_hex_baseplate_thickness=20.0


# ----------------------------------------------------------------------
def hex_show_pivot_point():
  x = caget("X04SA-ES3-HXP:RBPIVOT_X")
  y = caget("X04SA-ES3-HXP:RBPIVOT_Y")
  z = caget("X04SA-ES3-HXP:RBPIVOT_Z")
  z =  z - _hex_baseplate_thickness

  print("pivot point xyz =  (%.4f, %.4f, %.4f) mm relative to center of Hexapod top plate surface\n" % (x,y,z))


# ----------------------------------------------------------------------
def hex_set_pivot_point(x, y, z):
    # check if the dial values of the rotations are zero
    if (hrox.read() != 0.0)  or  (hroy.read() != 0.0) or (hroz.read() != 0.0) :
      print("The dial positions of the Hexapod rotations hrox, hroy and hroz have")
      print("to be at their zero position to set the pivot point.")
      return
    z = z + _hex_baseplate_thickness

    caput("X04SA-ES3-HXP:PIVOT_X", x)
    caput("X04SA-ES3-HXP:PIVOT_Y", y)
    caput("X04SA-ES3-HXP:PIVOT_Z", z)

    
    

"""
def hex_ini():
  print ("Initialiaze Hexapod C-887 through EPICS\n")
  home hx
  waitmove


# ----------------------------------------------------------------------
def hex_show_all '{
  printf("PI C-887 Hexapod:\n")
  hex_show_pivot_point
  printf("\n")
  wm hx hy hz  hrox hroy hroz
}'

#---------------------------------------------------------------------
# Oveloading of function
def hexaShow '{
  hex_show_all
}'
"""