import RPi.GPIO as GPIO
from flask import Flask, render_template, request
import threading
import time
import pigpio

pi = pigpio.pi()

from src.einstellungen import *
from src.schrittmotor import motor, motor_bewegen

kamera_server = Flask(__name__)

# Set each pin as an output and make it low:
for pin in pins_out:
    pi.set_mode(pins_out[pin]['nr'], pigpio.OUTPUT)
    pi.set_pull_up_down(pins_out[pin]['nr'], pigpio.PUD_UP)
    pi.write(pins_out[pin]['nr'], 1)
    #GPIO.setup(pins_out[pin]['nr'], GPIO.OUT)
    #GPIO.output(pins_out[pin]['nr'], GPIO.HIGH)

for pin in pins_in:
    pi.set_mode(pins_in[pin]['nr'], pigpio.INPUT)
    pi.set_pull_up_down(pins_in[pin]['nr'], pigpio.PUD_UP)
    #GPIO.setup(pins_in[pin]['nr'], GPIO.IN)

#GPIO.output(pins_out['kamera']['nr'], GPIO.LOW)
pi.write(pins_out['kamera']['nr'], 0)

m1 = motor('drehen', m1_a1, m1_b1, m1_a2, m1_b2, m1_t1, m1_t2, m1_te, m1_es, 1, 180)
m2 = motor('kippen', m2_a1, m2_b1, m2_a2, m2_b2, m2_t1, m2_t2, m2_te, m2_es, 1, 90)
m3 = motor('zoom', m3_a1, m3_b1, m3_a2, m3_b2, m3_t1, m3_t2, m3_te, m3_es, 0, 50)

m1.eichen()
m2.eichen()
m3.eichen()

#m1.vorwaerts(100)
#m1.stop()
#m2.stop()

@kamera_server.route("/")
def main():
    # For each pin, read the pin state and store it in the pins dictionary:
    for pin in pins_out:
        #pins_out[pin]['state'] = GPIO.input(pins_out[pin]['nr'])
        pins_out[pin]['state'] = pi.read(pins_out[pin]['nr'])
    for pin in pins_in:
        #pins_in[pin]['state'] = GPIO.input(pins_in[pin]['nr'])
        pins_in[pin]['state'] = pi.read(pins_in[pin]['nr'])

    # Put the pin dictionary into the template data dictionary:
    templateData = {
        'pins' : pins_out,
        'pins_in' : pins_in,
        'pos_1' : str(m1.pos),
        'pos_2' : str(m2.pos),
        'pos_3' : str(m3.pos)
    }
    # Pass the template data into the template main.html and return it to the user
    return render_template('main.html', **templateData)

# The function below is executed when someone requests a URL with the pin number and action in it:
@kamera_server.route("/<changePin>/<action>")
def action(changePin, action):
    # Convert the pin from the URL into an integer:
    
    # Get the device name for the pin being changed:
    deviceName = pins_out[changePin]['name']
    changePin = pins_out[changePin]['nr']
    # If the action part of the URL is "on," execute the code indented below:
    if action == "on":
        # Set the pin high:
        #GPIO.output(changePin, GPIO.HIGH)
        pi.write(changePin, 0)
        # Save the status message to be passed into the template:
        message = "Turned " + deviceName + " on."
    if action == "off":
        #GPIO.output(changePin, GPIO.LOW)
        pi.write(changePin, 1)
        message = "Turned " + deviceName + " off."

    # For each pin, read the pin state and store it in the pins dictionary:
    for pin in pins_out:
        #pins_out[pin]['state'] = GPIO.input(pins_out[pin]['nr'])
        pins_out[pin]['state'] = pi.read(pins_out[pin]['nr'])
    for pin in pins_in:
        #pins_in[pin]['state'] = GPIO.input(pins_in[pin]['nr'])
        pins_in[pin]['state'] = pi.read(pins_in[pin]['nr'])

    # Along with the pin dictionary, put the message into the template data dictionary:
    templateData = {
        'pins' : pins_out,
        'pins_in' : pins_in,
        'pos_1' : str(m1.pos),
        'pos_2' : str(m2.pos),
        'pos_3' : str(m3.pos)
    }

    return render_template('main.html', **templateData)

@kamera_server.route("/position/<drehen>/<pos1>/<kippen>/<pos2>/<zoom>/<pos3>")
def motor_test(drehen, pos1, kippen, pos2, zoom, pos3):
    if drehen == "drehen":
        p1 = int(pos1)
    else:
        p1 = m1.pos

    if kippen == "kippen":
        p2 = int(pos2)
    else:
        p2 = m2.pos

    if zoom == "zoom":
        p3 = int(pos3)
    else:
        p3 = m3.pos

    while m1.aktiv == 1 or m2.aktiv == 1 or m3.aktiv == 1:
        print('warten')
        time.sleep(1)

    th1 = motor_bewegen(m1, p1)
    th2 = motor_bewegen(m2, p2)
    th3 = motor_bewegen(m3, p3)
        
    th1.join()
    th2.join()
    th3.join()

    return 'Drehen: ' + str(m1.pos) + ', Kippen: ' + str(m2.pos) + ', Zoom: ' + str(m3.pos)

@kamera_server.route("/eichen")
def motor_eichen():
    m1.eichen()
    m2.eichen()
    m3.eichen()
    
    templateData = {
        'pins' : pins_out,
        'pins_in' : pins_in,
        'pos_1' : str(m1.pos),
        'pos_2' : str(m2.pos),
        'pos_3' : str(m3.pos)
    }

    return render_template('main.html', **templateData)

if __name__ == "__main__":
    kamera_server.run(host='0.0.0.0')