#!/usr/bin/env python
#
# This library is for Grove - Servo(https://www.seeedstudio.com/Grove-Servo-p-1241.html)
#
# This is the library for Grove Base Hat which used to connect grove sensors for raspberry pi.
#

'''
## License
The MIT License (MIT)
Grove Base Hat for the Raspberry Pi, used to connect grove sensors.
Copyright (C) 2018  Seeed Technology Co.,Ltd. 
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
'''

import sys
import os
# from __future__ import print_function
import RPi.GPIO as IO
import time
from numpy import interp

IO.setwarnings(False)
IO.setmode(IO.BCM)

class GroveServo:
    MIN_DEGREE = 0
    MAX_DEGREE = 180
    INIT_DUTY = 2.5

    def __init__(self, channel):
        IO.setup(channel,IO.OUT)
        self.pwm = IO.PWM(channel,50)
        self.pwm.start(GroveServo.INIT_DUTY)

    def __del__(self):
        self.pwm.stop()

    def setAngle(self, angle):
        # Map angle from range 0 ~ 180 to range 25 ~ 125
        angle = max(min(angle, GroveServo.MAX_DEGREE), GroveServo.MIN_DEGREE)
        tmp = interp(angle, [0, 180], [25, 125])
        changeDutyCycle = round(tmp/10.0, 1)
        self.pwm.ChangeDutyCycle(changeDutyCycle)

Grove = GroveServo

def main():

    args = sys.argv

    # print disable
    sys.stdout = open(os.devnull, 'w')

    from grove.helper import SlotHelper
    sh = SlotHelper(SlotHelper.GPIO)
    pin = sh.argv2pin()

    servo = GroveServo(pin)

    # print enable
    sys.stdout = sys.__stdout__

    controlDegree = int(args[2])

    # memo: 0.12 Sec / 60 degree
    # This logic is about 1.00 sec control. 0.05 sec * 20 = 1.00 sec :)
    count = 0
    while count < 20:
        count += 1
        print(count,'/20')
        servo.setAngle(controlDegree)
        time.sleep(0.05)
    print('finish')

if __name__ == '__main__':
    main()