import socket
import os

import GCode_Interpreterdc
import simulator

class Hardware:
    def __init__(self):
        pass

    def probe(self, gtm):
        return

    def realize(self, gtm):
        return


class SimuHardware(Hardware):
    def __init__(self, bind):
        super().__init__()
        self.s = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
        self.s.connect(bind)

    def probe(self, gtm):
        self.s.send("request".encode())
        encoder_x = int(socket.SocketIO(self.s, "rw").readline())
        encoder_y = int(socket.SocketIO(self.s, "rw").readline())
        encoder_z = int(socket.SocketIO(self.s, "rw").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
        gtm.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):
        self.s.send("realize".encode())

        if gtm.throttle_x == 0:
            self.s.send(gtm.x_direction + " 0")
        else:
            self.s.send(gtm.x_direction + " " + gtm.FAST_XY_FEEDRATE / gtm.x_throttle)

        if gtm.throttle_y == 0:
            self.s.send(gtm.y_direction + " 0")
        else:
            self.s.send(gtm.y_direction + " " + gtm.FAST_XY_FEEDRATE / gtm.y_throttle)

        if gtm.throttle_z == 0:
            self.s.send(gtm.z_direction + " 0")
        else:
            self.s.send(gtm.z_direction + " " + gtm.FAST_Z_FEEDRATE / gtm.z_throttle)



if __name__ == '__main__':
    bind = "tmp.txt"
    # sim = simulator.Simulator(bind)
    sh = SimuHardware(bind)
    gtm1 = GCode_Interpreterdc.GCodeToMotors
    sh.probe(gtm1)