import RPi.GPIO as gpio

from dataclasses import dataclass, field
from time import sleep


@dataclass
class Motor:
    pins: list[int] = field(default_factory=list)
    rev_steps: int = 24

    _delay: int = 0
    _step_configs: list[list[int]] = field(default_factory=lambda: [
        [[1, 0, 0], [0, 1, 0], [0, 0, 1]],
    ])
    _next_step: int = 0
    _period: int = 3

    def __post_init__(self) -> None:
        self.set_speed(4)

    def setup(self) -> None:
        if not gpio.getmode():
            gpio.setmode(gpio.BCM)

        for pin in self.pins:
            gpio.setup(pin, gpio.OUT)
            gpio.output(pin, gpio.LOW)

    def step(self, steps: int) -> None:
        direction = int(steps / abs(steps))
        steps = abs(steps)

        for i in range(steps):
            self._step(direction)
            sleep(self._delay)

    def set_speed(self, rpm: int) -> None:
        self._delay = 60 / self.rev_steps / rpm

    def _step(self, direction: int):
        print(self._next_step, self._next_step % self._period)

        conf = self._step_configs[0][self._next_step % self._period]
        self._next_step += direction

        for p, c in zip(self.pins, conf):
            gpio.output(p, c)