# SPDX-FileCopyrightText: 2018 ladyada for Adafruit Industries
#
# SPDX-License-Identifier: MIT

"""
`adafruit_us100`
====================================================

CircuitPython library for reading distance and temperature via US-100 ultra-sonic sensor

* Author(s): ladyada

Implementation Notes
--------------------


**Software and Dependencies:**

* Adafruit CircuitPython firmware for the supported boards:
  https://github.com/adafruit/circuitpython/releases
"""

__version__ = "0.0.0+auto.0"
__repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_US100.git"

import time

try:
    from typing import Optional

    from busio import UART
except ImportError:
    pass


class US100:
    """Control a US-100 ultrasonic range sensor."""

    def __init__(self, uart: UART) -> None:
        self._uart = uart
        # Some chips, such as ESP32-S3, may have junk input bytes immediately after UART creation.
        # Wait enough time for those to appear, and then clear the buffer.
        time.sleep(0.1)
        uart.reset_input_buffer()

    @property
    def distance(self) -> Optional[float]:
        """Return the distance measured by the sensor in cm.
        This is the function that will be called most often in user code.
        If no signal is received, return ``None``. This can happen when the
        object in front of the sensor is too close, the wiring is incorrect or the
        sensor is not found. If the signal received is not 2 bytes, return ``None``.
        This means either the sensor was moving too fast to be pointing in the right
        direction to pick up the ultrasonic signal when it bounced back (less
        likely), or the object off of which the signal bounced is too far away
        for the sensor to handle. In my experience, the sensor can not detect
        objects over 460 cm away.
        :return: Distance in centimeters.
        :rtype: float or None

        May block for up to 400 msecs while attempting a read.
        Will always block for at least 100 msecs.
        """
        for _ in range(2):  # Attempt to read twice.
            self._uart.write(bytes([0x55]))
            time.sleep(0.1)
            data = self._uart.read(2)  # 2 byte return for distance.
            if data:  # If there is a reading, exit the loop.
                break
            time.sleep(0.1)  # You need to wait between readings, so delay is included.
        else:
            # Loop exited normally, so read failed twice.
            # This can happen when the object in front of the sensor is too close, if the wiring
            # is incorrect or the sensor is not found.
            return None

        if len(data) != 2:
            return None

        dist = (data[1] + (data[0] << 8)) / 10
        return dist

    @property
    def temperature(self) -> Optional[int]:
        """Return the on-chip temperature, in Celsius

        May block for up to 200 msecs while attempting a read.
        Will always block for at least 100 msecs.
        """
        for _ in range(2):  # Attempt to read twice.
            self._uart.write(bytes([0x50]))
            time.sleep(0.1)
            data = self._uart.read(1)  # 1 byte return for temp
            if data:  # If there is a reading, exit the loop.
                break
            time.sleep(0.1)  # You need to wait between readings, so delay is included.
        else:
            # Loop exited normally, so read failed twice.
            # This can happen when the object in front of the sensor is too close, if the wiring
            # is incorrect or the sensor is not found.
            return None

        if len(data) != 1:
            return None

        temp = data[0] - 45
        return temp