"""\
CncShieldGUI.py

GUI controller for the CNC_Shield_Server Arduino sketch.

Copyright (c) 2015, Garth Zeglin.  All rights reserved. Licensed under the terms
of the BSD 3-clause license.
"""

from __future__ import print_function
import os, sys, argparse, math

# import the common GUI library over which this built
from ArduinoGUI.ArduinoConsole import ArduinoConsole

################################################################
[docs]class CncShieldGUIController(object):
    """Application-specific control object to manage the GUI for the
    CNC_Shield_Server.  This class creates a generic ArduinoConsole GUI, adds
    application-specific GUI controls, and manages basic I/O using a protocol
    object.

    :param client: a protocol object to receive commands from the GUI
    :param port: the name of the serial port device
    :param kwargs: collect any unused keyword arguments
    """
    
    def __init__(self, client, port = None, **kwargs ):
        """Initialize the application-specific GUI."""

        # create the generic interface
        self.window = ArduinoConsole()

        # reroute printed output to the console window; this works because there is a write method defined
        sys.stdout = self.window

        # add custom interface elements.
        self.window.addSlider("X", self.x_slider_moved)
        self.window.addSlider("Y", self.y_slider_moved)
        self.window.addSlider("Z", self.z_slider_moved)
        self.window.addButton("Enable", self.enable_button_pressed)
        self.window.addButton("Disable", self.disable_button_pressed)
        self.window.addButton("Home", self.home_button_pressed)
        self.window.addButton("Start", self.start_button_pressed)
        self.window.addButton("Stop", self.stop_button_pressed)
        
        # add a plot window
        self.window.addScope()
        self.window.addScopeChannel('x', color='red',   duration=10)
        self.window.addScopeChannel('y', color='green', duration=10)
        self.window.addScopeChannel('z', color='blue',  duration=10)

        # set up the connect/disconnect control
        self.window.attachConnectCallback( self._connect_disconnect )

        # set up the command lin
        self.window.attachCommandCallback( self._command_input)
        
        self.client = client
        self.input_monitor = None

        # fill in the default text field for the Arduino port name if provided
        if port is not None:
            self.window.setArduinoPortName(port)
            
        return
    
    #=============================================================================
    def _connect_disconnect(self, name, flag ):
        if flag:
            # connect
            if self.client.is_connected():
                print("Client already connected.")
            else:
                if name is not None and name != "":
                    self.client.set_serial_port_name(name)
                print("Connecting to the Arduino.")
                self.client.open_serial_port()

                # set up an event after the Arduino has had time to boot
                self.window.newSingleShotTimer( 2000, self._startup_delay_complete)
                
                # create a monitor for the serial port device connected to the Arduino to indicate when data is ready
                self.input_monitor = self.window.newInputMonitor( self.client.input.fileno(), self.port_data_ready )

        else:
            # disconnect
            if self.client.is_connected():
                self.input_monitor.setEnabled(False)
                self.client.close_serial_port()
                self.input_monitor = None
                
            else:
                print("Client not connected.")
        return

    def _command_input(self, command):
        print( "User entered '%s'." % command)
        self.client.send_command(command)
        return

    def _startup_delay_complete(self):
        print("Arduino bootup delay complete.")
        self.client.flush_serial_input()
        self.window.resetPlotPressed()
    
    #=============================================================================
[docs]    def enable_button_pressed(self):
        """Callback function activated to enable the motor drivers when the GUI button is pressed."""
        print("User enabling drivers.")
        self.client.motor_enable(True)

[docs]    def disable_button_pressed(self):
        """Callback function activated to disable the motor drivers when the GUI button is pressed."""
        print("User disabling drivers.")
        self.client.motor_enable(False)

[docs]    def home_button_pressed(self):
        """Callback function activated to move to the origin when the GUI button is pressed."""
        print("User commanding move to home.")
        self.client.issue_move([0,0,0])

[docs]    def start_button_pressed(self):
        """Callback function activated to start a user script."""
        print("User pressed Start.")
        self.client.start_script()
        return

[docs]    def stop_button_pressed(self):
        """Callback function activated to interrupt a user script."""
        print("User pressed Stop.")
        self.client.stop_script()
        return

    #=============================================================================
    # Note that the following functions have a hardcoded scaling from slider -> microsteps.
[docs]    def x_slider_moved(self, value):
        """Callback function activated when the X slider is moved."""
        # print("User moved X slider to %f." % value)
        self.client.issue_move( [int(20000*value), self.client.target[1], self.client.target[2] ])

[docs]    def y_slider_moved(self, value):
        """Callback function activated when the Y slider is moved."""
        # print("User moved Y slider to %f." % value)
        self.client.issue_move( [self.client.target[0], int(20000*value), self.client.target[2] ])

[docs]    def z_slider_moved(self, value):
        """Callback function activated when the Z slider is moved."""
        # print("User moved Z slider to %f." % value)
        self.client.issue_move( [self.client.target[0], self.client.target[1], int(20000*value) ])

    #=============================================================================    
[docs]    def port_data_ready(self, fd):
        """Callback function activated when data is received from the Arduino.  This
        just prints a message, but would usually process status messages as part
        of a command protocol."""

        # process the input
        last_position_count = self.client.position_message_count
        self.client.debug = self.window.isShowingRawData()
        self.client.wait_for_input()

        # if new position data was received, add it to the plot
        if self.client.position_message_count > last_position_count:
            t = [ 1e-6 * self.client.arduino_time]
            x = [ self.client.position[0] ]
            y = [ self.client.position[1] ]
            z = [ self.client.position[2] ]
            self.window.addScopeSamples('x', x, t)
            self.window.addScopeSamples('y', y, t)
            self.window.addScopeSamples('z', z, t)
            self.window.replotScope()
            
        return
    
################################################################