#------IMPORTS-------
from pygestalt import nodes
from pygestalt import interfaces
from pygestalt import machines
from pygestalt import functions
from pygestalt.machines import elements
from pygestalt.machines import kinematics
from pygestalt.machines import state
from pygestalt.utilities import notice
from pygestalt.publish import rpc	#remote procedure call dispatcher
import time
import io
import random
import sys
import os

#------VIRTUAL MACHINE------
class virtualMachine(machines.virtualMachine):
    
    def initInterfaces(self):
        if self.providedInterface: self.fabnet = self.providedInterface		#providedInterface is defined in the virtualMachine class.
        else: self.fabnet = interfaces.gestaltInterface('FABNET', interfaces.serialInterface(baudRate = 115200, interfaceType = 'ftdi', portName = '/dev/tty.usbserial-FTXW4F9H'))
        
    def initControllers(self):
        self.xAxisNode = nodes.networkedGestaltNode('X Axis', self.fabnet, filename = '086-005a.py', persistence = self.persistence)
        self.yAxisNode = nodes.networkedGestaltNode('Y Axis', self.fabnet, filename = '086-005a.py', persistence = self.persistence)
        self.uAxisNode = nodes.networkedGestaltNode('U Axis', self.fabnet, filename = '086-005a.py', persistence = self.persistence)
                
        self.xyuNode = nodes.compoundNode(self.xAxisNode, self.yAxisNode, self.uAxisNode)

    def initCoordinates(self):
        self.position = state.coordinate(['mm','mm','mm'])
        
    def initKinematics(self):
        self.xAxis = elements.elementChain.forward([elements.microstep.forward(4), elements.stepper.forward(1.8), elements.leadscrew.forward(8), elements.invert.forward(False)])
        self.yAxis = elements.elementChain.forward([elements.microstep.forward(4), elements.stepper.forward(1.8), elements.leadscrew.forward(8), elements.invert.forward(False)])
        self.uAxis = elements.elementChain.forward([elements.microstep.forward(4), elements.stepper.forward(1.8), elements.leadscrew.forward(8), elements.invert.forward(False)])

        self.stageKinematics = kinematics.direct(3)	#direct drive on all axes
        
    def initFunctions(self):
        self.move = functions.move(virtualMachine = self, virtualNode = self.xyuNode, axes = [self.xAxis, self.yAxis, self.uAxis], kinematics = self.stageKinematics, machinePosition = self.position,planner = 'null')
        self.jog = functions.jog(self.move)	#an incremental wrapper for the move function
        pass
        
    def initLast(self):
#       self.machineControl.setMotorCurrents(aCurrent = 0.8, bCurrent = 0.8, cCurrent = 0.8)
#       self.xyzNode.setVelocityRequest(0)	#clear velocity on nodes. Eventually this will be put in the motion planner on initialization to match state.
        pass
        
    def publish(self):
#       self.publisher.addNodes(self.machineControl)
        pass
        
    def getPosition(self):
        return {'position':self.position.future()}
        
    def setPosition(self, position  = [None, None, None]):
        self.position.future.set(position)
        
    def setSpindleSpeed(self, speedFraction):
#       self.machineControl.pwmRequest(speedFraction)
        pass

#------IF RUN DIRECTLY FROM TERMINAL------
if __name__ == '__main__':
    # The persistence file remembers the node you set. It'll generate the first time you run the
    # file. If you are hooking up a new node, delete the previous persistence file.
    stages = virtualMachine(persistenceFile = "test.vmp")
        
    # You can load a new program onto the nodes if you are so inclined. This is currently set to
    # the path to the 086-005 repository on Nadya's machine.
    #stages.xyNode.loadProgram('../../../086-005/086-005a.hex')
        
    # This is a widget for setting the potentiometer to set the motor current limit on the nodes.
    # The A4982 has max 2A of current, running the widget will interactively help you set.
    #stages.xyNode.setMotorCurrent(0.7)
        
    # This is for how fast the
    stages.xyuNode.setVelocityRequest(8)
        
    # Some random moves to test with
    ans_one = [0,50,0]
    ans_two = [50,0,0]
    ans_three = [0,0,50]
    
    ans_list = [ans_one, ans_two, ans_three]
    rnd_ans = random.choice(ans_list)
    rest_position = [0,0,0]
    #extrusion = [rnd_ans[0] + 10, rnd_ans[1] + 10, rnd_ans[2] + 10]
    
    moves = [rnd_ans] 
    
    # Move!
    for move in moves:
        stages.move(move, 0)
        status = stages.xAxisNode.spinStatusRequest()
        # This checks to see if the move is done.
        while status['stepsRemaining'] > 0:
            time.sleep(0.001)
            status = stages.xAxisNode.spinStatusRequest()