#some further usefull PMAC commands:
# list pc , 10    //list program counter during motion exec
# buffer          //list allocated buffers
#the rotary stuff only works from gpascii, not gpasciiCommander
#delete rotary
#define rotary 4096 //allocates mem
#open rotary      //same as open prog 0
#
# X100 Y100
# X200 Y300
# X600 Y500
# adding lines alway are acknowledged with ACK,
# if not, it means that the buffer is full
# it will acknowlegde when there is again free space.
# close
# delete rotary


#from other gpascii
#list rotary
#rotfree
#size
#b0s //start the rotary buffer in single step mode

import os, sys
sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
#import pbtools.misc.pp_comm as pp_comm   -> pp_comm.PPComm
from  pbtools.misc.pp_comm import PPComm
from  pbtools.misc.gather import Gather


class MotionBase:
  def __init__(self, comm, gather, verbose):
    self.comm=comm
    self.gather=gather
    self.verbose=verbose

  def setup_sync(self, crdId=1, prgId=2, plcId=2, mode=0, **kwargs):
    '''setup the timing synchronization for the motion program
       mode=0 : no sync at all
       mode=1 : first sync test
       this function generates the code blocks:
       self.sync_wait and self.sync_run
       sync_wait can be put in the program to force a timing sync
       sync_run are the commands to run the whole program
       '''
    gpascii = self.comm.gpascii
    if mode == 0:
      try:
        del self.sync_wait
      except AttributeError:
        pass
      self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)

    elif mode == 1:
      # changes the Timebase of coord system
      # modifies the timebase to start/stop a running program
      # this can also be used to adjust the execution speed
      # the plc for now
      # - waits untis <flag> is false
      # - waits raising edge of <flag> and the sets DesTimeBase=ServoPeriod

      # flag ='PowerBrick[0].GpioData[0].0.1==1'
      flag = 'Gate3[1].Chan[0].UserFlag==1'
      prg = '''close all buffers
open plc {plcId}
Coord[{crdId}].DesTimeBase=0       // freezes timebase at boot
while(flag){{}}
while(1)
{{
  if({flag})
  {{
    PowerBrick[0].GpioData[0].16.8=255
    Coord[{crdId}].DesTimeBase=Sys.ServoPeriod
    break
  }}
}}
close
'''.format(plcId=plcId, crdId=crdId, flag=flag)
      gpascii.send_block(prg)
      self.sync_wait = 'Coord[{crdId}].DesTimeBase=0;enable plc {plcId}'.format(plcId=plcId, crdId=crdId)
      self.sync_run = 'Coord[{crdId}].DesTimeBase=0;&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)

  def run(self):
    'runs the code sync_run which has been generated with setup_sync()'
    comm = self.comm
    gpascii = comm.gpascii
    try:
      cmd=self.sync_run
    except AttributeError:
      raise 'Need to call setup sync before'
    gpascii.send_block(cmd)