import RPi.GPIO as GPIO
from time import sleep


class Motor:

    def __init__(self):
        print("Starting of the program")

        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

    def start_motor(self):

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

            print("FORWARD MOTION")
            self.motorStop = self.stop_motor()

            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)

        GPIO.cleanup()

    def stop_motor(self):

        userStop = input("Stop the motor? choose between Y/N")

        if (userStop == "Y") or (not GPIO.input(13)):
            print("stopping motor...")
            self.EN1.ChangeDutyCycle(0)
            self.EN2.ChangeDutyCycle(0)
            print("motor stops")
            return True
        elif userStop == "N":
            return False
        else:
            self.stop_motor(self)

    def start_alarm(self):

        while (not self.alarmStop) or (not GPIO.input(16)):
            self.alarmStop = self.stop_alarm()
            GPIO.output(26, True)

        GPIO.cleanup()

    def stop_alarm(self):

        stopRequest = input("Turn off the alarm? choose between Y/N")
        if stopRequest == "Y":
            print("Alarm turning off...")
            GPIO.output(26, False)
            print("Alarm is off")
            return True
        elif stopRequest == "N":
            return False
        else:
            self.stop_alarm()


if __name__ == "__main__":
    # print("Execute function...")

    motor1 = Motor()
    # motor1.start_motor()
    motor1.start_alarm()