import utime
from machine import Pin


class MTS102:
    """MTS102（三脚二档钮子开关）"""

    def __init__(self, pin, pull_down=False):
        """
        :param pin: 引脚编号
        :param pull_down: 引脚下拉电阻（断开为低电平，接通为高电平），默认为False。若使用下拉电阻，因钮子接通后断开可能存留电荷/漏电故需在引脚和GND并联1K～10K欧电阻
        """
        if not isinstance(pull_down, bool):
            raise TypeError("pull_down数据类型应为布尔")

        self.pull_down = pull_down

        # 尝试初始化引脚
        try:
            self.pin = Pin(
                pin, Pin.IN, Pin.PULL_DOWN if self.pull_down else Pin.PULL_UP
            )
        except Exception as exception:
            raise RuntimeError(f"初始化引脚发生异常，{str(exception)}") from exception

        # 初始化上一次检测时间
        self._last_time = utime.ticks_ms()
        # 初始化上一次检测状态
        self._last_state = self._get_state()

    def _get_state(self):
        """获取状态：0为断开，1为接通"""
        return self.pin.value() ^ (not self.pull_down)

    def _debounce(self):
        """去抖"""
        current_time = utime.ticks_ms()
        current_state = self._get_state()

        # 若当前与上一次检测间隔大于等于防抖时间则更新时间，又若状态不同则更新状态
        if utime.ticks_diff(current_time, self._last_time) >= 20:
            if current_state != self._last_state:
                self._last_time = current_time
                self._last_state = current_state

        return self._last_state

    @property
    def switched(self):
        """是否接通"""
        return self._debounce() == 1


class WS2812:
    """WS2812（可编程 RGB LED）"""

    def __init__(self, pin=16, led_beads=1):
        """
        :param pin: 引脚编号，RP2350ZERO板载WS2812使用引脚16
        :param led_beads: LED灯珠数
        """
        if not isinstance(led_beads, int):
            raise TypeError("led_beads数据类型应为整数")

        if not led_beads >= 1:
            raise ValueError("led_beads数值应大于等于1")

        self.led_beads = led_beads

        from neopixel import NeoPixel

        # 尝试初始化LED
        try:
            self.led = NeoPixel(Pin(pin, Pin.OUT), self.led_beads)
        except Exception as exception:
            raise RuntimeError(f"初始化LED发生异常，{str(exception)}") from exception

    def set_colors(self, colors):
        """
        设置灯珠颜色
        :param colors: 包含每颗灯珠RGB的颜色列表
        """
        if not isinstance(colors, list):
            raise TypeError("colors数据类型应为列表")

        if len(colors) != self.led_beads:
            raise ValueError("colors列表长度应与LED灯珠数一致")

        for bead_idx, bead_color in enumerate(colors):
            if not isinstance(bead_color, tuple):
                raise TypeError("灯珠颜色数据类型应为元组")

            if len(bead_color) != 3:
                raise ValueError("灯珠颜色长度应为3")

            for channel_idx, channel_value in enumerate(bead_color):
                if not isinstance(channel_value, int):
                    raise TypeError("通道数据数据类型应为整数")

                if not 0 <= channel_value <= 255:
                    raise ValueError("通道数据数值应在0～255范围内")

        for bead_idx, bead_color in enumerate(colors):
            # 将RGB转为GRB并设置灯珠颜色
            self.led[bead_idx] = (bead_color[1], bead_color[0], bead_color[2])

        # LED刷新
        self.led.write()

    def iridesce(self, hue_offset=20):
        """通过HSV颜色空间生成渐变炫彩效果
        :param hue_offset: 色相偏移角度
        """
        if not isinstance(hue_offset, int):
            raise TypeError("hue_offset数据类型应为整数")

        if not 0 <= hue_offset <= 60:
            raise ValueError("hue_offset数值应在0～60范围内")

        # 初始化HSV颜色空间参数，其中hue为色相，saturation为饱和度，value为亮度
        hue, saturation, value = 0, 255, 128

        while True:
            colors = []

            for bead_idx in range(self.led_beads):
                # 色相
                hue = (hue + bead_idx * hue_offset) % 360
                # 色域
                region = hue // 60
                # 色域内相对位置
                remainder = (hue - region * 60) * 255 // 60

                # 最小分量
                P = (value * (255 - saturation)) // 255
                # 过渡值
                transition = (value * remainder) // 255

                # 根据色域将HSV转为RGB并新增至颜色列表
                colors.append(
                    {
                        0: (value, transition, P),  # 由红色渐变为黄色
                        1: (value - transition, value, P),  # 由黄色渐变为绿色
                        2: (P, value, transition),  # 由绿色渐变为青色
                        3: (P, value - transition, value),  # 由青色渐变为蓝色
                        4: (transition, P, value),  # 由蓝色渐变为洋红色
                        5: (value, P, value - transition),  # 由洋红色渐变为红色
                    }[region]
                )

            self.set_colors(colors)

            # 根据色域动态调整色相步长
            hue = hue + [1, 1, 1, 1, 1, 1][region]

            utime.sleep_ms(100)


class Servo:
    """舵机（基类）"""

    # 运动轨迹
    _TRAJECTORIES = {
        "linear": lambda x: (x, 1),  # 表示当前进度和速度
    }