import atexit
from enum import Enum

from compLib.LogstashLogging import Logging
from compLib.Spi import Spi, Register

MOTOR_COUNT = 4


class Encoder(object):
    """Class used to read the encoders
    """

    @staticmethod
    def read(port: int) -> int:
        """Read encoder from a specified port

        :param port: Port, which the motor is connected to. 1-4 allowed
        :raises: IndexError
        :return: Current encoder position
        """
        if port <= 0 or port > MOTOR_COUNT:
            raise IndexError("Invalid encoder port specified!")

        if port == 1:
            return Spi.read(Register.MOTOR_1_POS_B3, 4)
        elif port == 2:
            return Spi.read(Register.MOTOR_2_POS_B3, 4)
        elif port == 3:
            return Spi.read(Register.MOTOR_3_POS_B3, 4)
        elif port == 4:
            return Spi.read(Register.MOTOR_4_POS_B3, 4)

    @staticmethod
    def reset(port: int):
        # TODO implement registers and me
        pass