#!/usr/bin/env python
# Copyright (c) 2017 Michel Trahan
#------------------------------------------------------------------------------------
#------------------------------------------------------------------------------------
#------------------------------------------------------------------------------------
#   SPINDLE       needs access to the Digital, xmlBiesse and linuxcnc.command objects
#------------------------------------------------------------------------------------
#------------------------------------------------------------------------------------
#------------------------------------------------------------------------------------
import time

class Spindles(object): 

    def __init__(self, d, x, c, dr, sdr):
        self.digital = d
        self.x = x
        self.command = c
        self.drills = dr
        self.sidedrills = sdr
        self.pulseDelay = self.x.getDelay("pulseDelay")

    
    #----------------------------------------------------------
    # M5 command to stop the spindle
    #----------------------------------------------------------
    def StopSpindleNow(self):
        self.command.mdi("M5")          #, lineno())
        
    #----------------------------------------------------------
    #----------------------------------------------------------
    def WaitForSpindleToStop(self):
        #--------------------------------------------------    
        # test if spindleHasStopped = True:
        # if not, wait a certain delay, a certain max time
        #--------------------------------------------------    
        if self.isSpindleReallyStopped():
            return True
        #---------------------------------------------    
        # if not stopped, send a M5 command to stop it
        # wait a certain delay
        #---------------------------------------------    
        self.StopSpindleNow()
        #stopDelay, maxTrials = self.x.getSpindleStopDelay()
        stopDelay = self.x.getDelay("spindleStop")
        maxTrials = self.x.getDelay("maxSpindleTrialsToStop")
        time.sleep(stopDelay)
        #---------------------------------------------    
        # then check again if it has stopped
        #---------------------------------------------    
        for i in range(1, maxTrials +1):
            if self.isSpindleReallyStopped():
                return True
            time.sleep(stopDelay)
        #--------------------------------------------------------   
        # waited maxTrials * stopDelay seconds, still not stopped
        #--------------------------------------------------------    
        return False 
        
    #----------------------------------------------------------
    #----------------------------------------------------------
    def isSpindleReallyStopped(self):
        isSpindleStopped = self.digital.CheckDIN("spindleHasStopped", True)
        print("isSpindleStopped = %s" % isSpindleStopped)
        if isSpindleStopped == 1:
            return True
        else:
            return False
        
    #----------------------------------------------------------
    # raising all spindles ... to make sure they are all raised
    #----------------------------------------------------------
    def raiseALLspindles(self):
        #------------------------------
        # loop through all spindles
        #------------------------------
        #------------------------------------------------
        # check first if all spindle are already up
        #------------------------------------------------
        isSpindleALLup = self.digital.CheckDIN("spindleALLup", True)
        if isSpindleALLup == 0:
            # nope some are down, so put them all up
            validSpindle = ("A", "B", "C")
            for i in validSpindle:
                self.RaiseSpindle(i)
        #------------------------------
        # loop through all drills
        #------------------------------
        for i in range(1, 34, 1):
            self.drills.RaiseDrill(i)
        #------------------------------
        # loop through all side drills
        #------------------------------
        for i in range(1, 11, 2):
            self.sidedrills.RaiseSideDrill(i)

    #----------------------------------------------------------
    #----------------------------------------------------------
    def DropSpindle(self,sWhich):
        isSpindleRaised = self.digital.CheckDOUT("spindle%srise" % sWhich, False)
        if isSpindleRaised == 1:
            self.digital.SendDOUT("spindle%srise" % sWhich, 0) # setting to 0 drops it ?
        isSpindleDropped = self.digital.CheckDOUT("spindle%sdrop" % sWhich, False)
        if isSpindleDropped == 0:
            self.digital.SendDOUT("spindle%sdrop" % sWhich, 1) # setting to 1 drops it ? 
        
    #----------------------------------------------------------
    #----------------------------------------------------------
    def RaiseSpindle(self,sWhich):
        isSpindleDropped = self.digital.CheckDOUT("spindle%sdrop" % sWhich, False)
        if isSpindleDropped == 1:
            self.digital.SendDOUT("spindle%sdrop" % sWhich, 0) # setting to 0 to raises it ?
        isSpindleRaised = self.digital.CheckDOUT("spindle%srise" % sWhich, False)
        if isSpindleRaised == 0:
            self.digital.SendDOUT("spindle%srise" % sWhich, 1) # setting to 1 to raises it ?

    #----------------------------------------------------------
    #----------------------------------------------------------
    def EnergiseSpindle(self, sWhich):
        self.digital.SendDOUT("spindle%senergise" % "A", 0) # setting to 1 to select it ?
        self.digital.SendDOUT("spindle%senergise" % "B", 0) # setting to 1 to select it ?
        self.digital.SendDOUT("spindle%senergise" % "C", 0) # setting to 1 to select it ?
        self.digital.SendDOUT("spindle%senergise" % sWhich, 1) # setting to 1 to select it ?
    
    #----------------------------------------------------------
    #----------------------------------------------------------
    def ReleaseSpindle(self, sWhich):    # pulsed signal
        
        
        
        #return True
        
        
        
        
        
        
        #---------------------------------------------------------------------------
        #   Send the signal to release the spindle
        #---------------------------------------------------------------------------
        self.digital.SendDOUT("spindle%srelease" % sWhich, 1) # Pulse signal
        time.sleep(self.pulseDelay)                      # Pulse signal
        self.digital.SendDOUT("spindle%srelease" % sWhich, 0) # Pulse signal
        #---------------------------------------------------------------------------
        # check if spindle is released
        #---------------------------------------------------------------------------
        isSpindleReleased = self.digital.CheckDIN("spindle%sreleased" % sWhich, True)
        #---------------------------------------------------------------------------
        # if not wait a certain delay and if after delay, still not released, error
        #---------------------------------------------------------------------------
        if not isSpindleReleased:
            time.sleep(self.x.getDelay("spindleReleaseDelay"))
            isSpindleReleased = self.digital.CheckDIN("spindle%sreleased" % sWhich, True)
            if not isSpindleReleased:
                return False
        return True
        
    #----------------------------------------------------------
    #----------------------------------------------------------
    def LockSpindle(self, sWhich):       #pulsed signal
        self.digital.SendDOUT("spindle%slock" % sWhich, 1) # Pulse signal
        time.sleep(self.pulseDelay)                      # Pulse signal
        self.digital.SendDOUT("spindle%slock" % sWhich, 0) # Pulse signal
        
    #----------------------------------------------------------
    #----------------------------------------------------------
    def SpindleHasTool(self, sWhich):
        doesSpindleHasTool = self.digital.CheckDIN("spindle%shastool" % sWhich, True)
        if doesSpindleHasTool == 0:
            return False
        else:
            return True