import ch.psi.pshell.device.PositionerConfig as PositionerConfig



ROBOT_MOTORS = ["x" , "y", "z", "rx", "ry", "rz"]


class RobotCartesianMotor (PositionerBase):
    def __init__(self, robot, index):
         PositionerBase.__init__(self, robot.name + "_" + ROBOT_MOTORS[index], PositionerConfig())
         self.index = index
         self.robot = robot
        
    #ATTENTION: Always initialize cartesian motors before scanning (or call robot.set_motors_enabled(True))
    def doInitialize(self):
        self.setCache(self.doRead(), None)
                  
    def doRead(self):
        return float("nan") if self.robot.cartesian_destination is None else float(self.robot.cartesian_destination[self.index])

    def doWrite(self, value):        
        if self.robot.cartesian_destination is not None:
            #print "Move " + ROBOT_MOTORS[self.index] + " to " + str(value)
            self.robot.cartesian_destination[self.index] = float(value)  
            self.robot.set_pnt(robot.cartesian_destination , "tcp_p")        
            self.robot.movel("tcp_p", self.robot.tool , DESC_SCAN)        
        
    def doReadReadback(self):
        return float("nan") if self.robot.cartesian_pos is None else float(self.robot.cartesian_pos[self.index])




ROBOT_JOINT_MOTORS = ["j1" , "j2", "j3", "j4", "j5", "j6"]


class RobotJointMotor (PositionerBase):
    def __init__(self, robot, index):
         PositionerBase.__init__(self, robot.name + "_" + ROBOT_JOINT_MOTORS[index], PositionerConfig())
         self.index = index
         self.robot = robot         
            
    def doInitialize(self):        
        self.setpoint = self.doReadReadback()
        self.setCache(self.doRead(), None)        
                  
    def doRead(self):        
        return self.setpoint

    def doWrite(self, value):                
        #print "Move " + ROBOT_JOINT_MOTORS[self.index] + " to " + str(value)
        self.setpoint = value
        joint = self.robot.herej()
        joint[self.index] = value
        self.robot.set_jnt(joint, name="tcp_j")
        self.robot.movej("tcp_j", self.robot.tool , DESC_SCAN)       
    
    def doReadReadback(self):
        return self.robot.herej()[self.index] if self.robot.joint_pos is None else float(self.robot.joint_pos[self.index])