import plotutils
from mathutils import fit_gaussian, Gaussian

cal_tool = TOOL_CALIBRATION

robot.set_tool(cal_tool)

robot.enable()
move_to_laser()


robot.set_motors_enabled(True)
robot.set_joint_motors_enabled(True)
initial_pos = robot.get_cartesian_pos()

#robot.align()  
try:
    robot.set_frame(FRAME_TABLE)    
    run("calibration/ScanX")
finally:
    robot.set_default_frame()    

pos1 = robot.get_cartesian_pos()
x1, l1 = closest_x, closest_y

print "Scan 1 result: ", [x1, l1]
print "Position 1: ", pos1


pj6 = robot_j6.position
if pj6>0:
    robot_j6.move(pj6 - 180.0)
else:    
    robot_j6.move(pj6 + 180.0)


try:
    robot.set_frame(FRAME_TABLE)    
    run("calibration/ScanX")
finally:
    robot.set_default_frame()        

pos2 =robot.get_cartesian_pos()
x2, l2 = closest_x, closest_y

print "Scan 2 result: ", [x2, l2]
print "Position 2: ", pos1

off_l = l2 - l1
print "Offset l: ", off_l

#For composing cannot use tcp_p, need another auxiliary point. tcp_t is also destroyed.
robot.set_pnt(robot.get_cartesian_pos(), "pTemp")
robot.set_trsf([0, -off_l, 0, 0, 0, 0])
c=robot.compose("pTemp", FRAME_TABLE, "tcp_t" )
robot.set_pnt(c, "pTemp")
robot.movel("pTemp", cal_tool, DESC_SCAN, sync=True)


pos3 = robot.get_cartesian_pos()
print "Position 3: ", pos3


#Updates the tool
t=robot.get_tool_trsf(TOOL_DEFAULT)
print "Former tool: " + str(t)

xoff = (pos3[0]-pos1[0])/2
yoff = (pos3[1]-pos1[1])/2 
xrot = math.degrees(math.atan(yoff/t[2]))
yrot = math.degrees(math.atan(xoff/t[2]))
t[0]=xoff 
t[1]=-yoff 
print "Calibrated tool: " + str(t)
robot.set_tool_trsf(t, TOOL_DEFAULT)

robot.set_tool(TOOL_DEFAULT)
d = robot.get_distance_to_pnt("pLaser")
if d<POSITION_TOLERANCE:
    print "Moving calibrated tool to laser"
    #move_to_laser()    
else:
    print "Cannot move calibrated tool to laser: too big offset"