#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
# @Time    : 2025/2/18 10:03
# @Author  : hjw
# @File    : gpio.py
'''

import threading
import logging
import os
import time


# 配置日志系统
logging.basicConfig(
    level=logging.INFO,
    format='%(asctime)s - %(name)s - %(levelname)s - %(message)s',
    handlers=[
        logging.FileHandler('controller.log'),
        logging.StreamHandler()
    ]
)
logger = logging.getLogger(__name__)


class GPIOManager:
    def __init__(self, config):
        self.pins = config['gpio']['pins']
        self.pulse_per_rev = config['gpio']['pulse_per_rev']
        self.threads = {}
        self.stop_flags = {}
        self.gpio_files = {}
        self.lock = threading.Lock()

        for pin in self.pins:
            self._init_gpio(pin)

    def _init_gpio(self, pin):
        try:
            export_path = '/sys/class/gpio/export'
            gpio_path = f'/sys/class/gpio/gpio{pin}'

            if not os.path.exists(gpio_path):
                with open(export_path, 'w') as f:
                    f.write(str(pin))
                time.sleep(0.1)

            direction_path = f'{gpio_path}/direction'
            with open(direction_path, 'w') as f:
                f.write('out')

            self.gpio_files[pin] = open(f'{gpio_path}/value', 'r+')
            logger.info(f"GPIO {pin} 初始化完成")
        except Exception as e:
            logger.error(f"GPIO {pin} 初始化失败: {str(e)}")
            raise

    def set_speed(self, pin_id, speed, error):
        with self.lock:
            if pin_id not in self.pins:
                raise ValueError(f"无效的GPIO引脚: {pin_id}")

            # 停止现有线程
            if pin_id in self.threads:
                self.stop_flags[pin_id] = True
                self.threads[pin_id].join()

            if speed <= 0:
                self._write_value(pin_id, 0)
                return

            # 计算间隔时间（400脉冲/转）
            if error>10:
                interval = 1.0 / (2 * speed * 2)  # 每个周期包含高低电平
            else:
                interval = 1.0 / speed  # 每个周期包含高低电平
            self.stop_flags[pin_id] = False
            self.threads[pin_id] = threading.Thread(
                target=self._pulse_loop,
                args=(pin_id, interval),
                daemon=True
            )
            self.threads[pin_id].start()

    def _pulse_loop(self, pin_id, interval):
        # print(interval)
        while not self.stop_flags.get(pin_id, False):
            self._write_value(pin_id, 1)
            time.sleep(interval)
            # precise_delay_us(100)
            self._write_value(pin_id, 0)
            time.sleep(interval)
            # precise_delay_us(100)

    def _write_value(self, pin_id, value):
        try:
            self.gpio_files[pin_id].seek(0)
            self.gpio_files[pin_id].write(str(value))
            self.gpio_files[pin_id].truncate()
            self.gpio_files[pin_id].flush()
            os.fsync(self.gpio_files[pin_id].fileno())
        except IOError as e:
            logger.error(f"GPIO写入错误: {str(e)}")


    def cleanup(self):
        with self.lock:
            for pin in self.pins:
                if pin in self.threads:
                    self.stop_flags[pin] = True
                    self.threads[pin].join()
                self._write_value(pin, 0)
            for f in self.gpio_files.values():
                f.close()
            logger.info("GPIO资源已释放")