#!/usr/bin/env python3
# Qtvcp widget
#
# Copyright (c) 2017  Chris Morley <chrisinnanaimo@hotmail.com>
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
#################################################################################

from PyQt5.QtCore import pyqtProperty
import hal
from qtvcp.widgets.led_widget import LED
from qtvcp.core import Status
from qtvcp import logger

# Instantiate the libraries with global reference
# STATUS gives us status messages from linuxcnc
# LOG is for running code logging
STATUS = Status()
LOG = logger.getLogger(__name__)

# Force the log level for this module
# LOG.setLevel(logger.INFO) # One of DEBUG, INFO, WARNING, ERROR, CRITICAL


class StateLED(LED):
    '''

    Widget to display a colored LED based on a linuxcnc state.
    '''

    def __init__(self, parent=None):
        super(StateLED, self).__init__(parent)
        self.setState(False)

        self.is_estopped = False
        self.is_on = False
        self.is_homed = False
        self.is_idle = False
        self.is_paused = False
        self.invert_state = False
        self.is_flood = False
        self.is_mist = False
        self.is_block_delete = False
        self.is_optional_stop = False
        self.is_joint_homed = False
        self.is_limits_overridden = False
        self.is_manual = False
        self.is_mdi = False
        self.is_auto = False
        self.is_spindle_stopped = False
        self.is_spindle_fwd = False
        self.is_spindle_rev = False
        self.is_spindle_at_speed = False
        self.is_neg_limit_tripped = False
        self.is_pos_limit_tripped = False
        self.is_limits_tripped = False
        self._halpin_option = True
        self._follow_halpin = False

        self.joint_number = 0
        self._halpin_name = ''

        self._override = 1
        self._at_speed_percent = .1

    def _hal_init(self):
        def only_false(data):
            if data:
                return
            self._flip_state(False)
        # optional output HAL pin reflecting state
        if self._halpin_option:
            if self._halpin_name == '':
                pname = self.HAL_NAME_
            else:
                pname = self._halpin_name
            self.hal_pin = self.HAL_GCOMP_.newpin(pname, hal.HAL_BIT, hal.HAL_OUT)
        if self.is_estopped:
            STATUS.connect('state-estop', lambda w: self._flip_state(True))
            STATUS.connect('state-estop-reset', lambda w: self._flip_state(False))
        elif self.is_on:
            STATUS.connect('state-on', lambda w: self._flip_state(True))
            STATUS.connect('state-off', lambda w: self._flip_state(False))
        elif self.is_homed:
            STATUS.connect('all-homed', lambda w: self._flip_state(True))
            STATUS.connect('not-all-homed', lambda w, axis: self._flip_state(False))
        elif self.is_idle:
            STATUS.connect('interp-idle', lambda w: self._flip_state(True))
            STATUS.connect('interp-run', lambda w: self._flip_state(False))
        elif self.is_paused:
            STATUS.connect('program-pause-changed', lambda w, data: self._flip_state(data))
        elif self.is_flood:
            STATUS.connect('flood-changed', lambda w, data: self._flip_state(data))
        elif self.is_mist:
            STATUS.connect('mist-changed', lambda w, data: self._flip_state(data))
        elif self.is_block_delete:
            STATUS.connect('block-delete-changed', lambda w, data: self._flip_state(data))
        elif self.is_optional_stop:
            STATUS.connect('optional-stop-changed', lambda w, data: self._flip_state(data))
        elif self.is_joint_homed:
            STATUS.connect('homed', lambda w, data: self.joint_homed(data))
            STATUS.connect('not-all-homed', lambda w, data: self.joints_unhomed(data))
        elif self.is_limits_overridden:
            STATUS.connect('override-limits-changed', self.check_override_limits)
            STATUS.connect('hard-limits-tripped', lambda w, data, group: only_false(data))
        elif self.is_manual or self.is_mdi or self.is_auto:
            STATUS.connect('mode-manual', lambda w: self.mode_changed(0))
            STATUS.connect('mode-mdi', lambda w: self.mode_changed(1))
            STATUS.connect('mode-auto', lambda w: self.mode_changed(2))
        elif self.is_spindle_stopped or self.is_spindle_fwd or self.is_spindle_rev:
            STATUS.connect('spindle-control-changed',  lambda w, num, state, speed, upto: self.spindle_changed(speed))
        elif self.is_spindle_at_speed:
            STATUS.connect('requested-spindle-speed-changed', lambda w, speed: self.spindle_requested_changed(speed))
            STATUS.connect('spindle-override-changed', lambda w, rate: self.spindle_override_changed(rate))
            STATUS.connect('actual-spindle-speed-changed',lambda w, speed: self.spindle_actual_changed(speed))
        elif self.is_neg_limit_tripped or \
             self.is_pos_limit_tripped or \
             self.is_limits_tripped:
            STATUS.connect('hard-limits-tripped', lambda w, data, group: self.switch_on_hard_limits(data, group))
        elif self._follow_halpin:
            STATUS.connect('periodic', lambda w: self._set_halpin_text())

    def _flip_state(self, data):
            if self.invert_state:
                data = not data
            self.change_state(data)

    def change_state(self, state):
        super(StateLED, self).change_state(state)
        if self._halpin_option:
            self.hal_pin.set(state)

    def joint_homed(self, joint):
        if int(joint) == self.joint_number:
            self._flip_state(True)

    def joints_unhomed(self, jlist):
        if str(self.joint_number) in jlist:
            self._flip_state(False)

    def check_override_limits(self, w, state, data):
        for i in data:
            if i == 1:
                self._flip_state(True)
                return
        self._flip_state(False)

    def mode_changed(self, mode):
        if self.is_manual and mode == 0:
            self._flip_state(True)
        elif self.is_mdi and mode == 1:
            self._flip_state(True)
        elif self.is_auto and mode == 2:
            self._flip_state(True)
        else:
            self._flip_state(False)

    def spindle_changed(self, state):
        if self.is_spindle_stopped and state == 0:
            self._flip_state(True)
        elif self.is_spindle_rev and state < 0:
            self._flip_state(True)
        elif self.is_spindle_fwd and state > 0:
            self._flip_state(True)
        else:
            self._flip_state(False)

    def spindle_off(self, state):
        if state == 0:
            if self.invert_state:
                self.change_state(True)
            else:
                self.change_state(False)

    def spindle_requested_changed(self, speed):
        self._requested = speed
        state = STATUS.is_spindle_on()
        self.setState(state)

    def spindle_override_changed(self, rate):
        self._override = rate/100.0

    def spindle_actual_changed(self, speed):
        self._actual = speed
        if not STATUS.is_spindle_on():
            if self._halpin_option:
                self.hal_pin.set(False)
                self.setFlashing(False)
            return
        flash = self.spindle_near_check()
        self.setFlashing(flash)
        if self._halpin_option:
            self.hal_pin.set(not flash)

    def spindle_near_check(self):
        req = self._requested * self._override
        upper = abs(req * (1+self._at_speed_percent))
        lower = abs(req * (1-self._at_speed_percent))
        value = abs(self._actual)
        #print(req,lower,value,upper,lower <= value <= upper)
        if lower <= value <= upper:
            return False
        return True

    def switch_on_hard_limits(self, data, group):
        '''
        Switch LED state based on hard limits state
        of selected joint.

        Args:
            data (bool): combined limits state.
            group (list): list of all joints negative
            and positive hard limits state.
        '''

        pair = group[self.joint_number]
        if self.is_neg_limit_tripped: data = pair[0]
        elif self.is_pos_limit_tripped: data = pair[1]
        else:
            data = pair[0]+pair[1]
        self._flip_state(data)

    def _set_halpin_text(self):
        try:
            state = bool(self.HAL_GCOMP_.hal.get_value(self._halpin_name))
        except Exception as e:
            return
        self._flip_state(state)

    #########################################################################
    # This is how designer can interact with our widget properties.
    # designer will show the pyqtProperty properties in the editor
    # it will use the get set and reset calls to do those actions
    #
    # _toggle_properties makes it so we can only select one option
    ########################################################################

    def _toggle_properties(self, picked):
        data = ('is_paused', 'is_estopped', 'is_on', 'is_idle', 'is_homed',
                'is_flood', 'is_mist', 'is_block_delete', 'is_optional_stop',
                'is_joint_homed', 'is_limits_overridden','is_manual',
                'is_mdi', 'is_auto', 'is_spindle_stopped', 'is_spindle_fwd',
                'is_spindle_rev','is_spindle_at_speed','neg_hard_limit_state',
                'pos_hard_limit_state','hard_limits_state','followhalpin')

        for i in data:
            if not i == picked:
                if i in('neg_hard_limit_state',
                        'pos_hard_limit_state','hard_limits_state'):
                     self[i] = False
                else:
                    self[i+'_status'] = False

# property getter/setters

    # invert status
    def set_invert_state(self, data):
        self.invert_state = data
    def get_invert_state(self):
        return self.invert_state
    def reset_invert_state(self):
        self.invert_state = False

    # machine is paused status
    def set_is_paused(self, data):
        self.is_paused = data
        if data:
            self._toggle_properties('is_paused')
    def get_is_paused(self):
        return self.is_paused
    def reset_is_paused(self):
        self.is_paused = False

    # machine is estopped status
    def set_is_estopped(self, data):
        self.is_estopped = data
        if data:
            self._toggle_properties('is_estopped')
    def get_is_estopped(self):
        return self.is_estopped
    def reset_is_estopped(self):
        self.is_estopped = False

    # machine is on status
    def set_is_on(self, data):
        self.is_on = data
        if data:
            self._toggle_properties('is_on')
    def get_is_on(self):
        return self.is_on
    def reset_is_on(self):
        self.is_on = False

    # machine is idle status
    def set_is_idle(self, data):
        self.is_idle = data
        if data:
            self._toggle_properties('is_idle')
    def get_is_idle(self):
        return self.is_idle
    def reset_is_idle(self):
        self.is_idle = False

    # machine_is_homed status
    def set_is_homed(self, data):
        self.is_homed = data
        if data:
            self._toggle_properties('is_homed')
    def get_is_homed(self):
        return self.is_homed
    def reset_is_homed(self):
        self.is_homed = False

    # machine is_flood status
    def set_is_flood(self, data):
        self.is_flood = data
        if data:
            self._toggle_properties('is_flood')
    def get_is_flood(self):
        return self.is_flood
    def reset_is_flood(self):
        self.is_flood = False

    # machine is_mist status
    def set_is_mist(self, data):
        self.is_mist = data
        if data:
            self._toggle_properties('is_mist')
    def get_is_mist(self):
        return self.is_mist
    def reset_is_mist(self):
        self.is_mist = False

    # machine_is_block_delete status
    def set_is_block_delete(self, data):
        self.is_block_delete = data
        if data:
            self._toggle_properties('is_block_delete')
    def get_is_block_delete(self):
        return self.is_block_delete
    def reset_is_block_delete(self):
        self.is_block_delete = False

    # machine_is_optional_stop status
    def set_is_optional_stop(self, data):
        self.is_optional_stop = data
        if data:
            self._toggle_properties('is_optional_stop')
    def get_is_optional_stop(self):
        return self.is_optional_stop
    def reset_is_optional_stop(self):
        self.is_optional_stop = False

    # machine_is_joint_homed status
    def set_is_joint_homed(self, data):
        self.is_joint_homed = data
        if data:
            self._toggle_properties('is_joint_homed')
    def get_is_joint_homed(self):
        return self.is_joint_homed
    def reset_is_joint_homed(self):
        self.is_joint_homed = False

    # machine_is_limits_overridden status
    def set_is_limits_overridden(self, data):
        self.is_limits_overridden = data
        if data:
            self._toggle_properties('is_limits_overridden')
    def get_is_limits_overridden(self):
        return self.is_limits_overridden
    def reset_is_limits_overridden(self):
        self.is_limits_overridden = False

    # machine is manual status
    def set_is_manual(self, data):
        self.is_manual = data
        if data:
            self._toggle_properties('is_manual')
    def get_is_manual(self):
        return self.is_manual
    def reset_is_manual(self):
        self.is_manual = False

    # machine is mdi status
    def set_is_mdi(self, data):
        self.is_mdi = data
        if data:
            self._toggle_properties('is_mdi')
    def get_is_mdi(self):
        return self.is_mdi
    def reset_is_mdi(self):
        self.is_mdi = False

    # machine is auto status
    def set_is_auto(self, data):
        self.is_auto = data
        if data:
            self._toggle_properties('is_auto')
    def get_is_auto(self):
        return self.is_auto
    def reset_is_auto(self):
        self.is_auto = False

    # machine is spindle_stopped status
    def set_is_spindle_stopped(self, data):
        self.is_spindle_stopped = data
        if data:
            self._toggle_properties('is_spindle_stopped')
    def get_is_spindle_stopped(self):
        return self.is_spindle_stopped
    def reset_is_spindle_stopped(self):
        self.is_spindle_stopped = False

    # machine is spindle_fwd status
    def set_is_spindle_fwd(self, data):
        self.is_spindle_fwd = data
        if data:
            self._toggle_properties('is_spindle_fwd')
    def get_is_spindle_fwd(self):
        return self.is_spindle_fwd
    def reset_is_spindle_fwd(self):
        self.is_spindle_fwd = False

    # machine is spindle_rev status
    def set_is_spindle_rev(self, data):
        self.is_spindle_rev = data
        if data:
            self._toggle_properties('is_spindle_rev')
    def get_is_spindle_rev(self):
        return self.is_spindle_rev
    def reset_is_spindle_rev(self):
        self.is_spindle_rev = False

    # machine is spindle_at_speed status
    def set_is_spindle_at_speed(self, data):
        self.is_spindle_at_speed = data
        if data:
            self._toggle_properties('is_spindle_at_speed')
    def get_is_spindle_at_speed(self):
        return self.is_spindle_at_speed
    def reset_is_spindle_at_speed(self):
        self.is_spindle_at_speed = False

    # machine hard limits_tripped status
    def set_neg_limit_tripped(self, data):
        self.is_neg_limit_tripped = data
        if data:
            self._toggle_properties('neg_hard_limit_state')
    def get_neg_limit_tripped(self):
        return self.is_neg_limit_tripped
    def reset_neg_limit_tripped(self):
        self.is_neg_limit_tripped = False

    # machine hard limits_tripped status
    def set_pos_limit_tripped(self, data):
        self.is_pos_limit_tripped = data
        if data:
            self._toggle_properties('pos_hard_limit_state')
    def get_pos_limit_tripped(self):
        return self.is_pos_limit_tripped
    def reset_pos_limit_tripped(self):
        self.is_pos_limit_tripped = False

    # machine hard limits_tripped status
    def set_limits_tripped(self, data):
        self.is_limits_tripped = data
        if data:
            self._toggle_properties('hard_limits_state')
    def get_limits_tripped(self):
        return self.is_limits_tripped
    def reset_limits_tripped(self):
        self.is_limits_tripped = False

    def set_follow_pin(self, data):
        self._follow_halpin = data
        if data:
            self._toggle_properties('follow_halpin')
    def get_follow_pin(self):
        return self._follow_halpin
    def reset_follow_pin(self):
        self._follow_halpin = False

    # Non bool

    # machine_joint_number status
    def set_joint_number(self, data):
        self.joint_number = data
    def get_joint_number(self):
        return self.joint_number
    def reset_joint_number(self):
        self.joint_number = 0

    def set_spindle_near_percent(self, data):
        if data < 0: data = 0
        if data> 100: data = 100
        self._at_speed_percent = data/100.0
    def get_spindle_near_percent(self):
        return int(self._at_speed_percent * 100)
    def reset_spindle_near_percent(self):
        self._at_speed_percen = 0.10

    def set_halpin_name(self, data):
        self._halpin_name = data
    def get_halpin_name(self):
        return self._halpin_name
    def reset_halpin_name(self):
        self._halpin_name = ''

    # designer will show these properties in this order:
    # BOOL
    invert_state_status = pyqtProperty(bool, get_invert_state, set_invert_state, reset_invert_state)
    is_paused_status = pyqtProperty(bool, get_is_paused, set_is_paused, reset_is_paused)
    is_estopped_status = pyqtProperty(bool, get_is_estopped, set_is_estopped, reset_is_estopped)
    is_on_status = pyqtProperty(bool, get_is_on, set_is_on, reset_is_on)
    is_idle_status = pyqtProperty(bool, get_is_idle, set_is_idle, reset_is_idle)
    is_homed_status = pyqtProperty(bool, get_is_homed, set_is_homed, reset_is_homed)
    is_flood_status = pyqtProperty(bool, get_is_flood, set_is_flood, reset_is_flood)
    is_mist_status = pyqtProperty(bool, get_is_mist, set_is_mist, reset_is_mist)
    is_block_delete_status = pyqtProperty(bool, get_is_block_delete, set_is_block_delete, reset_is_block_delete)
    is_optional_stop_status = pyqtProperty(bool, get_is_optional_stop, set_is_optional_stop, reset_is_optional_stop)
    is_joint_homed_status = pyqtProperty(bool, get_is_joint_homed, set_is_joint_homed, reset_is_joint_homed)
    is_limits_overridden_status = pyqtProperty(bool, get_is_limits_overridden, set_is_limits_overridden,
                                               reset_is_limits_overridden)
    is_manual_status = pyqtProperty(bool, get_is_manual, set_is_manual, reset_is_manual)
    is_mdi_status = pyqtProperty(bool, get_is_mdi, set_is_mdi, reset_is_mdi)
    is_auto_status = pyqtProperty(bool, get_is_auto, set_is_auto, reset_is_auto)
    is_spindle_stopped_status = pyqtProperty(bool, get_is_spindle_stopped, set_is_spindle_stopped, reset_is_spindle_stopped)
    is_spindle_fwd_status = pyqtProperty(bool, get_is_spindle_fwd, set_is_spindle_fwd, reset_is_spindle_fwd)
    is_spindle_rev_status = pyqtProperty(bool, get_is_spindle_rev, set_is_spindle_rev, reset_is_spindle_rev)
    is_spindle_at_speed_status = pyqtProperty(bool, get_is_spindle_at_speed, set_is_spindle_at_speed, reset_is_spindle_at_speed)
    neg_hard_limit_state = pyqtProperty(bool, get_neg_limit_tripped, set_neg_limit_tripped, reset_neg_limit_tripped)
    pos_hard_limit_state = pyqtProperty(bool, get_pos_limit_tripped, set_pos_limit_tripped, reset_pos_limit_tripped)
    hard_limits_state = pyqtProperty(bool, get_limits_tripped, set_limits_tripped, reset_limits_tripped)
    follow_halpin_state = pyqtProperty(bool, get_follow_pin, set_follow_pin, reset_follow_pin)

    # NON BOOL
    joint_number_status = pyqtProperty(int, get_joint_number, set_joint_number, reset_joint_number)
    spindle_near_percent_status = pyqtProperty(int, get_spindle_near_percent, set_spindle_near_percent, reset_spindle_near_percent)
    halpin_name = pyqtProperty(str, get_halpin_name, set_halpin_name, reset_halpin_name)

    # boilder code
    def __getitem__(self, item):
        return getattr(self, item)
    def __setitem__(self, item, value):
        return setattr(self, item, value)

if __name__ == "__main__":

    import sys
    from PyQt5.QtGui import QApplication
    app = QApplication(sys.argv)
    led = StateLED()
    led.show()
    #led.startFlashing()
    sys.exit(app.exec_())