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]],
    ])

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

    def setup(self) -> None:
        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)

        if direction > 0:
            _steps = range(0, steps)
        else:
            _steps = range(steps, 0, -1)

        for i in _steps:
            self._step(i % 3)
            sleep(self._delay)

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

    def _step(self, step_num: int):
        assert (step_num >= 0 and step_num < 3)

        conf = self._step_configs[0][step_num]

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