#!/usr/bin/env python3

# Enable basic compatibility features to work with either Python 2 or 3.
from __future__ import print_function, absolute_import, unicode_literals

# Standard library modules.
import os, sys, time, argparse, select, logging

# This requires a pySerial installation.
from serial.serialutil import SerialException

# Configure load path to include the parent folder so the course library can be found in a parallel folder.
sys.path.insert(0, os.path.dirname(os.path.abspath(os.path.dirname(__file__))))

# Import modules from the course library.
from ase.DFMocoProtocol import DFMocoClientProtocol
import ase.SerialTransport
import ase.logging
import ase.events

#================================================================
[docs]def animation_sequence(steppers, nummotors, logger):
    """Produce an animation motion sequence on a set of stepper motor by issuing
    motion commands to the stepper interface and performing delays using
    ase.events.sleep().  This is a good starting point for customizing the
    script.

    :param steppers: handle to the DFMocoCNC interface object
    :param nummotors: number of motors to assume are connected
    :param logger: logging object for debugging and status output
    """

    # Extract the DFMocoClientProtocol object from the transport for convenience.
    protocol = steppers.protocol

    # Configure the maximum pulse rate for our typical stepper hardware.
    for m in range(nummotors):
        protocol.send_pulse_rate(m, 1500)

    # Endless loop to run the sequence in a loop.
    while True:
        # Send some motion commands.
        protocol.send_multiple_targets(0, [3200]*nummotors)
        ase.events.sleep(3, [steppers])

        # Send some motion commands.
        protocol.send_multiple_targets(0, [0]*nummotors)
        ase.events.sleep(3, [steppers])
        logger.info("Waiting for motions to finish.")
        ase.events.wait_for_motion_completion([steppers])

        # With more than one motor, try starting the movements at different times.
        if nummotors > 1:
            protocol.send_target(0, 1000)
            ase.events.sleep(2, [steppers])
            protocol.send_target(1, 1000)
            ase.events.sleep(2, [steppers])

#================================================================
[docs]def main(argv):

    """Main program entry point.

    :param argv: list of command line arguments as individual strings
    """

    # Initialize the command parser.2
    parser = argparse.ArgumentParser( description = """Test animation using an Arduino with stepper driver board running DFMocoCNC.""")
    ase.logging.add_logging_arguments(parser)
    parser.add_argument('--list', action='store_true', help='Print list of available serial ports.')
    parser.add_argument('--motors', type=int, default=3, help='Specify the number of stepper channels.  Default: 3.')

    default_serial_port = '/dev/tty.usbmodem00146911'
    parser.add_argument( '--arduino', default=default_serial_port,
                         help='Specify the name of the Arduino CNC serial device. Default: %s.' % default_serial_port)
    args = parser.parse_args()

    # Configure a typical logging setup.
    logger, handlers = ase.logging.create_script_logger('animation', args)

    if args.list:
        ase.SerialTransport.print_serial_port_list()

    # Create objects to manage the Arduino and serial port.
    steppers = ase.SerialTransport.SerialTransport(DFMocoClientProtocol(), args.arduino)

    # Connect to the board.
    logger.info("Connecting to DFMoco sketch on %s.", args.arduino)
    try:
        steppers.open()

    except SerialException as exp:
        logger.error("Unable to open port: %r", exp)
        logger.info("You might try the --list argument to see the available serial ports.\nExiting.")
        sys.exit(1);

    logger.info("Waiting for steppers to wake up...")
    while not steppers.protocol.is_protocol_ready():
        steppers.protocol.send_hello()
        steppers.wait_for_data()
    # Now run the event loop until it exits or control-C is pressed.
    try:
        logger.info("Beginning animation event loop.")
        animation_sequence(steppers, args.motors, logger)

    except KeyboardInterrupt:
        logger.info("User interrupted operation.")

    # Shut down the connection.
    steppers.close()

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

    # Call the main function with most of the command line arguments.
    # This could be customized by pre-defining particular arguments:
    constant_args = []
    # constant_args = ['--arduino', '/dev/tty.usbmodem00146911']

    main(constant_args + sys.argv[1:])