import logging
_log=logging.getLogger(__name__)

import time
from epics.ca import pend_event

class PositionsNotReached(Exception):
  pass


def assert_tweaker_positions(targets, timeout=60.0):
  """
      wait for each of the given motors to have specified positions within tolerance
  :param targets: [
  (motor, target_position, tolerance),
  ...
  ]
  :return: None
  :raises: PositionsNotReached
  """
  num_motors=len(targets)

  timeisup=timeout+time.time()

  while time.time()<timeisup:
    count=0
    summary=[]
    for i, m in enumerate(targets):
      mot_tw, target, tolerance=m
      label=mot_tw._label
      notSim=not type(mot_tw).__name__.startswith('Sim')

      if notSim: pend_event()
      cur=mot_tw.get_rbv()
      done=mot_tw.is_done()
      s=f"check {label} {cur:.5g} == {target:.5g} [done={done}]"
      _log.debug(s)
      summary.append(s)
      if done and tolerance>=abs(cur-target):
        count+=1
      if notSim: pend_event(0.1)
    if count==num_motors:
      break
    if notSim: pend_event(0.1)

  if count!=num_motors:
    raise PositionsNotReached("failed to reach target positions: {}".format("#".join(summary)))


def assert_motor_positions(targets, timeout=60.0):
  """
      wait for each of the given motors to have specified positions within tolerance
  :param targets: [
  (motor, target_position, tolerance),
  ...
  ]
  :return: None
  :raises: PositionsNotReached
  """
  num_motors=len(targets)

  timeisup=timeout+time.time()

  while time.time()<timeisup:
    count=0
    summary=[]
    for i, m in enumerate(targets):
      motor, target, tolerance=m
      name=motor._prefix
      pend_event()
      cur=motor.get_rbv(readback=True)
      done=motor.done_moving
      _log.debug("check {}[done={}]: {} == {}".format(name, done, cur, target))
      summary.append("{}[done={}]: {} == {}".format(name, done, cur, target))
      if done and tolerance>=abs(cur-target):
        count+=1
      pend_event(0.1)

    if count==num_motors:
      break
    pend_event()

  if count!=num_motors:
    raise PositionsNotReached("failed to reach target positions: {}".format("#".join(summary)))