#!/usr/bin/env python
# *-----------------------------------------------------------------------*
# |                                                                       |
# |  Copyright (c) 2016 by Paul Scherrer Institute (http://www.psi.ch)    |
# |                                                                       |
# |              Author Thierry Zamofing (thierry.zamofing@psi.ch)        |
# *-----------------------------------------------------------------------*
'''
Coord[1].Q[0] : sync points when using setup_sync(mode=2)
                0: after setup_sync(mode=2) call
                idx: index of position during run
                -1:  pvt motion is finished

Coord[1].Q[1] : sync trigger: when setup_sync(mode=1 or 2)
                0: idle
                1: waiting for trigger
                2: running

Gather.Enable : 1: after .setup_gather() called
                2: during data gathering
                0: when gather finished

Gather.Samples : number af gathered data samples
'''

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, encId=8, mode=0, **kwargs):
    '''setup the timing synchronization for the motion program
       mode=0 : no sync at all
       mode=1 : synchronize start
       mode=2 : synchronize start and adapt motion speed
                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
       '''
    if mode==0:
      try:
        del self.sync_prg
      except AttributeError:
        pass
      self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)

    elif mode==1:
      # code block to insert in the program
      # - waits untis <flag> is false
      # - waits raising edge of <flag> and the sets DesTimeBase=ServoPeriod
      # flag ='PowerBrick[0].GpioData[0].0.1==1'
      flag0='Gate3[1].Chan[0].UserFlag'
      flag1='Gate3[1].Chan[1].UserFlag'
      flag0='P0';flag1='P1'
      prg = '''
  Coord[1].Q[1]=1
  while({flag0}==0){{}}
  while({flag1}==0){{}}
  Coord[1].Q[1]=2
  '''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
      self.sync_prg = prg
      self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
    elif mode==2:
      #frequence jitter 50Hz Swissgrid:
      #https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html#
      flag0='Gate3[1].Chan[0].UserFlag'
      flag1='Gate3[1].Chan[1].UserFlag'
      flag0='P0';flag1='P1'
      pt2pt_time=40
      prg='''
      Coord[1].Q[1]=1
      Coord[1].DesTimeBase=0
      Coord[1].Q[1]=2
      '''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
      self.sync_prg=prg
      self.sync_run='&{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)