dune-weaver/modules/led/dw_led_controller.py

"""
Dune Weaver LED Controller - Embedded NeoPixel LED controller for Raspberry Pi
Provides direct GPIO control of WS2812B LED strips with beautiful effects
"""
import threading
import time
import logging
from typing import Optional, Dict, List, Tuple
from .dw_leds.segment import Segment
from .dw_leds.effects.basic_effects import get_effect, get_all_effects, FRAMETIME
from .dw_leds.utils.palettes import get_palette_name, PALETTE_NAMES
from .dw_leds.utils.colors import rgb_to_color

logger = logging.getLogger(__name__)


class DWLEDController:
    """Dune Weaver LED Controller for NeoPixel LED strips"""

    def __init__(self, num_leds: int = 60, gpio_pin: int = 18, brightness: float = 0.35,
                 pixel_order: str = "GRB", speed: int = 128, intensity: int = 128):
        """
        Initialize Dune Weaver LED controller

        Args:
            num_leds: Number of LEDs in the strip
            gpio_pin: GPIO pin number (BCM numbering: 12, 13, 18, or 19)
            brightness: Global brightness (0.0 - 1.0)
            pixel_order: Pixel color order (GRB, RGB, RGBW, GRBW)
            speed: Effect speed 0-255 (default: 128)
            intensity: Effect intensity 0-255 (default: 128)
        """
        self.num_leds = num_leds
        self.gpio_pin = gpio_pin
        self.brightness = brightness
        self.pixel_order = pixel_order

        # State
        self._powered_on = False
        self._current_effect_id = 8
        self._current_palette_id = 0
        self._speed = speed
        self._intensity = intensity
        self._color1 = (255, 0, 0)  # Red (primary)
        self._color2 = (0, 0, 0)  # Black (background/off)
        self._color3 = (0, 0, 255)  # Blue (tertiary)

        # Threading
        self._pixels = None
        self._segment = None
        self._effect_thread = None
        self._stop_thread = threading.Event()
        self._lock = threading.Lock()
        self._initialized = False
        self._init_error = None  # Store initialization error message

    def _initialize_hardware(self):
        """Lazy initialization of NeoPixel hardware"""
        if self._initialized:
            return True

        # Try standard NeoPixel library first (works on Pi 4 and earlier)
        # If that fails, fall back to Pi 5-specific library
        neopixel_module = None
        using_pi5_library = False

        try:
            import board
            import neopixel
            neopixel_module = neopixel
            logger.info("Using standard NeoPixel library")
        except (ImportError, RuntimeError) as e:
            logger.warning(f"Standard NeoPixel library failed: {e}. Trying Pi 5 library...")
            try:
                import board
                from adafruit_blinka_raspberry_pi5_neopixel import neopixel as neopixel_pi5
                neopixel_module = neopixel_pi5
                using_pi5_library = True
                logger.info("Using Adafruit Pi 5 NeoPixel library (PIO-based)")
            except ImportError as e2:
                error_msg = (
                    f"Failed to import NeoPixel libraries. "
                    f"Standard library error: {e}. "
                    f"Pi 5 library error: {e2}. "
                    f"For Pi 4 and earlier: pip install adafruit-circuitpython-neopixel adafruit-blinka. "
                    f"For Pi 5: pip install Adafruit-Blinka-Raspberry-Pi5-Neopixel"
                )
                self._init_error = error_msg
                logger.error(error_msg)
                return False

        try:
            # Map GPIO pin numbers to board pins
            pin_map = {
                12: board.D12,
                13: board.D13,
                18: board.D18,
                19: board.D19
            }

            if self.gpio_pin not in pin_map:
                error_msg = f"Invalid GPIO pin {self.gpio_pin}. Must be 12, 13, 18, or 19 (PWM-capable pins)"
                self._init_error = error_msg
                logger.error(error_msg)
                return False

            board_pin = pin_map[self.gpio_pin]

            # Initialize NeoPixel strip
            self._pixels = neopixel_module.NeoPixel(
                board_pin,
                self.num_leds,
                brightness=self.brightness,
                auto_write=False,
                pixel_order=self.pixel_order
            )

            # Create segment for the entire strip
            self._segment = Segment(self._pixels, 0, self.num_leds)
            self._segment.speed = self._speed
            self._segment.intensity = self._intensity
            self._segment.palette_id = self._current_palette_id

            # Set colors
            self._segment.colors[0] = rgb_to_color(*self._color1)
            self._segment.colors[1] = rgb_to_color(*self._color2)
            self._segment.colors[2] = rgb_to_color(*self._color3)

            self._initialized = True
            library_type = "Pi 5 (PIO)" if using_pi5_library else "standard"
            logger.info(f"DW LEDs initialized: {self.num_leds} LEDs on GPIO {self.gpio_pin} using {library_type} library")
            return True

        except Exception as e:
            error_msg = f"Failed to initialize NeoPixel hardware: {e}"
            self._init_error = error_msg
            logger.error(error_msg)
            return False

    def _effect_loop(self):
        """Background thread that runs the current effect"""
        # Elevate priority and pin to CPU 0 for consistent timing
        # LED uses lower priority (40) than motion (60) since CNC is more critical
        from modules.core import scheduling
        scheduling.setup_realtime_thread(priority=40)
        
        while not self._stop_thread.is_set():
            try:
                with self._lock:
                    if self._pixels and self._segment and self._powered_on:
                        # Get current effect function (allows dynamic effect switching)
                        effect_func = get_effect(self._current_effect_id)

                        # Run effect and get delay
                        delay_ms = effect_func(self._segment)

                        # Update pixels
                        self._pixels.show()

                        # Increment call counter
                        self._segment.call += 1
                    else:
                        delay_ms = 100  # Idle delay when off

                # Sleep for the effect's requested delay
                time.sleep(delay_ms / 1000.0)

            except Exception as e:
                logger.error(f"Error in effect loop: {e}")
                time.sleep(0.1)

    def set_power(self, state: int) -> Dict:
        """
        Set power state

        Args:
            state: 0=Off, 1=On, 2=Toggle

        Returns:
            Dict with status
        """
        if not self._initialize_hardware():
            return {
                "connected": False,
                "error": self._init_error or "Failed to initialize LED hardware"
            }

        with self._lock:
            if state == 2:  # Toggle
                self._powered_on = not self._powered_on
            else:
                self._powered_on = bool(state)

            # Turn off all pixels immediately when powering off
            if not self._powered_on and self._pixels:
                self._pixels.fill((0, 0, 0))
                self._pixels.show()

            # Start effect thread if not running
            if self._powered_on and (self._effect_thread is None or not self._effect_thread.is_alive()):
                self._stop_thread.clear()
                self._effect_thread = threading.Thread(target=self._effect_loop, daemon=True)
                self._effect_thread.start()

        return {
            "connected": True,
            "power_on": self._powered_on,
            "message": f"Power {'on' if self._powered_on else 'off'}"
        }

    def set_brightness(self, value: int) -> Dict:
        """
        Set global brightness

        Args:
            value: Brightness 0-100

        Returns:
            Dict with status
        """
        if not self._initialized:
            if not self._initialize_hardware():
                return {"connected": False, "error": self._init_error or "Hardware not initialized"}

        brightness = max(0.0, min(1.0, value / 100.0))

        with self._lock:
            self.brightness = brightness
            if self._pixels:
                self._pixels.brightness = brightness

        return {
            "connected": True,
            "brightness": int(brightness * 100),
            "message": "Brightness updated"
        }

    def set_color(self, r: int, g: int, b: int) -> Dict:
        """
        Set solid color (sets effect to Static and color1)

        Args:
            r, g, b: RGB values 0-255

        Returns:
            Dict with status
        """
        if not self._initialized:
            if not self._initialize_hardware():
                return {"connected": False, "error": self._init_error or "Hardware not initialized"}

        with self._lock:
            self._color1 = (r, g, b)
            if self._segment:
                self._segment.colors[0] = rgb_to_color(r, g, b)
                # Switch to static effect
                self._current_effect_id = 0
                self._segment.reset()

            # Auto power on when setting color
            if not self._powered_on:
                self._powered_on = True

            # Ensure effect thread is running
            if self._effect_thread is None or not self._effect_thread.is_alive():
                self._stop_thread.clear()
                self._effect_thread = threading.Thread(target=self._effect_loop, daemon=True)
                self._effect_thread.start()

        return {
            "connected": True,
            "color": [r, g, b],
            "power_on": self._powered_on,
            "message": "Color set"
        }

    def set_colors(self, color1: Optional[Tuple[int, int, int]] = None,
                   color2: Optional[Tuple[int, int, int]] = None,
                   color3: Optional[Tuple[int, int, int]] = None) -> Dict:
        """
        Set effect colors (does not change effect or auto-power on)

        Args:
            color1: Primary color RGB tuple (0-255)
            color2: Secondary/background color RGB tuple (0-255)
            color3: Tertiary color RGB tuple (0-255)

        Returns:
            Dict with status
        """
        if not self._initialized:
            if not self._initialize_hardware():
                return {"connected": False, "error": self._init_error or "Hardware not initialized"}

        colors_set = []
        with self._lock:
            if color1 is not None:
                self._color1 = color1
                if self._segment:
                    self._segment.colors[0] = rgb_to_color(*color1)
                colors_set.append(f"color1={color1}")

            if color2 is not None:
                self._color2 = color2
                if self._segment:
                    self._segment.colors[1] = rgb_to_color(*color2)
                colors_set.append(f"color2={color2}")

            if color3 is not None:
                self._color3 = color3
                if self._segment:
                    self._segment.colors[2] = rgb_to_color(*color3)
                colors_set.append(f"color3={color3}")

            # Reset effect to apply new colors
            if self._segment and colors_set:
                self._segment.reset()

        return {
            "connected": True,
            "colors": {
                "color1": self._color1,
                "color2": self._color2,
                "color3": self._color3
            },
            "message": f"Colors updated: {', '.join(colors_set)}"
        }

    def set_effect(self, effect_id: int, speed: Optional[int] = None,
                   intensity: Optional[int] = None) -> Dict:
        """
        Set active effect

        Args:
            effect_id: Effect ID (0-15)
            speed: Optional speed override (0-255)
            intensity: Optional intensity override (0-255)

        Returns:
            Dict with status
        """
        if not self._initialized:
            if not self._initialize_hardware():
                return {"connected": False, "error": self._init_error or "Hardware not initialized"}

        # Validate effect ID
        effects = get_all_effects()
        if not any(eid == effect_id for eid, _ in effects):
            return {
                "connected": False,
                "message": f"Invalid effect ID: {effect_id}"
            }

        with self._lock:
            self._current_effect_id = effect_id

            if speed is not None:
                self._speed = max(0, min(255, speed))
                if self._segment:
                    self._segment.speed = self._speed

            if intensity is not None:
                self._intensity = max(0, min(255, intensity))
                if self._segment:
                    self._segment.intensity = self._intensity

            # Reset effect state
            if self._segment:
                self._segment.reset()

            # Auto power on when setting effect
            if not self._powered_on:
                self._powered_on = True

            # Ensure effect thread is running
            if self._effect_thread is None or not self._effect_thread.is_alive():
                self._stop_thread.clear()
                self._effect_thread = threading.Thread(target=self._effect_loop, daemon=True)
                self._effect_thread.start()

        effect_name = next(name for eid, name in effects if eid == effect_id)
        return {
            "connected": True,
            "effect_id": effect_id,
            "effect_name": effect_name,
            "power_on": self._powered_on,
            "message": f"Effect set to {effect_name}"
        }

    def set_palette(self, palette_id: int) -> Dict:
        """
        Set color palette

        Args:
            palette_id: Palette ID (0-58)

        Returns:
            Dict with status
        """
        if not self._initialized:
            if not self._initialize_hardware():
                return {"connected": False, "error": self._init_error or "Hardware not initialized"}

        if palette_id < 0 or palette_id >= len(PALETTE_NAMES):
            return {
                "connected": False,
                "message": f"Invalid palette ID: {palette_id}"
            }

        with self._lock:
            self._current_palette_id = palette_id
            if self._segment:
                self._segment.palette_id = palette_id

            # Auto power on when setting palette
            if not self._powered_on:
                self._powered_on = True

            # Ensure effect thread is running
            if self._effect_thread is None or not self._effect_thread.is_alive():
                self._stop_thread.clear()
                self._effect_thread = threading.Thread(target=self._effect_loop, daemon=True)
                self._effect_thread.start()

        palette_name = get_palette_name(palette_id)
        return {
            "connected": True,
            "palette_id": palette_id,
            "palette_name": palette_name,
            "power_on": self._powered_on,
            "message": f"Palette set to {palette_name}"
        }

    def set_speed(self, speed: int) -> Dict:
        """Set effect speed (0-255)"""
        if not self._initialized:
            if not self._initialize_hardware():
                return {"connected": False, "error": self._init_error or "Hardware not initialized"}

        speed = max(0, min(255, speed))

        with self._lock:
            self._speed = speed
            if self._segment:
                self._segment.speed = speed
                # Reset effect state so speed change takes effect immediately
                self._segment.reset()

        return {
            "connected": True,
            "speed": speed,
            "message": "Speed updated"
        }

    def set_intensity(self, intensity: int) -> Dict:
        """Set effect intensity (0-255)"""
        if not self._initialized:
            if not self._initialize_hardware():
                return {"connected": False, "error": self._init_error or "Hardware not initialized"}

        intensity = max(0, min(255, intensity))

        with self._lock:
            self._intensity = intensity
            if self._segment:
                self._segment.intensity = intensity
                # Reset effect state so intensity change takes effect immediately
                self._segment.reset()

        return {
            "connected": True,
            "intensity": intensity,
            "message": "Intensity updated"
        }

    def get_effects(self) -> List[Tuple[int, str]]:
        """Get list of all available effects"""
        return get_all_effects()

    def get_palettes(self) -> List[Tuple[int, str]]:
        """Get list of all available palettes"""
        return [(i, name) for i, name in enumerate(PALETTE_NAMES)]

    def check_status(self) -> Dict:
        """Get current controller status"""
        # Attempt initialization if not already initialized
        if not self._initialized:
            self._initialize_hardware()

        # Get color slots from segment if available
        colors = []
        if self._segment and hasattr(self._segment, 'colors'):
            for color_int in self._segment.colors[:3]:  # Get up to 3 colors
                # Convert integer color to hex string
                r = (color_int >> 16) & 0xFF
                g = (color_int >> 8) & 0xFF
                b = color_int & 0xFF
                colors.append(f"#{r:02x}{g:02x}{b:02x}")
        else:
            colors = ["#ff0000", "#000000", "#0000ff"]  # Defaults

        status = {
            "connected": self._initialized,
            "power_on": self._powered_on,
            "num_leds": self.num_leds,
            "gpio_pin": self.gpio_pin,
            "brightness": int(self.brightness * 100),
            "current_effect": self._current_effect_id,
            "current_palette": self._current_palette_id,
            "speed": self._speed,
            "intensity": self._intensity,
            "colors": colors,
            "effect_running": self._effect_thread is not None and self._effect_thread.is_alive()
        }

        # Include error message if not initialized
        if not self._initialized and self._init_error:
            status["error"] = self._init_error

        return status

    def stop(self):
        """Stop the effect loop and cleanup"""
        self._stop_thread.set()
        if self._effect_thread and self._effect_thread.is_alive():
            self._effect_thread.join(timeout=1.0)

        with self._lock:
            if self._pixels:
                self._pixels.fill((0, 0, 0))
                self._pixels.show()
                self._pixels.deinit()
            self._pixels = None
            self._segment = None
            self._initialized = False


# Helper functions for pattern manager integration
def effect_loading(controller: DWLEDController) -> bool:
    """Show loading effect (Rainbow Cycle)"""
    try:
        controller.set_power(1)
        controller.set_effect(8, speed=100)  # Rainbow Cycle
        return True
    except Exception as e:
        logger.error(f"Error setting loading effect: {e}")
        return False


def effect_idle(controller: DWLEDController, effect_settings: Optional[dict] = None) -> bool:
    """Show idle effect with full settings. If no effect configured, plays Rainbow with current parameters."""
    try:
        controller.set_power(1)

        if effect_settings and isinstance(effect_settings, dict):
            # Configured idle effect: apply full settings
            effect_id = effect_settings.get("effect_id", 0)
            palette_id = effect_settings.get("palette_id", 0)
            speed = effect_settings.get("speed", 128)
            intensity = effect_settings.get("intensity", 128)

            controller.set_effect(effect_id, speed=speed, intensity=intensity)
            controller.set_palette(palette_id)

            # Set colors if provided
            color1 = effect_settings.get("color1")
            if color1:
                # Convert hex to RGB
                r1 = int(color1[1:3], 16)
                g1 = int(color1[3:5], 16)
                b1 = int(color1[5:7], 16)

                color2 = effect_settings.get("color2", "#000000")
                r2 = int(color2[1:3], 16)
                g2 = int(color2[3:5], 16)
                b2 = int(color2[5:7], 16)

                color3 = effect_settings.get("color3", "#0000ff")
                r3 = int(color3[1:3], 16)
                g3 = int(color3[3:5], 16)
                b3 = int(color3[5:7], 16)

                controller.set_colors(
                    color1=(r1, g1, b1),
                    color2=(r2, g2, b2),
                    color3=(r3, g3, b3)
                )
        else:
            # Default: Rainbow effect with current controller parameters
            controller.set_effect(8, speed=controller._speed, intensity=controller._intensity)
            controller.set_colors(
                color1=controller._color1,
                color2=controller._color2,
                color3=controller._color3
            )

        return True
    except Exception as e:
        logger.error(f"Error setting idle effect: {e}")
        return False


def effect_connected(controller: DWLEDController) -> bool:
    """Show connected effect (green flash)"""
    try:
        controller.set_power(1)
        controller.set_color(0, 255, 0)  # Green
        controller.set_effect(1, speed=200, intensity=128)  # Blink effect
        time.sleep(1.0)
        return True
    except Exception as e:
        logger.error(f"Error setting connected effect: {e}")
        return False


def effect_playing(controller: DWLEDController, effect_settings: Optional[dict] = None) -> bool:
    """Show playing effect with full settings"""
    try:
        if effect_settings and isinstance(effect_settings, dict):
            # New format: full settings dict
            controller.set_power(1)

            # Set effect
            effect_id = effect_settings.get("effect_id", 0)
            palette_id = effect_settings.get("palette_id", 0)
            speed = effect_settings.get("speed", 128)
            intensity = effect_settings.get("intensity", 128)

            controller.set_effect(effect_id, speed=speed, intensity=intensity)
            controller.set_palette(palette_id)

            # Set colors if provided
            color1 = effect_settings.get("color1")
            if color1:
                # Convert hex to RGB
                r1 = int(color1[1:3], 16)
                g1 = int(color1[3:5], 16)
                b1 = int(color1[5:7], 16)

                color2 = effect_settings.get("color2", "#000000")
                r2 = int(color2[1:3], 16)
                g2 = int(color2[3:5], 16)
                b2 = int(color2[5:7], 16)

                color3 = effect_settings.get("color3", "#0000ff")
                r3 = int(color3[1:3], 16)
                g3 = int(color3[3:5], 16)
                b3 = int(color3[5:7], 16)

                controller.set_colors(
                    color1=(r1, g1, b1),
                    color2=(r2, g2, b2),
                    color3=(r3, g3, b3)
                )

            return True

        # Default: do nothing (keep current LED state)
        return True
    except Exception as e:
        logger.error(f"Error setting playing effect: {e}")
        return False