import esphome.codegen as cg
import esphome.config_validation as cv
from esphome import automation
from esphome.const import CONF_ACCELERATION, CONF_DECELERATION, CONF_ID, CONF_MAX_SPEED, \
    CONF_POSITION, CONF_TARGET, CONF_SPEED
from esphome.core import CORE, coroutine, coroutine_with_priority

IS_PLATFORM_COMPONENT = True

# pylint: disable=invalid-name
stepper_ns = cg.esphome_ns.namespace('stepper')
Stepper = stepper_ns.class_('Stepper')

SetTargetAction = stepper_ns.class_('SetTargetAction', automation.Action)
ReportPositionAction = stepper_ns.class_('ReportPositionAction', automation.Action)
SetSpeedAction = stepper_ns.class_('SetSpeedAction', automation.Action)


def validate_acceleration(value):
    value = cv.string(value)
    for suffix in ('steps/s^2', 'steps/s*s', 'steps/s/s', 'steps/ss', 'steps/(s*s)'):
        if value.endswith(suffix):
            value = value[:-len(suffix)]

    if value == 'inf':
        return 1e6

    try:
        value = float(value)
    except ValueError:
        raise cv.Invalid(f"Expected acceleration as floating point number, got {value}")

    if value <= 0:
        raise cv.Invalid("Acceleration must be larger than 0 steps/s^2!")

    return value


def validate_speed(value):
    value = cv.string(value)
    for suffix in ('steps/s', 'steps/s'):
        if value.endswith(suffix):
            value = value[:-len(suffix)]

    if value == 'inf':
        return 1e6

    try:
        value = float(value)
    except ValueError:
        raise cv.Invalid(f"Expected speed as floating point number, got {value}")

    if value <= 0:
        raise cv.Invalid("Speed must be larger than 0 steps/s!")

    return value


STEPPER_SCHEMA = cv.Schema({
    cv.Required(CONF_MAX_SPEED): validate_speed,
    cv.Optional(CONF_ACCELERATION, default='inf'): validate_acceleration,
    cv.Optional(CONF_DECELERATION, default='inf'): validate_acceleration,
})


@coroutine
def setup_stepper_core_(stepper_var, config):
    if CONF_ACCELERATION in config:
        cg.add(stepper_var.set_acceleration(config[CONF_ACCELERATION]))
    if CONF_DECELERATION in config:
        cg.add(stepper_var.set_deceleration(config[CONF_DECELERATION]))
    if CONF_MAX_SPEED in config:
        cg.add(stepper_var.set_max_speed(config[CONF_MAX_SPEED]))


@coroutine
def register_stepper(var, config):
    if not CORE.has_id(config[CONF_ID]):
        var = cg.Pvariable(config[CONF_ID], var)
    yield setup_stepper_core_(var, config)


@automation.register_action('stepper.set_target', SetTargetAction, cv.Schema({
    cv.Required(CONF_ID): cv.use_id(Stepper),
    cv.Required(CONF_TARGET): cv.templatable(cv.int_),
}))
def stepper_set_target_to_code(config, action_id, template_arg, args):
    paren = yield cg.get_variable(config[CONF_ID])
    var = cg.new_Pvariable(action_id, template_arg, paren)
    template_ = yield cg.templatable(config[CONF_TARGET], args, cg.int32)
    cg.add(var.set_target(template_))
    yield var


@automation.register_action('stepper.report_position', ReportPositionAction, cv.Schema({
    cv.Required(CONF_ID): cv.use_id(Stepper),
    cv.Required(CONF_POSITION): cv.templatable(cv.int_),
}))
def stepper_report_position_to_code(config, action_id, template_arg, args):
    paren = yield cg.get_variable(config[CONF_ID])
    var = cg.new_Pvariable(action_id, template_arg, paren)
    template_ = yield cg.templatable(config[CONF_POSITION], args, cg.int32)
    cg.add(var.set_position(template_))
    yield var


@automation.register_action('stepper.set_speed', SetSpeedAction, cv.Schema({
    cv.Required(CONF_ID): cv.use_id(Stepper),
    cv.Required(CONF_SPEED): cv.templatable(validate_speed),
}))
def stepper_set_speed_to_code(config, action_id, template_arg, args):
    paren = yield cg.get_variable(config[CONF_ID])
    var = cg.new_Pvariable(action_id, template_arg, paren)
    template_ = yield cg.templatable(config[CONF_SPEED], args, cg.int32)
    cg.add(var.set_speed(template_))
    yield var


@coroutine_with_priority(100.0)
def to_code(config):
    cg.add_global(stepper_ns.using)