import unittest
import time 
from mc_control.mc_statemachine import mc_state_machine,\
    mc_event, mc_states

class MotorControl_BaseUnitTest(unittest.TestCase):
    
    def setUp(self):
        Port_Up   = 0
        Port_Down = 1
        self.sm = mc_state_machine(Port_Up, Port_Down, 3)
        self.delay=1
        
    def tearDown(self): 
        self.sm.Stop()
        pass

class MotorControl_UnitTest_IDLE(MotorControl_BaseUnitTest):

    def test_MotorDown(self):
        # state changed from idle over move down to down
        self.assertEqual(self.sm.current_state , mc_states.idle ,"Check State")
        self.sm.MailBox.put(mc_event.Down)
        time.sleep(self.sm.timeout_value-0.5)
        self.assertEqual(self.sm.current_state , mc_states.move_down ,"Check State")     
        time.sleep(self.delay)
        self.assertEqual(self.sm.current_state , mc_states.state_down ,"Check State")  
          

    def test_MotorUp(self):
        # state changed from idle over move down to down
        self.assertEqual(self.sm.current_state , mc_states.idle ,"Check State")
        self.sm.MailBox.put(mc_event.Up)
        time.sleep(self.sm.timeout_value-0.5)
        self.assertEqual(self.sm.current_state , mc_states.move_up ,"Check State")     
        time.sleep(self.delay)
        self.assertEqual(self.sm.current_state , mc_states.state_up ,"Check State")  
        
    
    def test_Motor_Up_and_Down(self):
        # move up and down
        self.assertEqual(self.sm.current_state , mc_states.idle ,"Check State")
        self.sm.MailBox.put(mc_event.Up)
        time.sleep(self.sm.timeout_value-0.5)
        self.assertEqual(self.sm.current_state , mc_states.move_up ,"Check State")   
        time.sleep(self.delay)
        self.assertEqual(self.sm.current_state , mc_states.state_up ,"Check State")  
          
        self.sm.MailBox.put(mc_event.Down)
        time.sleep(self.sm.timeout_value-0.5)
        self.assertEqual(self.sm.current_state , mc_states.move_down ,"Check State")      
        time.sleep(self.delay)
        self.assertEqual(self.sm.current_state , mc_states.state_down ,"Check State") 

    def test_Motor_Down_and_Up(self):
        # state changed from idle over move down to down
        self.assertEqual(self.sm.current_state , mc_states.idle ,"Check State")
        self.sm.MailBox.put(mc_event.Down)
        time.sleep(self.sm.timeout_value-0.5)
        self.assertEqual(self.sm.current_state , mc_states.move_down ,"Check State")      
        time.sleep(self.delay)
        self.assertEqual(self.sm.current_state , mc_states.state_down ,"Check State")
        self.sm.MailBox.put(mc_event.Up)
        time.sleep(self.sm.timeout_value-0.5)
        self.assertEqual(self.sm.current_state , mc_states.move_up ,"Check State")     
        time.sleep(self.delay)
        self.assertEqual(self.sm.current_state , mc_states.state_up ,"Check State")
    
    def test_Stop(self):
        # state changed from idle over move down to down
        self.assertEqual(self.sm.current_state , mc_states.idle ,"Check State")
        self.sm.MailBox.put(mc_event.Stop)
        
        time.sleep(self.delay)
        self.assertEqual(self.sm.current_state , mc_states.idle ,"Check State")     
        
class MotorControl_UnitTest_MoveUP(MotorControl_BaseUnitTest):
    
    def setUp(self):
        super().setUp()
        self.sm.MailBox.put(mc_event.Up)
        time.sleep(self.delay)
    
    def test_Stop(self):
        self.assertEqual(self.sm.current_state , mc_states.move_up ,"Check State") 
        self.sm.MailBox.put(mc_event.Stop)
        time.sleep(self.delay)
        self.assertEqual(self.sm.current_state , mc_states.idle ,"Check State")     

    def test_Up(self):
        self.assertEqual(self.sm.current_state , mc_states.move_up ,"Check State") 
        self.sm.MailBox.put(mc_event.Up)
        time.sleep(self.delay)
        self.assertEqual(self.sm.current_state , mc_states.move_up ,"Check State") 
        pass
        
    def test_Down(self):
        self.assertEqual(self.sm.current_state , mc_states.move_up ,"Check State") 
        self.sm.MailBox.put(mc_event.Down)
        time.sleep(self.delay)
        self.assertEqual(self.sm.current_state , mc_states.move_down ,"Check State")       
        
    def test_Timeout(self):
        self.assertEqual(self.sm.current_state , mc_states.move_up ,"Check State") 
        time.sleep(self.delay+self.sm.timeout_value)
        self.assertEqual(self.sm.current_state , mc_states.state_up ,"Check State")      
        
class MotorControl_UnitTest_UP(MotorControl_BaseUnitTest):
    
    def setUp(self):
        super().setUp()
        self.sm.MailBox.put(mc_event.Up)
        time.sleep(self.delay+self.sm.timeout_value)
    
    def test_Stop(self):
        # state changed from idle over move down to down
        self.assertEqual(self.sm.current_state , mc_states.state_up ,"Check State")
        self.sm.MailBox.put(mc_event.Stop)
        time.sleep(self.delay)
        self.assertEqual(self.sm.current_state , mc_states.idle ,"Check State")             
       
class MotorControl_Events(MotorControl_BaseUnitTest):
    
    def setUp(self):
        super().setUp()
        #self.sm.MailBox.put(mc_event.Up)
    
    def test_Stop(self):
        # state changed from idle over move down to down
        # self.sm.MailBox.put(mc_event.Up)
        time.sleep(0.5)