from GCode_Interpreterdc import GCodeToMotors

class Hardware:
    def __init__(self):
        pass

    def probe(self, gtm: GCodeToMotors):
        return

    def realize(self, gtm: GCodeToMotors):
        return


class SimuHardware(Hardware):
    def __init__(self, filename):
        try:
            self.f = open(filename)
        except FileNotFoundError:
            raise FileNotFoundError

    def probe(self, gtm):
        f.write("request")
        encoder_x = (int)(f.readline())
        encoder_y = (int)(f.readline())
        encoder_z = (int)(f.readline())

        last_x,last_y,last_z = gtm.current_steps
        # We are now at some position which realizes the encoder positions
        # curr_x = encoder_x + k*X_MOTOR_STEPS
        # |curr_x - last_x| <= 1/2 * X_MOTOR_STEPS
        curr_x = encoder_x + (last_x//gtm.X_MOTOR_STEPS) * gtm.X_MOTOR_STEPS
        if(curr_x - last_x > .5 * gtm.X_MOTOR_STEPS):
            curr_x -= gtm.X_MOTOR_STEPS

        curr_y = encoder_y + (last_y//gtm.Y_MOTOR_STEPS) * gtm.Y_MOTOR_STEPS
        if(curr_y - last_y > .5 * gtm.Y_MOTOR_STEPS):
            curr_y -= gtm.Y_MOTOR_STEPS

        curr_z = encoder_z + (last_z//gtm.Z_MOTOR_STEPS) * gtm.Z_MOTOR_STEPS
        if(curr_z - last_z > .5 * gtm.Z_MOTOR_STEPS):
            curr_z -= gtm.Z_MOTOR_STEPS

        # Note that if we don't probe regularly enough, we lose track of the position
        # Really, we should be able to set_steps
        self.set_position([curr_x/gtm.X_STEPS_PER_MM,
                           curr_y/gtm.Y_STEPS_PER_MM,
                           curr_z/gtm.Z_STEPS_PER_MM])

    def realize(self, gtm):
        f.write("realize")
        
        if(gtm.throttle_x == 0):
            f.write(gtm.x_direction + " 0")
        else:
            f.write(gtm.x_direction + " " + gtm.FAST_XY_FEEDRATE/gtm.x_throttle)
        
        if(gtm.throttle_y == 0):
            f.write(gtm.y_direction + " 0")
        else:
            f.write(gtm.y_direction + " " + gtm.FAST_XY_FEEDRATE/gtm.y_throttle)
        
        if(gtm.throttle_z == 0):
            f.write(gtm.z_direction + " 0")
        else:
            f.write(gtm.z_direction + " " + gtm.FAST_Z_FEEDRATE/gtm.z_throttle)