class PWMDriver():
    def __init__(self, positions : list[tuple[float, float, float]], gcode_size : tuple[float, float], port : str, baudrate : int = 115200) -> None:
        self.positions = positions
        self.gcode_size = gcode_size
        self.port = port
        self.baudrate = baudrate
        self._init_pwm()

    def _init_pwm(self) -> None:
        from serial import Serial
        self.serial = Serial(self.port, self.baudrate)
    
    def _send_position(self, pos : tuple[float, float, float]) -> None:
        x, y, z = pos
        # Convert coordinates to PWM values
        precision = ((2 ** 16) - 1)
        pwm_x : int = int(x / self.gcode_size[0] * precision)
        pwm_y : int = int(y / self.gcode_size[1] * precision)
        pen   : int = 1 if z < 0 else 0
        
        # Send PWM values to the serial port
        print(f"Sending PWM values: X={pwm_x:<5}, Y={pwm_y:<5}, Pen={pen}")
        self.serial.write(f"{pwm_x},{pwm_y},{pen}\n".encode())

    def _position_reached(self) -> bool:
        # Check if the position has been reached
        return self.serial.readline().decode().strip() == "OK"
    
    def _wait_for_position(self) -> None:
        # Wait until the position is reached
        while not self._position_reached():
            pass
    
    def run(self) -> None:
        for pos in self.positions:
            self._send_position(pos)
            self._wait_for_position()
        print("All positions sent successfully.")