteSize())