#!/usr/bin/env python

"""\
run_gui.py

Sample script to create and operate a graphical user interface for an Arduino
program.  This interface shell communicates over a serial port to an Arduino
running a sketch which includes line-oriented text input and output.

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

# This requires the PyQt4 module to interface to the Qt GUI toolkit.  For
# documentation on the PyQt4 API, see
# http://pyqt.sourceforge.net/Docs/PyQt4/index.html
from PyQt4 import QtGui

# Make sure that the Python libraries also contained within this course package
# are on the load path.  This adds the parent folder to the load path, assuming that this
# script is still located within a subfolder of the Python library tree.
sys.path.insert(0, os.path.abspath(".."))

from CncShieldGUI.CncShieldGUI      import CncShieldGUIController
from CncShieldGUI.CncShieldProtocol import CncShieldClient

################################################################
class ScriptClient(CncShieldClient):
    """A custom subclass of CncShieldClient to implement the Arduino control
    protocol with additional methods to support scripted movement.
    """

    def __init__(self, *args, **kwargs):
        # initialize the parent class
        CncShieldClient.__init__(self, *args, **kwargs)

        # define a simple pose animation system which moves in a sequence from target to target
        self.next_pose = None
        self.pose_sequence = [ [1000, 2000, 3000],
                               [0, 0, 0],
                               [1000, 2000, 3000],
                               [0, 0, 0],
                               [3000, 2000, 1000],
                               [0, 0, 0],
                               [3000, 2000, 1000],
                               [0, 0, 0] ]
        return

    # additional methods specialized to this class
    def start_script(self):
        print("Restarting script state machine.")
        self.next_pose = 0

        # Issue a move command to stop at the most recent position in case the
        # target is currently set far away.
        self.issue_move( self.position )

        return

    def stop_script(self):
        print("Stopping script state machine.")
        self.next_pose = None             # stop sequencer
        self.issue_move( self.position )  # stop motors here
        return

    def position_updated(self):
        """Receive notification calls when new data is received from the Arduino."""

        # wait until the most recent target was reached
        if self.distance_to_target() == 0:

            # if sequencer is running
            if self.next_pose is not None:

                # issue another pose if available
                if self.next_pose < len(self.pose_sequence):
                    print("Issuing pose %d in sequence." % self.next_pose)
                    self.issue_move(self.pose_sequence[self.next_pose])
                    self.next_pose += 1

################################################################
# Main script follows.  This sequence is executed when the script is initiated from the command line.
if __name__ == "__main__":
    # process command line arguments
    parser = argparse.ArgumentParser(description = """Run CncShieldGUI.""")
    parser.add_argument( '-v', '--verbose', action='store_true', help='Enable more detailed output.' )
    parser.add_argument( '--debug', action='store_true', help='Enable debugging output.' )
    parser.add_argument( '-p', '--port', default='/dev/tty.usbmodem1411', help='Specify the name of the Arduino serial port device (default is /dev/tty.usbmodem1411).')
    args = parser.parse_args()

    # Convert the command line arguments from a Namespace to a set of keyword
    # arguments and initialize the client protocol controller.  Note that this
    # will ignore extraneous values, e.g., from additional command argument
    # inputs unneeded by this object.
    keyword_args = vars(args)
    client = ScriptClient(**keyword_args)

    # initialize the Qt system itself
    app = QtGui.QApplication(sys.argv)

    # Create the GUI controller and connect it to the protocol controller.  It
    # will create a generic console window and extend the interface window
    # controls to customize it for this particular application.
    gui = CncShieldGUIController( client, **keyword_args )

    print("""Starting up CncShieldGUI.
Toggle the 'Connected' switch to open the Arduino serial port.
Click 'Enable' while connected to enable motor drivers.
Click 'Start' to begin the script sequence.
""")
    
    # run the event loop until the user is done
    sys.exit(app.exec_())

#!/usr/bin/env python

"""\
movement_test.py

Test the protocol for the CNC_Shield_Server without a GUI by moving through a sequence of positions.

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, time, argparse

# Make sure that the Python libraries also contained within this course package
# are on the load path.  This adds the parent folder to the load path, assuming that this
# script is still located within a subfolder of the Python library tree.
sys.path.insert(0, os.path.abspath(".."))

from CncShieldGUI.CncShieldProtocol import CncShieldClient

################################################################
def move_to( client, position ):

    """Issue a command to move to a [x, y, z] absolute position (specified in
    microsteps).  Waits until completion.
    
    :param position: a list or tuple with at least three elements
    """
    
    client.issue_move(position)
    while True:
        client.wait_for_position_update()
        # wait until all motors have reached their targets
        if client.distance_to_target() == 0:
            return

################################################################
# The following section is run when this is loaded as a script.
if __name__ == "__main__":

    # Initialize the command parser.
    parser = argparse.ArgumentParser( description = """Simple test client to send data to the CNC_Shield_Server on an Arduino.""")
    parser.add_argument( '-v', '--verbose', action='store_true', help='Enable more detailed output.' )
    parser.add_argument( '--debug', action='store_true', help='Enable debugging output.' )
    parser.add_argument( '-p', '--port', default='/dev/tty.usbmodem1411', help='Specify the name of the Arduino serial port device (default is /dev/tty.usbmodem1411).')

    # Parse the command line, returning a Namespace.
    args = parser.parse_args()

    # Convert the Namespace to a set of keyword arguments and initialize the
    # client object.  Note that it will ignore extraneous values, e.g., from
    # additional command argument inputs unneeded by this object.
    client = CncShieldClient(**vars(args))

    print("Connecting to Arduino.")
    client.open_serial_port()

    print("Sleeping briefly while Arduino boots...")
    while client.is_startup_delay_complete() is False:
        time.sleep(0.5)

    # throw away any extraneous input
    print("Flushing Arduino input...")
    client.port.flushInput()
    
    # Begin the motion sequence.  This may be safely interrupted by the user pressing Control-C.
    try:
        print("Beginning movement sequence.")
        client.motor_enable()
        move_to(client, [1000, 2000, 3000])
        move_to(client, [0, 0, 0])
        move_to(client, [1000, 2000, 3000])
        move_to(client, [0, 0, 0])
        move_to(client, [3000, 2000, 1000])
        move_to(client, [0, 0, 0])
        move_to(client, [3000, 2000, 1000])
        move_to(client, [0, 0, 0])

    except KeyboardInterrupt:
        print("User interrupted motion.")

    # Issue a command to turn off the drivers, then shut down the connection.
    client.motor_enable(False)
    client.close_serial_port()