"""
Capstone Team Project.  Code to run on the EV3 robot (NOT on a laptop).

This code defines the BeaconSensor class which is used to get readings from
 the beacon (i.e. the remote control). The beacon sensor uses the same hardware as the
infrared proximity sensor and the remote control receiver.  The infrared
sensor not emit light when set to the beacon mode (that only happen for the
infrared proximity sensor), instead it only looks for the light coming
from the Remote Control.  The remote control must be running in beacon mode
(the top button) for this class to work.

Authors:  Your professors (for the framework)
    and PUT_YOUR_NAMES_HERE.
Winter term, 2019-2020.
"""
# TODO: Put the name of EACH team member who contributes
#   to this module in the above.

import rosebot_ev3dev_api as rose_ev3


###############################################################################
#    BeaconSensor
###############################################################################
class BeaconSensor(object):
    """
    Methods for the forward-facing InfraredProximitySensor on the robot, including:
      get_distance     wait_until_distance_less_than
    """

    def __init__(self, port, channel):
        """
        Constructs the Beacon Sensor (initially NOT enabled)
          :type port: int
          :type channel: int
        """
        # ---------------------------------------------------------------------
        # TODO: With your instructor, implement (uncomment) this method.
        # ---------------------------------------------------------------------
        # self.port = port
        # self.channel = channel
        # self.beacon_sensor = None  # To avoid conflicts only make the sensor if enabled.
        # self.has_been_enabled = False

    def enable(self):
        """
        Enables the Infrared Sensor of the robot to be used with the beacon sensor.
        """
        # ---------------------------------------------------------------------
        # TODO: With your instructor, implement (uncomment) this method.
        # ---------------------------------------------------------------------
        # self.beacon_sensor = rose_ev3.InfraredBeaconSensor(self.port, self.channel)
        # print("Enabled the beacon sensor")
        # self.has_been_enabled = True

    def get_heading(self):
        """
        Returns the heading to the beacon
         - The heading is in degrees in the range -25 to 25 with:
             - 0 means straight ahead
             - negative degrees mean the Beacon is to the left
             - positive degrees mean the Beacon is to the right
        :rtype: int
        :return: Heading to the beacon
        """
        if not self.has_been_enabled:
            self.enable()
        # ---------------------------------------------------------------------
        # TODO: Implement this method.
        # ---------------------------------------------------------------------


    def get_distance(self):
        """
        Returns the distance to the beacon
         - Distance is from 0 to 100, where 100 is about 70 cm
         - -128 means the Beacon is not detected.
        :rtype: int
        :return: Distance to the beacon
        """
        if not self.has_been_enabled:
            self.enable()
        # ---------------------------------------------------------------------
        # TODO: Implement this method.
        # ---------------------------------------------------------------------