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

SENSOR_COUNT = 5


class IRSensor(object):
    """Access the different IR Sensors of the robot
    """

    @staticmethod
    def read(sensor: int) -> int:
        """Read one infrared sensor

        :param sensor: Which sensor to read. Between 1 and 5
        :raises: IndexError
        :return: Sensor value. 10 bit accuracy
        :rtype: int
        """
        if sensor <= 0 or sensor > SENSOR_COUNT:
            raise IndexError("Invalid sensor specified!")

        result = 0
        if sensor == 1:
            result = Spi.read(Register.IR_1_H, 2)
        elif sensor == 2:
            result = Spi.read(Register.IR_2_H, 2)
        elif sensor == 3:
            result = Spi.read(Register.IR_3_H, 2)
        elif sensor == 4:
            result = Spi.read(Register.IR_4_H, 2)
        elif sensor == 5:
            result = Spi.read(Register.IR_5_H, 2)

        MetricsLogging.put("Infrared", result, sensor)
        return result

    @staticmethod
    def read_all():
        """Read all IR sensors at once.
        This is faster than read as it only uses one SPI call for all sensors!

        :return: Tuple of all current ir sensors
        """

        sensors = Spi.read_array(Register.IR_1_H, 5 * 2)

        sensor_1 = int.from_bytes(
            sensors[0:2], byteorder='big', signed=False)
        sensor_2 = int.from_bytes(
            sensors[2:4], byteorder='big', signed=False)
        sensor_3 = int.from_bytes(
            sensors[4:6], byteorder='big', signed=False)
        sensor_4 = int.from_bytes(
            sensors[6:8], byteorder='big', signed=False)
        sensor_5 = int.from_bytes(
            sensors[8:10], byteorder='big', signed=False)

        return (sensor_1, sensor_2, sensor_3, sensor_4, sensor_5)

    @staticmethod
    def set(sensor: int, on: bool):
        """Turn on / off a IR emitter

        :param sensor: Which sensor to read. Between 1 and 5
        :raises: IndexError
        """
        if sensor <= 0 or sensor > SENSOR_COUNT:
            raise IndexError("Invalid sensor specified!")

        if sensor == 1:
            Spi.write(Register.IR_1_LED, 1, on)
        elif sensor == 2:
            Spi.write(Register.IR_2_LED, 1, on)
        elif sensor == 3:
            Spi.write(Register.IR_3_LED, 1, on)
        elif sensor == 4:
            Spi.write(Register.IR_4_LED, 1, on)
        elif sensor == 5:
            Spi.write(Register.IR_5_LED, 1, on)