import RPi.GPIO as GPIO
import pyrebase  # u need to install Pyrebase module firstly
from time import sleep


class Motor:
    print("Starting of the program")

    def __init__(self):

        config = {
            "apiKey": "AIzaSyAdL0W5HscjEDFPK4BDi6Cnc7FLa30GPYY",
            "authDomain": "vehicleantitheftrecognition.firebaseapp.com",
            "databaseURL": "https://vehicleantitheftrecognition.firebaseio.com/",
            "storageBucket": "vehicleantitheftrecognition.firebaseapp.com"
        }

        self.firebase = pyrebase.initialize_app(config)

        GPIO.setmode(GPIO.BCM)
        GPIO.setwarnings(False)

        # preset GPIO ports for 2 motors
        self.Motor1 = {'EN': 25, 'input1': 24, 'input2': 23}
        self.Motor2 = {'EN': 17, 'input1': 27, 'input2': 22}

        # preset the port for buttons and alarm
        GPIO.setup(5, GPIO.IN)  # start motor button, initially True
        GPIO.setup(13, GPIO.IN)  # stop motor button, initially True
        GPIO.setup(16, GPIO.IN)  # start alarm button, initially True
        GPIO.setup(26, GPIO.OUT)  # alarm output

        for x in self.Motor1:
            GPIO.setup(self.Motor1[x], GPIO.OUT)
            GPIO.setup(self.Motor2[x], GPIO.OUT)

        # utilize PWM function, enable motors and frequency is 100Hz
        self.EN1 = GPIO.PWM(self.Motor1['EN'], 100)
        self.EN2 = GPIO.PWM(self.Motor2['EN'], 100)

        self.EN1.start(0)
        self.EN2.start(0)

        # stop signals for motors and alarm
        self.motorStop = False
        self.alarmStop = False

    # new update motor and alarm functions, are able to connect embedded system throught firebase

    def start_motor(self):

        self.motorStop = self.stop_motor()

        while (not self.motorStop) or (not GPIO.input(5)):  # break the loop when motor stop signal is detected

            self.motorStop = self.stop_motor()

    def stop_motor(self):

        database = self.firebase.database()  # get alarm on/off signal from firebase
        signals = database.child("signal")
        motorSignal = signals.child("1").child("motor").get().val()

        if (motorSignal == "off") or (not GPIO.input(13)):
            print("stopping motor...")
            self.EN1.ChangeDutyCycle(0)
            self.EN2.ChangeDutyCycle(0)
            print("motor stops")
            return True
        elif motorSignal == "on":

            self.EN1.ChangeDutyCycle(50)
            self.EN2.ChangeDutyCycle(50)

            GPIO.output(self.Motor1['input1'], GPIO.HIGH)
            GPIO.output(self.Motor1['input2'], GPIO.LOW)

            GPIO.output(self.Motor2['input1'], GPIO.HIGH)
            GPIO.output(self.Motor2['input2'], GPIO.LOW)

            print("motor is turned on")
            return False

    def start_alarm(self):

        self.alarmStop = self.stop_alarm()

        while (not self.alarmStop) or (not GPIO.input(16)):  # if alarmStop is False or button is pressed
            #                                                           # enter the loop
            self.alarmStop = self.stop_alarm()  # infinitely check if alarmStop True

            # break the loop if alarm is turned off

    def stop_alarm(self):

        database = self.firebase.database()  # get alarm on/off signal from firebase
        signals = database.child("signal")
        alarmSignal = signals.child("1").child("alarm").get().val()

        if alarmSignal == "off":
            print("Alarm turning off...")
            self.alarmStop = True
            GPIO.output(26, False)
            print("Alarm is off")
            return True
        elif alarmSignal == "on":
            GPIO.output(26, True)
            print("Alarm is turned on")
            return False


if __name__ == "__main__":

    # print("Execute function...")

    motor1 = Motor()

    while True:  # turn on the system forever

        motor1.start_alarm()  # alarm on/off test
        motor1.start_motor()  # motor on/off test