from pathlib import Path, PurePath

import click
import yaml

# OPTIONS

config_option = click.option(
    '-c',
    '--config',
    default=PurePath(Path(__file__).parent, Path('odrive.yaml')),
    type=Path,
    help='A config file for the odrive. Defaults to odrive.yaml.'
)


@click.group()
def cli():
    pass


@cli.command('configure')
@config_option
def configure(**options):
    """Configures an Odrive with a provided .yaml file of config values."""
    config_file = options['config']
    if not config_file.is_file():
        raise FileNotFoundError(f'No config file {config_file} found.')
    print(options['config'])


class RoboWheelConfig:
    """
    Class for configuring an Odrive axis.
    """

    # Motor KV
    KV_RATING = 10.0

    # min/max phase inductance of motor
    MIN_PHASE_INDUCTANCE = 0.0  # ?
    MAX_PHASE_INDUCTANCE = 0.001  # ?

    # Min/Max phase resistance of motor
    MIN_PHASE_RESISTANCE = 0.0  # ?
    MAX_PHASE_RESISTANCE = 2.5  # ? I think my motor is 1.7 ohm...

    ENCODER_PULSE_PER_REV = 3200.0
    ENCODER_COUNT_PER_REV = ENCODER_PULSE_PER_REV * 4

    # Number of magnets in the motor divided by 2
    POLE_PAIR_COUNT = 27.0

    # See https://docs.odriverobotics.com/hoverboard
    RESISTANCE_CALIB_MAX_VOLTAGE = 4.0  # HB motors are larger with more resistance so he doubled the 2.0 default
    REQUESTED_CURRENT_RANGE = 25.0  # lower values are more sensitive default was 60
    CURRENT_CONTROL_BANDWIDTH = 100.0  # Motors are also high inductance so the bandwidth to 100 from the default 1000
    TORQUE_CONSTANT = 8.27 / KV_RATING


if __name__ == "__main__":
    cli()