#!/usr/bin/env python3
"""
The R11 error read command returns an integer, which needs to be interpreted
bitwise for various error flags. This script prints out these status flags in
human-readable formatting.

To read the manual, simply run this script without any arguments.

Stefan Mathis, January 2025
"""

import platform

from decodeCommon import interactive, decode, print_decoded

# List of tuples which encodes the states given in the file description.
# Index first with the bit index, then with the bit value
interpretation = [
    ("Not specified", "Not specified"),  # Bit 0
    ("Ok", "Short circuit"),  # Bit 1
    ("Ok", "Encoder error"),  # Bit 2
    ("Ok", "Following error"),  # Bit 3
    ("Ok", "Communication error"),  # Bit 4
    ("Ok", "Feedback error"),  # Bit 5
    ("Ok", "Positive limit switch hit"),  # Bit 6
    ("Ok", "Negative limit switch hit"),  # Bit 7
    ("Ok", "Positive software limit hit"),  # Bit 8
    ("Ok", "Negative software limit hit"),  # Bit 9
    ("Ok", "Over-current"),  # Bit 10
    ("Ok", "Over-temperature drive"),  # Bit 11
    ("Ok", "Over-voltage"),  # Bit 12
    ("Ok", "Under-voltage"),  # Bit 13
    ("Not specified", "Not specified"),  # Bit 14
    ("Ok", "STO fault (STO input is on disable state)"),  # Bit 15
]

help = """
Decode R11 message of MasterMACs
------------------
    
MasterMACs returns its error message (R11) as a floating-point number.
The bits of this float encode different states. These states are stored 
in the interpretation variable.

This script can be used in two different ways:
    
Option 1: Single Command
------------------------

Usage: decodeError.py value
    
'value' is the return value of a R11 command. This value is interpreted
bit-wise and the result is printed out.

Option 2: CLI Mode (Linux-only)
-------------------------------

Usage: decodeError.py

ONLY AVAILABLE ON LINUX!

A prompt will be opened. Type in the return value of a R11 command, hit
enter and the interpretation will be printed in the prompt. After that,
the next value can be typed in. Type 'quit' to close the prompt.
"""

if __name__ == "__main__":
    from sys import argv

    if "-h" or "--help" in argv:
        print(help)

    if len(argv) == 1:
        # Start interactive mode
        if platform.system() == "Linux":
            interactive()
        else:
            print(help)
    else:

        number = None
        try:
            number = int(float(argv[1]))
        except:
            print(help)
        if number is not None:
            print("Motor error")
            print("===========")
            (bit_list, interpreted) = decode(number, interpretation)
            print_decoded(bit_list, interpreted)