#!/usr/bin/env python
# coding: Latin-1
#import statements for required libaarys
#Code Written By J Hider
import threading
import PicoBorgRev
import time
import sys


#set up the piborg boards the
PBR = PicoBorgRev.PicoBorgRev()
PBR.busNumber = 0
PBR.i2cAddress = 0xA
PBR.Init()
PBR.ResetEpo()


PBR2 = PicoBorgRev.PicoBorgRev()
PBR2.busNumber = 0
PBR2.i2cAddress = 0x14
PBR2.Init()
PBR2.ResetEpo()


#PBR3 = PicoBorgRev.PicoBorgRev()
#PBR3.i2cAddress = 12
#PBR3.Init()
#PBR3.ResetEpo()

#Global BVariables for ride control
sleepTime = 10
cakeWalkRunning = False
ferrisWheelRunning = False
merryGoRoundRunning = False
swingBoatRunning = False
mLock = threading.Lock()
loopRun = True


class cakeWalk(threading.Thread): 
    'Controls cake walk'
    
    def __init__(self,PBR):
        threading.Thread.__init__(self)
        self.PBR = PBR
        self.stepDelay = 5
        self.sleepTime = 60
        self.rampUpFwd = [ +0.27,+0.28,+0.29, +0.3, +0.31, +0.32, +0.33, +0.34, +0.35]
        self.rampDownFwd = [+0.35, +0.34, +0.33, +0.32, +0.31, +0.3, +0.29, +0.28, +0.27]
           
    def run(self):
        global cakeWalkRunning
        global loopRun
        
        if cakeWalkRunning == False and loopRun == True:
            mLock.acquire()
            cakeWalkRunning = True
            mLock.release()
            for step in self.rampUpFwd:
                self.PBR.SetMotor1(step)
                print ('%+.2f' % (step));
                time.sleep(self.stepDelay)
                if loopRun == False:
                    break
        
        if loopRun == True:    
            time.sleep(self.sleepTime)
        else:
            print('');
    
        if cakeWalkRunning == True and loopRun == True:
            mLock.acquire()
            cakeWalkRunning = False
            mLock.release()
            for step in self.rampDownFwd:
                self.PBR.SetMotor1(step)
                print ('%+.2f' % (step));
                time.sleep(self.stepDelay)
                if loopRun == False:
                    break
                
        if loopRun == False:
            self.PBR.SetMotor1(0)
            print ('cWalk Stopping')
                 
                        
class ferrisWheel(threading.Thread): 
    'Controls ferris wheel'
    
    def __init__(self,PBR):
        threading.Thread.__init__(self)
        self.PBR = PBR
        self.stepDelay = 3
        self.sleepTime = 180
        self.rampUpFwd = [ +0.0, +0.1, +0.15, +0.2, +0.25, +0.3, +0.35]
        self.rampDownFwd = [+0.35, +0.3, +0.25, +0.2, +0.15, +0.1, +0.0]
           
    def run(self):
        global ferrisWheelRunning
        global loopRun
        
        if ferrisWheelRunning == False and loopRun == True:
            mLock.acquire()
            ferrisWheelRunning = True
            mLock.release()
            for step in self.rampUpFwd:
                self.PBR.SetMotor1(step)
                print ('%+.2f' % (step));
                time.sleep(self.stepDelay)
                if loopRun == False:
                    break
        
        if loopRun == True:    
            time.sleep(self.sleepTime)
        else:
            print('');
    
        if ferrisWheelRunning == True and loopRun == True:
            mLock.acquire()
            ferrisWheelRunning = False
            mLock.release()
            for step in self.rampDownFwd:
                self.PBR.SetMotor1(step)
                print ('%+.2f' % (step));
                time.sleep(self.stepDelay)
                if loopRun == False:
                    break
                
        if loopRun == False:
            self.PBR.SetMotor1(0)
            print('Ferris Stopping')
         
                        
class merryGoRound(threading.Thread):
    'Controls the merrygoround ride'

    def __init__(self, PBR):
        threading.Thread.__init__(self)
        self.PBR = PBR
        self.stepDelay = 5
        self.sleepTime = 60
        self.rampUpFwd = [ +0.0, +0.49, +0.50, +0.51, +0.52]
        self.rampDownFwd = [ +0.52, +0.51, +0.50, +0.49, +0.0]
    
       
    def run(self):
        global merryGoRoundRunning
        global loopRun
        
        if merryGoRoundRunning == False and loopRun == True:
            mLock.acquire()
            merryGoRoundRunning = True
            mLock.release()
            for step in self.rampUpFwd:
                self.PBR.SetMotor2(step)
                print ('%+.2f' % (step));
                time.sleep(self.stepDelay)
                if loopRun == False:
                    break
        
        if loopRun == True:    
            time.sleep(self.sleepTime)
        else:
            print('');
    
        if merryGoRoundRunning == True and loopRun == True:
            mLock.acquire()
            merryGoRoundRunning = False
            mLock.release()
            for step in self.rampDownFwd:
                self.PBR.SetMotor2(step)
                print ('%+.2f' % (step));
                time.sleep(self.stepDelay)
                if loopRun == False:
                    break
            
        if loopRun == False:
            self.PBR.SetMotor2(0)
            print('Mgr Stopping');

class swingBoat(threading.Thread):  
    'Controls Swing Boat'
    
    def __init__(self, PBR):
        threading.Thread.__init__(self)
        self.PBR = PBR
        self.stepDelay = 5
        self.sleepTime = 60
        self.rampUpRvs = [ -0.0,-0.5, -0.6, -0.7, -0.8, -0.9, -1.0]
        self.rampDownRvs = [-1.0, -0.9, -0.8, -0.7, -0.6, -0.5,-0.0]
    
    def run(self):
        global swingBoatRunning
        global loopRun
        
        if swingBoatRunning == False and loopRun == True:
            mLock.acquire()
            swingBoatRunning = True
            mLock.release()
            for step in self.rampUpRvs:
                self.PBR.SetMotor2(step)
                print ('%+.2f' % (step));
                time.sleep(self.stepDelay)
                if loopRun == False:
                    break
        
        if loopRun == True:
            time.sleep(self.sleepTime)
        else:
            print('');
    
        if swingBoatRunning == True:
            mLock.acquire()
            swingBoatRunning = False
            mLock.release()
            for step in self.rampDownRvs:
                self.PBR.SetMotor2(step)
                print ('%+.2f' % (step));
                time.sleep(self.stepDelay)
                if loopRun == False:
                    break

        if loopRun == False:
            self.PBR.SetMotor2(0)
            print('Swing Stopping');
  
#main thread
#if __name__ =='__main__':
print ('Press CTRL C to Finish');
print ('loopRun %s' % (loopRun));
try:
    
        while loopRun:
            
            if cakeWalkRunning == False:
                cWK = cakeWalk(PBR)
                cWK.start()
        
            time.sleep(sleepTime)
        
            if ferrisWheelRunning == False:
                fWL = ferrisWheel(PBR2)
                fWL.start()
                
            time.sleep(sleepTime)   
   
            if swingBoatRunning == False:
                sBR = swingBoat(PBR)
                sBR.start()
        
            time.sleep(sleepTime)
            
            if merryGoRoundRunning == False:
                mGR = merryGoRound(PBR2)
                mGR.start()
                
            time.sleep(sleepTime)
            
        
        

except KeyboardInterrupt:
        #stop all motors 
        print ('Keyboard Interupt caught');
        loopRun = False
        print('stop motors');
        PBR.MotorsOff()
        PBR2.MotorsOff()
        sys.exit()