import subprocess
import time
import traceback

running = False
counts = {}

def countHLS(motor):
  global counts
  try:
    time.sleep(1.0)
    counts[motor]=0   
    def on_change(value):
        global counts
        print "LimitSW changed on" , motor, "to", value
        if int(value) == 1:
            counts[motor]=counts[motor]+1

    with Channel(motor+".HLS", callback=on_change, monitored=True, name="test") as ch:
        if int(ch.read()) == 1:
            counts[motor]=1
        while(running==True):
            time.sleep(0.1)
    print "High Limit Switch motor "+motor +" reached "+ str(counts[motor]) + " times\n"
    return counts[motor]
  except:
    print "Exception counting "+str(motor) 
    traceback.print_exc()
    raise


def countLLS(motor):
  global counts
  try:
    time.sleep(1.0)
    counts[motor]=0   
    def on_change(value):
        global counts
        print "LimitSW changed on" , motor, "to", value
        if int(value) == 1:
            counts[motor]=counts[motor]+1

    with Channel(motor+".LLS", callback=on_change, monitored=True, name="test") as ch:
        if int(ch.read()) == 1:
            counts[motor]=1
        while(running==True):
            time.sleep(0.1)
    print "Low Limit Switch motor "+motor +" reached "+ str(counts[motor]) + " times\n"
    return counts[motor]
  except:
    print "Exception counting "+str(motor) 
    traceback.print_exc()
    raise

def init():
  try:
    global running
    running = True

    subprocess.call("X_X11MA_init-AU.sh", shell=True)
    # Positions at limit switches are not checked
    time.sleep(1.0)
    caput('X11MA-OP2-AVsize',20)
    caput('X11MA-OP2-AHsize',20)
    
    running = False
    return 0
  except:
    print "Exception in init"
    traceback.print_exc()
    raise    


#Fork and join
try:
    futures = fork(init,(countHLS,("X11MA-OP2-AU:TRY1",)), \
                        (countLLS,("X11MA-OP2-AU:TRY4",)), \
                        (countHLS,("X11MA-OP2-AU:TRZ1",)), \
                        (countLLS,("X11MA-OP2-AU:TRZ4",)), \
                        (countHLS,("X11MA-OP2-BP1:TRY",)), \
                        (countHLS,("X11MA-OP2-BP1:TRZ",))  )
    ret = join(futures) 

#check limit switch status after init
    limitsw=True    
    for i in range(1,6):
        if(ret[i]!=1):
            limitsw=False
    print "Limit switch status for all motors: %s" %("OK" if limitsw == True else "Not OK")

#final status report        
    if(limitsw==True):
        print "init-AU: ==> done. OK!"
        set_return("OK")
    else:
        print "init-AU: ==> not done. NOT OK!"
        set_return("Not OK")

except:
    set_return("Error")