import tkinter as tk
from tkinter import ttk
import serial
import threading
import time
import matplotlib.pyplot as plt
from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg

# ================= SERIAL =================
ser = None
running = False

# ================= DATA =================
time_data = []
rpm_data = []
setpoint_data = []

start_time = time.time()

# ================= GUI =================
root = tk.Tk()
root.title("PID Motor Control")
root.geometry("900x600")

# ================= FRAME =================
frame_control = tk.Frame(root)
frame_control.pack(side=tk.TOP, fill=tk.X)

frame_plot = tk.Frame(root)
frame_plot.pack(fill=tk.BOTH, expand=True)

# ================= INPUT =================
tk.Label(frame_control, text="Set Speed (RPM)").grid(row=0, column=0)
entry_sp = tk.Entry(frame_control)
entry_sp.insert(0, "4000")
entry_sp.grid(row=1, column=0)

tk.Label(frame_control, text="Kp").grid(row=0, column=1)
entry_kp = tk.Entry(frame_control)
entry_kp.insert(0, "0.06")
entry_kp.grid(row=1, column=1)

tk.Label(frame_control, text="Ki").grid(row=0, column=2)
entry_ki = tk.Entry(frame_control)
entry_ki.insert(0, "0.055")
entry_ki.grid(row=1, column=2)

tk.Label(frame_control, text="Kd").grid(row=0, column=3)
entry_kd = tk.Entry(frame_control)
entry_kd.insert(0, "0.04")
entry_kd.grid(row=1, column=3)

# ================= PRESENT SPEED =================
tk.Label(frame_control, text="Present RPM").grid(row=0, column=4)
label_rpm = tk.Label(frame_control, text="0")
label_rpm.grid(row=1, column=4)

# ================= COM =================
tk.Label(frame_control, text="COM").grid(row=0, column=5)
entry_com = tk.Entry(frame_control)
entry_com.insert(0, "COM3")
entry_com.grid(row=1, column=5)

#INPUT BOX PPR
tk.Label(frame_control, text="PPR").grid(row=0, column=6)
entry_ppr = tk.Entry(frame_control)
entry_ppr.insert(0, "48")
entry_ppr.grid(row=1, column=6)


# ================= BUTTON =================
def connect_serial():
    global ser
    try:
        ser = serial.Serial(entry_com.get(), 9600, timeout=1)
        print("Connected")
    except:
        print("Failed connect")

def send_param():
    if ser:
        msg = f"{entry_sp.get()},{entry_kp.get()},{entry_ki.get()},{entry_kd.get()},{entry_ppr.get()}\n"
        ser.write(msg.encode())

def run_motor():
    global running
    running = True
    if ser:
        ser.write(b"RUN\n")

def stop_motor():
    global running
    running = False
    if ser:
        ser.write(b"STOP\n")

tk.Button(frame_control, text="Connect", command=connect_serial).grid(row=2, column=0)
tk.Button(frame_control, text="Send", command=send_param).grid(row=2, column=1)

tk.Button(frame_control, text="Run Motor", bg="red", command=run_motor).grid(row=2, column=2)
tk.Button(frame_control, text="Stop Motor", bg="green", command=stop_motor).grid(row=2, column=3)

# ================= PLOT =================
fig, ax = plt.subplots()
line_rpm, = ax.plot([], [], label="RPM")
line_sp, = ax.plot([], [], label="Setpoint")

ax.set_xlabel("Time (s)")
ax.set_ylabel("RPM")
ax.legend()

canvas = FigureCanvasTkAgg(fig, master=frame_plot)
canvas.get_tk_widget().pack(fill=tk.BOTH, expand=True)

# ================= UPDATE THREAD =================
def read_serial():
    global time_data, rpm_data, setpoint_data

    while True:
        if ser and ser.in_waiting:
            try:
                line = ser.readline().decode().strip()
                sp, rpm = map(float, line.split(","))

                t = time.time() - start_time

                time_data.append(t)
                rpm_data.append(rpm)
                setpoint_data.append(sp)

                if len(time_data) > 100:
                    time_data.pop(0)
                    rpm_data.pop(0)
                    setpoint_data.pop(0)

                label_rpm.config(text=f"{rpm:.2f}")

            except:
                pass

        time.sleep(0.01)

# ================= UPDATE PLOT =================
def update_plot():
    line_rpm.set_data(time_data, rpm_data)
    line_sp.set_data(time_data, setpoint_data)

    ax.relim()
    ax.autoscale_view()

    canvas.draw()
    root.after(100, update_plot)

# ================= THREAD START =================
threading.Thread(target=read_serial, daemon=True).start()
update_plot()

root.mainloop()