import { BasicMotor } from "./basicmotor.js";

import { IDeviceInterface } from "../interfaces.js";

import * as Consts from "../consts.js";
import { mapSpeed } from "../utils.js";

/**
 * @class TachoMotor
 * @extends BasicMotor
 */
export class TachoMotor extends BasicMotor {

    protected _brakeStyle: Consts.BrakingStyle = Consts.BrakingStyle.BRAKE;
    protected _maxPower: number = 100;
    public useAccelerationProfile: boolean = true;
    public useDecelerationProfile: boolean = true;

    constructor (hub: IDeviceInterface, portId: number, modeMap: {[event: string]: number} = {}, type: Consts.DeviceType = Consts.DeviceType.UNKNOWN) {
        super(hub, portId, Object.assign({}, modeMap, ModeMap), type);
    }

    public receive (message: Buffer) {
        const mode = this._mode;

        switch (mode) {
            case Mode.ROTATION:
                const degrees = message.readInt32LE(this.isWeDo2SmartHub ? 2 : 4);
                /**
                 * Emits when a rotation sensor is activated.
                 * @event TachoMotor#rotate
                 * @type {object}
                 * @param {number} rotation
                 */
                this.notify("rotate", { degrees });
                break;
        }
    }


    /**
     * Set the braking style of the motor.
     *
     * Note: This applies to setSpeed, rotateByDegrees, and gotoAngle.
     * @param {number} style Either BRAKE or HOLD
     */
    public setBrakingStyle (style: Consts.BrakingStyle) {
        this._brakeStyle = style;
    }


    /**
     * Set the max power of the motor.
     *
     * Note: This applies to setSpeed, rotateByDegrees, and gotoAngle.
     * @param {number} maxPower Maximum power level (0-100)
     */
    public setMaxPower (maxPower: number) {
        this._maxPower = maxPower;
    }


    /**
     * Set the global acceleration time
     * @param {number} time How long acceleration should last (in milliseconds).
     * @param {number} profile 0 by default
     * @param {boolean} [interrupt=false] If true, previous commands are discarded.
     * @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
     */
    public setAccelerationTime (time: number, profile: number = 0x00, interrupt: boolean = false) {
        const message = Buffer.from([0x05, 0x00, 0x00, profile]);
        message.writeUInt16LE(time, 1);
        return this.sendPortOutputCommand(message, interrupt);
    }


    /**
     * Set the global deceleration time
     * @param {number} time How long deceleration should last (in milliseconds).
     * @param {number} profile 0 by default
     * @param {boolean} [interrupt=false] If true, previous commands are discarded.
     * @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
     */
    public setDecelerationTime (time: number, profile: number = 0x00, interrupt: boolean = true) {
        const message = Buffer.from([0x06, 0x00, 0x00, profile]);
        message.writeUInt16LE(time, 1);
        return this.sendPortOutputCommand(message, interrupt);
    }


    /**
     * Set the motor speed.
     * @param {number} speed For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
     * @param {number} time How long the motor should run for (in milliseconds).
     * @param {boolean} [interrupt=false] If true, previous commands are discarded.
     * @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
     */
    public setSpeed (speed: [number, number] | number, time: number | undefined, interrupt: boolean = false) {
        if (!this.isVirtualPort && speed instanceof Array) {
            throw new Error("Only virtual ports can accept multiple speeds");
        }
        if (this.isWeDo2SmartHub) {
            throw new Error("Motor speed is not available on the WeDo 2.0 Smart Hub");
        }
        if (speed === undefined || speed === null) {
            speed = 100;
        }
        let message;
        if (time !== undefined) {
            if (speed instanceof Array) {
                message = Buffer.from([0x0a, 0x00, 0x00, mapSpeed(speed[0]), mapSpeed(speed[1]), this._maxPower, this._brakeStyle, this.useProfile()]);
            } else {
                message = Buffer.from([0x09, 0x00, 0x00, mapSpeed(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
            }
            message.writeUInt16LE(time, 1);
        } else {
            if (speed instanceof Array) {
                message = Buffer.from([0x08, mapSpeed(speed[0]), mapSpeed(speed[1]), this._maxPower, this.useProfile()]);
            } else {
                message = Buffer.from([0x07, mapSpeed(speed), this._maxPower, this.useProfile()]);
            }
        }
        return this.sendPortOutputCommand(message, interrupt);
    }

    /**
     * Rotate a motor by a given amount of degrees.
     * @param {number} degrees How much the motor should be rotated (in degrees).
     * @param {number} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100.
     * @param {boolean} [interrupt=false] If true, previous commands are discarded.
     * @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
     */
    public rotateByDegrees (degrees: number, speed: [number, number] | number, interrupt: boolean = false) {
        if (!this.isVirtualPort && speed instanceof Array) {
            throw new Error("Only virtual ports can accept multiple speeds");
        }
        if (this.isWeDo2SmartHub) {
            throw new Error("Rotation is not available on the WeDo 2.0 Smart Hub");
        }
        if (speed === undefined || speed === null) {
            speed = 100;
        }
        let message;
        if (speed instanceof Array) {
            message = Buffer.from([0x0c, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed[0]), mapSpeed(speed[1]), this._maxPower, this._brakeStyle, this.useProfile()]);
        } else {
            message = Buffer.from([0x0b, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
        }
        message.writeUInt32LE(degrees, 1);
        return this.sendPortOutputCommand(message, interrupt);
    }


    protected useProfile () {
        let value = 0x00;
        if (this.useAccelerationProfile) {
            value += 0x01;
        }
        if (this.useDecelerationProfile) {
            value += 0x02;
        }
        return value;
    }


}

export enum Mode {
    ROTATION = 0x02
}

export const ModeMap: {[event: string]: number} = {
    "rotate": Mode.ROTATION
};