from machine import Pin, PWM
import time, network, espnow
import motors

BUZZ_PIN = 39
PAIR_BEEP_INTERVAL_MS = 1400

# ---------------- ESP-NOW helpers (match transmitter.py) ----------------
_espnow_sta = None
_espnow = None
_espnow_peers = []
_espnow_broadcast = b'\xff\xff\xff\xff\xff\xff'


def _espnow_parse_mac(mac):
    if isinstance(mac, bytes):
        return mac
    if isinstance(mac, bytearray):
        return bytes(mac)
    if isinstance(mac, str):
        mac = mac.replace(':', '').replace('-', '').replace(' ', '')
        if len(mac) != 12:
            raise ValueError('MAC must be 12 hex chars')
        return bytes(int(mac[i : i + 2], 16) for i in range(0, 12, 2))
    raise ValueError('MAC must be bytes or string')


def _espnow_init(channel=6, rate='RATE_LORA_250K'):
    global _espnow_sta, _espnow
    _espnow_sta = network.WLAN(network.STA_IF)
    _espnow_sta.active(True)
    _espnow_sta.disconnect()
    _espnow_sta.config(channel=int(channel), protocol=network.WLAN.PROTOCOL_LR)
    _espnow = espnow.ESPNow()
    _espnow.active(True)
    rate_val = getattr(espnow, str(rate), espnow.RATE_LORA_250K)
    _espnow.config(rate=rate_val)
    return _espnow


def _espnow_my_mac():
    if _espnow_sta is None:
        _espnow_init()
    return _espnow_sta.config('mac')


def _espnow_add_peer(mac):
    global _espnow_peers
    if _espnow is None:
        _espnow_init()
    peer = _espnow_parse_mac(mac)
    if peer not in _espnow_peers:
        _espnow.add_peer(peer)
        _espnow_peers.append(peer)
    return peer


def _espnow_pack(data):
    if isinstance(data, (list, tuple)):
        return ','.join(str(v) for v in data)
    return str(data)


def _espnow_send_peer(mac, data):
    if _espnow is None:
        _espnow_init()
    peer = _espnow_add_peer(mac)
    payload = _espnow_pack(data)
    _espnow.send(peer, payload)


def _espnow_try_num(s):
    try:
        return int(s)
    except:
        pass
    try:
        return float(s)
    except:
        return s


def _espnow_unpack(msg):
    if msg is None:
        return []
    if isinstance(msg, bytes):
        msg = msg.decode('utf-8', 'ignore')
    parts = str(msg).split(',')
    out = []
    for p in parts:
        p = p.strip()
        if p == '':
            continue
        out.append(_espnow_try_num(p))
    return out


def _espnow_recv(timeout_ms=10):
    if _espnow is None:
        _espnow_init()
    host, msg = _espnow.recv(timeout_ms)
    return host, _espnow_unpack(msg)


def _mac_eq(a, b):
    if a is None or b is None:
        return False
    return bytes(a) == bytes(b)


# ---------------- Pairing (receiver side) ----------------
PAIR_PREFIX = 'PAIR_REQ:'
PAIR_ACK_PREFIX = 'PAIR_ACK:'
PEER_FILE = 'peer_mac.txt'
peer_mac = None


def load_peer():
    try:
        with open(PEER_FILE, 'rb') as f:
            mac = f.read()
        if mac and len(mac) == 6:
            return mac
    except:
        pass
    return None


def save_peer(mac):
    with open(PEER_FILE, 'wb') as f:
        f.write(mac)


def buzz_pairing_chirp():
    """Very short tone while waiting to pair (passive piezo: PWM; active: GPIO pulse)."""
    try:
        pwm = PWM(Pin(BUZZ_PIN, Pin.OUT), freq=3800, duty_u16=24576)
        time.sleep_ms(14)
        pwm.deinit()
    except:
        b = Pin(BUZZ_PIN, Pin.OUT)
        b.on()
        time.sleep_ms(12)
        b.off()


def try_pair_from_message(host, msg, my_hex):
    """If msg is a PAIR_REQ from a transmitter, ACK and return True when paired."""
    global peer_mac
    if not (msg and isinstance(msg, list) and len(msg) >= 2 and msg[0] == PAIR_PREFIX):
        return False
    tx_hex = str(msg[1]).strip().lower()
    tx_mac = None
    if len(tx_hex) == 12:
        try:
            tx_mac = _espnow_parse_mac(tx_hex)
        except:
            tx_mac = None
    if tx_mac is None and host:
        tx_mac = bytes(host) if not isinstance(host, bytes) else host
    if not tx_mac:
        return False
    _espnow_add_peer(tx_mac)
    _espnow_send_peer(tx_mac, [PAIR_ACK_PREFIX, my_hex])
    save_peer(tx_mac)
    peer_mac = tx_mac
    print('Paired with transmitter', tx_hex if len(tx_hex) == 12 else tx_mac.hex())
    return True


# Same channel and rate as transmitter.py
_espnow_init(1, 'RATE_LORA_500K')
peer_mac = load_peer()
if peer_mac:
    _espnow_add_peer(peer_mac)

my_mac_hex = _espnow_my_mac().hex()
last_pair_beep = time.ticks_ms()
print('Receiver ready. My MAC:', my_mac_hex, 'Peer:', peer_mac.hex() if peer_mac else '(searching)')

leftMotor = motors.Motor(13, 14)
rightMotor = motors.Motor(15, 16)

# ---------------- Main loop ----------------
while True:
    if not peer_mac:
        host, msg = _espnow_recv(timeout_ms=120)
        if try_pair_from_message(host, msg, my_mac_hex):
            pass
        else:
            if time.ticks_diff(time.ticks_ms(), last_pair_beep) >= PAIR_BEEP_INTERVAL_MS:
                buzz_pairing_chirp()
                last_pair_beep = time.ticks_ms()
        time.sleep_ms(10)
        continue

    host, data = _espnow_recv(timeout_ms=50)
    if host and data and _mac_eq(host, peer_mac):
        # Transmitter payload: 4 axes, adc_1, adc_10, btn2,5,6,7,11,12
        print(data)

    time.sleep_ms(5)

from machine import Pin, PWM
import time, network, espnow
import motors

BUZZ_PIN = 39
PAIR_BEEP_INTERVAL_MS = 1400

# ---------------- ESP-NOW helpers (match transmitter.py) ----------------
_espnow_sta = None
_espnow = None
_espnow_peers = []
_espnow_broadcast = b'\xff\xff\xff\xff\xff\xff'


def _espnow_parse_mac(mac):
    if isinstance(mac, bytes):
        return mac
    if isinstance(mac, bytearray):
        return bytes(mac)
    if isinstance(mac, str):
        mac = mac.replace(':', '').replace('-', '').replace(' ', '')
        if len(mac) != 12:
            raise ValueError('MAC must be 12 hex chars')
        return bytes(int(mac[i : i + 2], 16) for i in range(0, 12, 2))
    raise ValueError('MAC must be bytes or string')


def _espnow_init(channel=6, rate='RATE_LORA_250K'):
    global _espnow_sta, _espnow
    _espnow_sta = network.WLAN(network.STA_IF)
    _espnow_sta.active(True)
    _espnow_sta.disconnect()
    _espnow_sta.config(channel=int(channel), protocol=network.WLAN.PROTOCOL_LR)
    _espnow = espnow.ESPNow()
    _espnow.active(True)
    rate_val = getattr(espnow, str(rate), espnow.RATE_LORA_250K)
    _espnow.config(rate=rate_val)
    return _espnow


def _espnow_my_mac():
    if _espnow_sta is None:
        _espnow_init()
    return _espnow_sta.config('mac')


def _espnow_add_peer(mac):
    global _espnow_peers
    if _espnow is None:
        _espnow_init()
    peer = _espnow_parse_mac(mac)
    if peer not in _espnow_peers:
        _espnow.add_peer(peer)
        _espnow_peers.append(peer)
    return peer


def _espnow_pack(data):
    if isinstance(data, (list, tuple)):
        return ','.join(str(v) for v in data)
    return str(data)


def _espnow_send_peer(mac, data):
    if _espnow is None:
        _espnow_init()
    peer = _espnow_add_peer(mac)
    payload = _espnow_pack(data)
    _espnow.send(peer, payload)


def _espnow_try_num(s):
    try:
        return int(s)
    except:
        pass
    try:
        return float(s)
    except:
        return s


def _espnow_unpack(msg):
    if msg is None:
        return []
    if isinstance(msg, bytes):
        msg = msg.decode('utf-8', 'ignore')
    parts = str(msg).split(',')
    out = []
    for p in parts:
        p = p.strip()
        if p == '':
            continue
        out.append(_espnow_try_num(p))
    return out


def _espnow_recv(timeout_ms=10):
    if _espnow is None:
        _espnow_init()
    host, msg = _espnow.recv(timeout_ms)
    return host, _espnow_unpack(msg)


def _mac_eq(a, b):
    if a is None or b is None:
        return False
    return bytes(a) == bytes(b)


# ---------------- Pairing (receiver side) ----------------
PAIR_PREFIX = 'PAIR_REQ:'
PAIR_ACK_PREFIX = 'PAIR_ACK:'
PEER_FILE = 'peer_mac.txt'
peer_mac = None


def load_peer():
    try:
        with open(PEER_FILE, 'rb') as f:
            mac = f.read()
        if mac and len(mac) == 6:
            return mac
    except:
        pass
    return None


def save_peer(mac):
    with open(PEER_FILE, 'wb') as f:
        f.write(mac)


def buzz_pairing_chirp():
    """Very short tone while waiting to pair (passive piezo: PWM; active: GPIO pulse)."""
    try:
        pwm = PWM(Pin(BUZZ_PIN, Pin.OUT), freq=3800, duty_u16=24576)
        time.sleep_ms(14)
        pwm.deinit()
    except:
        b = Pin(BUZZ_PIN, Pin.OUT)
        b.on()
        time.sleep_ms(12)
        b.off()


def try_pair_from_message(host, msg, my_hex):
    """If msg is a PAIR_REQ from a transmitter, ACK and return True when paired."""
    global peer_mac
    if not (msg and isinstance(msg, list) and len(msg) >= 2 and msg[0] == PAIR_PREFIX):
        return False
    tx_hex = str(msg[1]).strip().lower()
    tx_mac = None
    if len(tx_hex) == 12:
        try:
            tx_mac = _espnow_parse_mac(tx_hex)
        except:
            tx_mac = None
    if tx_mac is None and host:
        tx_mac = bytes(host) if not isinstance(host, bytes) else host
    if not tx_mac:
        return False
    _espnow_add_peer(tx_mac)
    _espnow_send_peer(tx_mac, [PAIR_ACK_PREFIX, my_hex])
    save_peer(tx_mac)
    peer_mac = tx_mac
    print('Paired with transmitter', tx_hex if len(tx_hex) == 12 else tx_mac.hex())
    return True


# Same channel and rate as transmitter.py
_espnow_init(1, 'RATE_LORA_500K')
peer_mac = load_peer()
if peer_mac:
    _espnow_add_peer(peer_mac)

my_mac_hex = _espnow_my_mac().hex()
last_pair_beep = time.ticks_ms()
print('Receiver ready. My MAC:', my_mac_hex, 'Peer:', peer_mac.hex() if peer_mac else '(searching)')

leftMotor = motors.Motor(13, 14)
rightMotor = motors.Motor(15, 16)

# ---------------- Main loop ----------------
while True:
    if not peer_mac:
        host, msg = _espnow_recv(timeout_ms=120)
        if try_pair_from_message(host, msg, my_mac_hex):
            pass
        else:
            if time.ticks_diff(time.ticks_ms(), last_pair_beep) >= PAIR_BEEP_INTERVAL_MS:
                buzz_pairing_chirp()
                last_pair_beep = time.ticks_ms()
        time.sleep_ms(10)
        continue

    host, data = _espnow_recv(timeout_ms=50)
    if host and data and _mac_eq(host, peer_mac):
        # Transmitter payload: 4 axes, adc_1, adc_10, btn2,5,6,7,11,12
        print(data)

    time.sleep_ms(5)