import os
import subprocess

import gi
gi.require_version("Gtk","3.0")
gi.require_version("Gdk","3.0")
from gi.repository import Gtk as gtk

import linuxcnc
import hal

# Set up logging
from qtvcp import logger

LOG = logger.getLogger(__name__)
LOG.setLevel(logger.DEBUG) # One of DEBUG, INFO, WARNING, ERROR, CRITICAL

from gladevcp.core import Status, Info

INFO = Info()
STATUS = Status()

################################################################
# Action class
################################################################
class _Lcnc_Action(object):
    def __init__(self):
        # only initialize once for all instances
        if self.__class__._instanceNum >= 1:
            return
        self.__class__._instanceNum += 1
        self.cmd = linuxcnc.command()
        self.tmp = None
        self.prefilter_path = None
        self.home_all_warning_flag = False
        self.proc = None

    def SET_ESTOP_STATE(self, state):
        if state:
            self.cmd.state(linuxcnc.STATE_ESTOP)
        else:
            self.cmd.state(linuxcnc.STATE_ESTOP_RESET)

    def SET_MACHINE_STATE(self, state):
        if state:
            self.cmd.state(linuxcnc.STATE_ON)
        else:
            self.cmd.state(linuxcnc.STATE_OFF)

    def SET_MOTION_TELEOP(self, value):
        # 1:teleop, 0: joint
        #if value:
        #    print('To telop (1)')
        #else:
        #    print('To joint (0)')

        self.cmd.teleop_enable(value)
        self.cmd.wait_complete()
        STATUS.stat.poll()

    def SET_MACHINE_HOMING(self, joint):
        self.ensure_mode(linuxcnc.MODE_MANUAL)
        self.cmd.teleop_enable(False)
        if not INFO.HOME_ALL_FLAG and joint == -1:
            if not self.home_all_warning_flag == True:
                self.home_all_warning_flag = True
                STATUS.emit('error', linuxcnc.NML_ERROR,
                            ''''Home-all not available according to INI Joint Home sequence
                            Set the joint sequence in the INI or
                            modify the screen for individual home buttons
                            to avoid this warning
                            Press again to home Z axis Joint''')
            else:
                if STATUS.is_all_homed():
                    self.home_all_warning_flag = False
                    return
                # so linuxcnc is misonfigured or the Screen is built wrong (needs individual home buttons)
                # now we will fake individual home buttons by homing joints one at a time
                # but always start will Z - on a mill it's safer
                zj = INFO.GET_JOG_FROM_NAME['Z']
                if not STATUS.stat.homed[zj]:
                    LOG.info('Homing Joint: {}'.format(zj))
                    self.cmd.home(zj)
                    STATUS.emit('error', linuxcnc.NML_ERROR,
                                ''''Home-all not available according to INI Joint Home sequence
             Press again to home next Joint''')
                    return
                length = len(INFO.JOINT_SEQUENCE_LIST)
                for num, j in enumerate(INFO.JOINT_SEQUENCE_LIST):
                    print(j, num, len(INFO.JOINT_SEQUENCE_LIST))
                    # at the end so all homed
                    if num == length - 1:
                        self.home_all_warning_flag = False
                    # one from end but end is already homed
                    if num == length - 2 and STATUS.stat.homed[zj]:
                        self.home_all_warning_flag = False
                    # Z joint is homed first outside this for loop
                    if j == zj: continue
                    # ok home it then stop and wait for next button push
                    if not STATUS.stat.homed[j]:
                        LOG.info('Homing Joint: {}'.format(j))
                        self.cmd.home(j)
                        if self.home_all_warning_flag:
                            STATUS.emit('error', linuxcnc.NML_ERROR,
                                        ''''Home-all not available according to INI Joint Home sequence
                     Press again to home next Joint''')
                        break
        else:
            LOG.info('Homing Joint: {}'.format(joint))
            self.cmd.home(joint)

    def SET_MACHINE_UNHOMED(self, joint):
        self.ensure_mode(linuxcnc.MODE_MANUAL)
        self.cmd.teleop_enable(False)

        if joint < 0:
            # unhome all joints
            self.cmd.unhome(joint)
        else:
            # if you unhome a joint that is combined with another (to make an axis)
            # then unhome both.
            for j in (INFO.JOINT_RELATIONS_LIST[joint]):
                self.cmd.unhome(j)

    def SET_AUTO_MODE(self):
        self.ensure_mode(linuxcnc.MODE_AUTO)

    # if called while on hard limit will set the flag and allow machine on
    # if called with flag set and now off hard limits - resets the flag
    def TOGGLE_LIMITS_OVERRIDE(self):
        if STATUS.is_limits_override_set() and STATUS.is_hard_limits_tripped():
            STATUS.emit('error', linuxcnc.OPERATOR_ERROR, '''Can Not Reset Limits Override - Still On Hard Limits''')
            # let calling function know we didn't release the limit override
            return False
        elif not STATUS.is_limits_override_set() and STATUS.is_hard_limits_tripped():
            STATUS.emit('error', STATUS.TEMPARARY_MESSAGE, 'Hard Limits Are Overridden!')
            self.cmd.override_limits()
        else:
            STATUS.emit('error', STATUS.TEMPARARY_MESSAGE, 'Hard Limits Are Reset To Active!')
            self.cmd.override_limits()

    def SET_MDI_MODE(self):
        self.ensure_mode(linuxcnc.MODE_MDI)

    def SET_MANUAL_MODE(self):
        self.ensure_mode(linuxcnc.MODE_MANUAL)

    # sets up a python generator that goes through the MDI list of lists.
    # if it's a command that we have to wait indefinitely
    # ie like a manual tool change.
    # then we wait for STATUS to return 'command-stopped'
    # and then continue where we left off.
    # normal commands just call normal mdi
    # when the generator ends it forces the return
    # to the recorded mode.
    def CALL_MDI_LIST(self, code):
        self.RECORD_CURRENT_MODE()
        self.ensure_mode(linuxcnc.MODE_MDI)
        self._gen = self.generate_list(code)
        try:
            state = next(self._gen)
        except StopIteration:
            pass

    def CALL_MDI(self, code):
        LOG.debug('CALL_MDI Command: {}'.format(code))
        self.ensure_mode(linuxcnc.MODE_MDI)
        self.cmd.mdi('%s' % code)

    def CALL_MDI_WAIT(self, code, time=5, mode_return=False):
        LOG.debug('MDI_WAIT_Command= {}, maxt = {}'.format(code, time))
        fail, premode = self.ensure_mode(linuxcnc.MODE_MDI)
        for l in code.split("\n"):
            LOG.debug('CALL_MDI_WAIT Command: {}'.format(l))
            self.cmd.mdi(l)
            result = self.cmd.wait_complete(time)
            if result == -1:
                LOG.error('CALL_MDI_WAIT timeout surpassed {} seconds'.format(time))
                # STATUS.emit('MDI time out error',)
                self.ABORT()
                return -1
            elif result == linuxcnc.RCS_ERROR:
                LOG.debug('CALL_MDI_WAIT RCS error: {}'.format(time, result))
                return -1
            result = linuxcnc.error_channel().poll()
            if result:
                STATUS.emit('error', result[0], result[1])
                LOG.error('CALL_MDI_WAIT Error: {}'.format(result[1]))
                return -1
        if mode_return:
            self.ensure_mode(premode)
        return 0

    def CALL_INI_MDI(self, number):
        try:
            mdi = INFO.MDI_COMMAND_LIST[number]
        except:
            msg = 'MDI_COMMAND= # {} Not found under [MDI_COMMAND_LIST] in INI file'.format(number)
            LOG.error(msg)
            self.SET_ERROR_MESSAGE(msg)
            return
        mdi_list = mdi.split(';')
        self.ensure_mode(linuxcnc.MODE_MDI)
        for code in (mdi_list):
            LOG.debug('CALL_INI_MDI command:{}'.format(code))
            self.cmd.mdi('%s' % code)

    def CALL_OWORD(self, code, time=5):
        LOG.debug('OWORD_COMMAND= {}'.format(code))
        self.ensure_mode(linuxcnc.MODE_MDI)
        self.cmd.mdi(code)
        STATUS.stat.poll()
        while STATUS.stat.exec_state == linuxcnc.EXEC_WAITING_FOR_MOTION_AND_IO or \
                STATUS.stat.exec_state == linuxcnc.EXEC_WAITING_FOR_MOTION:
            result = self.cmd.wait_complete(time)
            if result == -1:
                LOG.error('Oword timeout oast () Error = # {}'.format(time, result))
                self.ABORT()
                return -1
            elif result == linuxcnc.RCS_ERROR:
                LOG.error('Oword RCS Error = # {}'.format(result))
                return -1
            result = linuxcnc.error_channel().poll()
            if result:
                STATUS.emit('error', result[0], result[1])
                LOG.error('Oword Error: {}'.format(result[1]))
                return -1
            STATUS.stat.poll()
        result = self.cmd.wait_complete(time)
        if result == -1 or result == linuxcnc.RCS_ERROR or linuxcnc.error_channel().poll():
            LOG.error('Oword RCS Error = # {}'.format(result))
            return -1
        result = linuxcnc.error_channel().poll()
        if result:
            STATUS.emit('error', result[0], result[1])
            LOG.error('Oword Error: {}'.format(result[1]))
            return -1
        LOG.debug('OWORD_COMMAND returns complete : {}'.format(result))
        return 0

    def UPDATE_VAR_FILE(self):
        self.ensure_mode(linuxcnc.MODE_MANUAL)
        self.ensure_mode(linuxcnc.MODE_MDI)

    def OPEN_PROGRAM(self, fname):
        self.prefilter_path = str(fname)
        old = STATUS.stat.file
        flt = INFO.get_filter_program(str(fname))

        if os.path.basename(fname).count('.') > 1:
            e = 'Open File error: Multiple \'.\' not allowed in Linuxcnc'
            STATUS.emit('error', linuxcnc.OPERATOR_ERROR, e)
            LOG.debug(e)
            return

        if flt:
            LOG.debug('get {} filtered program {}'.format(flt, fname))
            self.open_filter_program(str(fname), flt)
        else:
            LOG.debug('Load program {}'.format(fname))
            self.cmd.program_open(str(fname))

            # STATUS can't tell if we are loading the same file.
            # for instance if you edit a file then load it again.
            # so we check for it and force an update:
            if old == fname:
                STATUS.emit('file-loaded', fname)

    def SAVE_PROGRAM(self, source, fname, ending = '.ngc'):
        # no gcode - ignore
        if source == '':
            return None

        npath = None
        # normalize to absolute path
        try:
            path = os.path.abspath(fname)
            if '.' not in path:
                path += ending
            if path.count('.') > 1:
                e = 'Save Error: Multiple \'.\' not allowed in Linuxcnc'
                STATUS.emit('error', linuxcnc.OPERATOR_ERROR, e)
                LOG.debug(e)
                return None
            name, ext = path.rsplit('.')
            npath = name + '.' + ext.lower()
        except Exception as e:
            LOG.debug('save error: {}'.format(e))
            LOG.debug('Original save path: {}'.format(fname))

        LOG.debug('SAVE_PROGRAM write to: {}'.format(npath))

        # ok write the file
        outfile = None
        try:
            outfile = open(npath, 'w')
            outfile.write(source)
            STATUS.emit('update-machine-log', 'Saved: ' + npath, 'TIME')
        except Exception as e:
            print(e)
            STATUS.emit('error', linuxcnc.OPERATOR_ERROR, e)
            try:
                outfile.close()
            except:
                pass
            return None
        finally:
            try:
                outfile.close()
            except:
                pass
            return npath

    def SET_AXIS_ORIGIN(self, axis, value):
        if axis == '' or axis.upper() not in ("XYZABCUVW"):
            LOG.warning("Couldn't set origin -axis >{}< not recognized:".format(axis))
        m = "G10 L20 P0 %s%f" % (axis, value)
        fail, premode = self.ensure_mode(linuxcnc.MODE_MDI)
        self.cmd.mdi(m)
        self.cmd.wait_complete()
        self.ensure_mode(premode)
        self.RELOAD_DISPLAY()

    # Adjust tool offsets so current position ends up the given value
    def SET_TOOL_OFFSET(self, axis, value, fixture=False):
        lnum = 10 + int(fixture)
        m = "G10 L%d P%d %s%f" % (lnum, STATUS.stat.tool_in_spindle, axis, value)
        fail, premode = self.ensure_mode(linuxcnc.MODE_MDI)
        self.cmd.mdi(m)
        self.cmd.wait_complete()
        self.cmd.mdi("G43")
        self.cmd.wait_complete()
        self.ensure_mode(premode)
        self.RELOAD_DISPLAY()

    # Set actual tool offset in tool table to the given value
    def SET_DIRECT_TOOL_OFFSET(self, axis, value):
        m = "G10 L1 P%d %s%f" % (STATUS.get_current_tool(), axis, value)
        fail, premode = self.ensure_mode(linuxcnc.MODE_MDI)
        self.cmd.mdi(m)
        self.cmd.wait_complete()
        self.cmd.mdi("G43")
        self.cmd.wait_complete()
        self.ensure_mode(premode)
        self.RELOAD_DISPLAY()

    def RUN(self, line=0):
        if not STATUS.is_auto_mode():
            self.ensure_mode(linuxcnc.MODE_AUTO)
        if STATUS.is_auto_paused() and line == 0:
            self.cmd.auto(linuxcnc.AUTO_STEP)
            return
        elif not STATUS.is_auto_running():
            self.cmd.auto(linuxcnc.AUTO_RUN, line)

    def STEP(self):
        if STATUS.is_auto_running() and not STATUS.is_auto_paused():
            self.cmd.auto(linuxcnc.AUTO_PAUSE)
            return
        if STATUS.is_auto_paused():
            self.cmd.auto(linuxcnc.AUTO_STEP)
            return

    def ABORT(self):
        self.cmd.abort()

    def PAUSE(self):
        if not STATUS.stat.paused:
            self.cmd.auto(linuxcnc.AUTO_PAUSE)
        else:
            LOG.debug('resume')
            self.cmd.auto(linuxcnc.AUTO_RESUME)

    def SET_MAX_VELOCITY_RATE(self, rate):
        self.cmd.maxvel(rate / 60.0)

    def SET_RAPID_RATE(self, rate):
        self.cmd.rapidrate(rate / 100.0)

    def SET_FEED_RATE(self, rate):
        self.cmd.feedrate(rate / 100.0)

    def SET_SPINDLE_RATE(self, rate, number=0):
        self.cmd.spindleoverride(rate / 100.0, number)

    def SET_JOG_RATE(self, rate):
        STATUS.set_jograte(float(rate))

    def SET_JOG_RATE_ANGULAR(self, rate):
        STATUS.set_jograte_angular(float(rate))

    def SET_JOG_INCR(self, incr, text):
        STATUS.set_jog_increments(incr, text)
        # stop runaway jogging
        for jnum in range(STATUS.stat.joints):
            self.STOP_JOG(jnum)

    def SET_JOG_INCR_ANGULAR(self, incr, text):
        STATUS.set_jog_increment_angular(incr, text)
        # stop runaway joging
        for jnum in range(STATUS.stat.joints):
            self.STOP_JOG(jnum)

    def SET_SPINDLE_ROTATION(self, direction=1, rpm=100, number=-1):
        self.cmd.spindle(direction, rpm, number)

    def SET_SPINDLE_FASTER(self, number=0):
        # if all spindles (-1) command , we must check each spindle
        if number == -1:
            a = 0
            b = INFO.AVAILABLE_SPINDLES
        else:
            a = number
            b = number + 1
        for i in range(a, b):
            cur = STATUS.get_spindle_speed(i)
            if cur > 0:
                dir = 1
            else:
                dir = -1
            if abs(cur + (INFO.SPINDLE_INCREMENT * dir)) >= INFO['MAX_SPINDLE_{}_SPEED'.format(i)]:
                self.cmd.spindle(dir, INFO['MAX_SPINDLE_{}_SPEED'.format(i)], i)
                continue
            else:
                self.cmd.spindle(dir, abs(cur + (INFO.SPINDLE_INCREMENT * dir)), i)

    def SET_SPINDLE_SLOWER(self, number=0):
        # if all spindles (-1) command , we must check each spindle
        if number == -1:
            a = 0
            b = INFO.AVAILABLE_SPINDLES
        else:
            a = number
            b = number + 1
        for i in range(a, b):
            cur = STATUS.get_spindle_speed(i)
            if cur > 0:
                dir = 1
            else:
                dir = -1
            if abs(cur - (INFO.SPINDLE_INCREMENT * dir)) <= INFO['MIN_SPINDLE_{}_SPEED'.format(i)]:
                self.cmd.spindle(dir, INFO['MIN_SPINDLE_{}_SPEED'.format(i)], i)
                continue
            else:
                self.cmd.spindle(dir, abs(cur - (INFO.SPINDLE_INCREMENT * dir)), i)

    def SET_SPINDLE_STOP(self, number=0):
        self.cmd.spindle(linuxcnc.SPINDLE_OFF, number)

    def SET_USER_SYSTEM(self, system):
        systemnum = str(system).strip('gG')
        if systemnum in ('54', '55', '56', '57', '58', '59', '59.1', '59.2', '59.3'):
            fail, premode = self.ensure_mode(linuxcnc.MODE_MDI)
            self.cmd.mdi('G' + systemnum)
            self.cmd.wait_complete()
            self.ensure_mode(premode)

    def ZERO_G92_OFFSET(self):
        self.CALL_MDI("G92.1")
        self.RELOAD_DISPLAY()

    def ZERO_ROTATIONAL_OFFSET(self):
        self.CALL_MDI("G10 L2 P0 R 0")
        self.RELOAD_DISPLAY()

    def ZERO_G5X_OFFSET(self, num):
        fail, premode = self.ensure_mode(linuxcnc.MODE_MDI)
        clear_command = "G10 L2 P%d R0" % num
        for a in INFO.AVAILABLE_AXES:
            clear_command += " %c0" % a
        self.cmd.mdi('%s' % clear_command)
        self.cmd.wait_complete()
        self.ensure_mode(premode)
        self.RELOAD_DISPLAY()

    def RECORD_CURRENT_MODE(self):
        mode = STATUS.get_current_mode()
        self.last_mode = mode
        return mode

    def RESTORE_RECORDED_MODE(self):
        self.ensure_mode(self.last_mode)

    def SET_SELECTED_JOINT(self, data):
        if isinstance(data, int):
            STATUS.set_selected_joint(data)
        else:
            LOG.error('Selected joint must be an integer: {}'.format(data))

    def SET_SELECTED_AXIS(self, data):
        if isinstance(data, (str)):
            STATUS.set_selected_axis(data)
        else:
            LOG.error('Selected axis must be a string: {}'.format(data))

    # jog based on STATUS's rate and distance
    # use joint number for joint or letter for axis jogging
    def DO_JOG(self, joint_axis, direction):
        angular = False
        if isinstance(joint_axis, int):
            if STATUS.stat.joint[joint_axis]['jointType'] == linuxcnc.ANGULAR:
                angular = True
            jointnum = joint_axis
        else:
            if joint_axis.upper() in ('A', 'B', 'C'):
                angular = True
            s = 'XYZABCUVW'
            jointnum = s.find(joint_axis)
        # Get jog rate
        if angular:
            distance = STATUS.get_jog_increment_angular()
            rate = STATUS.get_jograte_angular() / 60
        else:
            distance = STATUS.get_jog_increment()
            rate = STATUS.get_jograte() / 60
        self.JOG(jointnum, direction, rate, distance)

    # jog based on given variables
    # checks for jog joint mode first
    def JOG(self, jointnum, direction, rate, distance=0):
        jjogmode, j_or_a = self.get_jog_info(jointnum)
        if jjogmode is None or j_or_a is None:
            return
        if direction == 0:
            self.cmd.jog(linuxcnc.JOG_STOP, jjogmode, j_or_a)
        else:
            if distance == 0:
                self.cmd.jog(linuxcnc.JOG_CONTINUOUS, jjogmode, j_or_a, direction * rate)
            else:
                self.cmd.jog(linuxcnc.JOG_INCREMENT, jjogmode, j_or_a, direction * rate, distance)

    def STOP_JOG(self, jointnum):
        if STATUS.machine_is_on() and STATUS.is_man_mode():
            jjogmode, j_or_a = self.get_jog_info(jointnum)
            self.cmd.jog(linuxcnc.JOG_STOP, jjogmode, j_or_a)

    def TOGGLE_FLOOD(self):
        self.cmd.flood(not (STATUS.stat.flood))

    def SET_FLOOD_ON(self):
        self.cmd.flood(1)

    def SET_FLOOD_OFF(self):
        self.cmd.flood(0)

    def TOGGLE_MIST(self):
        self.cmd.mist(not (STATUS.stat.mist))

    def SET_MIST_ON(self):
        self.cmd.mist(1)

    def SET_MIST_OFF(self):
        self.cmd.mist(0)

    def RELOAD_TOOLTABLE(self):
        self.cmd.load_tool_table()

    def TOGGLE_OPTIONAL_STOP(self):
        self.cmd.set_optional_stop(not (STATUS.stat.optional_stop))

    def SET_OPTIONAL_STOP_ON(self):
        self.cmd.set_optional_stop(True)

    def SET_OPTIONAL_STOP_OFF(self):
        self.cmd.set_optional_stop(False)

    def TOGGLE_BLOCK_DELETE(self):
        self.cmd.set_block_delete(not (STATUS.stat.block_delete))

    def SET_BLOCK_DELETE_ON(self):
        self.cmd.set_block_delete(True)

    def SET_BLOCK_DELETE_OFF(self):
        self.cmd.set_block_delete(False)

    def RELOAD_DISPLAY(self):
        STATUS.emit('reload-display')

    def SET_GRAPHICS_VIEW(self, view):
        if view.lower() in ('x', 'y', 'y2', 'z', 'z2', 'p', 'clear',
                            'zoom-in', 'zoom-out', 'pan-up', 'pan-down',
                            'pan-left', 'pan-right', 'rotate-up',
                            'rotate-down', 'rotate-cw', 'rotate-ccw',
                            'overlay_dro_on', 'overlay_dro_off',
                            'overlay-offsets-on', 'overlay-offsets-off',
                            'inhibit-selection-on', 'inhibit-selection-off',
                            'alpha-mode-on', 'alpha-mode-off', 'dimensions-on',
                            'dimensions-off', 'record-view', 'set-recorded-view'):
            STATUS.emit('graphics-view-changed', view, None)

    def SET_GRAPHICS_GRID_SIZE(self, size):
        STATUS.emit('graphics-view-changed', 'GRID-SIZE', {'SIZE': size})

    def ADJUST_GRAPHICS_PAN(self, x, y):
        STATUS.emit('graphics-view-changed', 'pan-view', {'X': x, 'Y': y})

    def ADJUST_GRAPHICS_ROTATE(self, x, y):
        STATUS.emit('graphics-view-changed', 'rotate-view', {'X': x, 'Y': y})

    def SHUT_SYSTEM_DOWN_PROMPT(self):
        import subprocess
        try:
            try:
                subprocess.call('gnome-session-quit --power-off', shell=True)
            except:
                try:
                    subprocess.call('xfce4-session-logout', shell=True)
                except:
                    try:
                        subprocess.call('systemctl poweroff', shell=True)
                    except:
                        raise
        except Exception as e:
            LOG.warning("Couldn't shut system down: {}".format(e))

    def SHUT_SYSTEM_DOWN_NOW(self):
        import subprocess
        subprocess.call('shutdown now')

    def UPDATE_MACHINE_LOG(self, text, option=None):
        if option not in ('TIME', 'DATE', 'DELETE', None):
            LOG.warning("Machine_log option not recognized: {}".format(option))
        STATUS.emit('update-machine-log', text, option)

    def SET_LATHE_MIRROR_X(self):
        if not INFO.MACHINE_IS_LATHE:
            LOG.warning('Can not set mirror mode; Machine is not a lathe')
            return
        self.CALL_MDI("G10 L2 P0 R180")
        self.RELOAD_DISPLAY()

    def UNSET_LATHE_MIRROR_X(self):
        if not INFO.MACHINE_IS_LATHE:
            LOG.warning('Can not unset mirror mode; Machine is not a lathe')
            return
        self.CALL_MDI("G10 L2 P0 R0")
        self.RELOAD_DISPLAY()

    # send an operator info message to the gui
    def SET_DISPLAY_MESSAGE(self, msg):
        self.cmd.display_msg(msg)

    # send an operator error message to the gui
    def SET_ERROR_MESSAGE(self, msg):
        self.cmd.error_msg(msg)

    ######################################
    # Action Helper functions
    ######################################

    # In free (joint) mode we use the plain joint number.
    # In axis mode we convert the joint number to the equivalent
    # axis number 
    def get_jog_info(self, num):
        if STATUS.stat.motion_mode == linuxcnc.TRAJ_MODE_FREE:
            return True, self.jnum_check(num)
        return False, num

    def jnum_check(self, num):
        if STATUS.stat.kinematics_type != linuxcnc.KINEMATICS_IDENTITY:
            LOG.warning("Joint jogging not supported for non-identity kinematics")
            # return None
        if num > INFO.JOINT_COUNT:
            LOG.error("Computed joint number={} exceeds jointcount={}".format(num, INFO.JOINT_COUNT))
            # decline to jog
            return None
        if num not in INFO.AVAILABLE_JOINTS:
            LOG.warning("Joint {} is not in available joints {}".format(num, INFO.AVAILABLE_JOINTS))
            return None
        return num

    # check and if required set the machine mode
    # return: state changed?, the original mode
    def ensure_mode(self, *modes):
        truth, premode = STATUS.check_for_modes(modes)
        if truth is False:
            self.cmd.mode(modes[0])
            self.cmd.wait_complete()
            return (True, premode)
        else:
            return (truth, premode)

    #------- gcode filter program

    def open_filter_program(self, fname, flt):
        LOG.debug('Opening filtering program yellow<{}> for {}'.format(flt, fname))
        if not self.tmp:
            self._mktemp()
        tmp = os.path.join(self.tmp, os.path.basename(fname))
        flt = FilterProgram(flt, fname, tmp, lambda r: r or self._load_filter_result(tmp))

    def _load_filter_result(self, fname):
        old = STATUS.stat.file
        LOG.debug('Load filtered program {}'.format(fname))
        self.cmd.program_open(str(fname))

        # STATUS can't tell if we are loading the same file.
        # for instance if you edit a file then load it again.
        # so we check for it and force an update:
        if old == fname:
            STATUS.emit('file-loaded', fname)

    def _mktemp(self):
        if self.tmp:
            return
        self.tmp = tempfile.mkdtemp(prefix='emcflt-', suffix='.d')
        atexit.register(lambda: shutil.rmtree(self.tmp))


    #-------MDI call list helpers----------

    def change_mode_after(self, gen):
        self._a = STATUS.connect('command-stopped', lambda w: self.command_stopped(gen))
    # when command stops - we try to continue the generator.
    # if generator is done - return to recorded mode.
    def command_stopped(self, gen):
        try:
            state = next(gen)
        except StopIteration:
            STATUS.handler_disconnect(self._a)

    # python generator that goes through the MDI list.
    # if it's a command that we have to wait indefinitely
    # ie like a manual tool change.
    # then we wait for STATUS to return 'command-stopped'
    # and then continue where we left off.
    # normal commands just call normal mdi
    # when the generator ends it forces the return
    # to the recorded mode.
    def generate_list(self,cmdList):
        for calltype, cmd in cmdList:
            if calltype == 'commandStatusWait':
                self.change_mode_after(self._gen)
                self.cmd.mdi('%s' % cmd)
                yield cmd
            else:
                result = self.CALL_MDI_WAIT(cmd,mode_return=False)
                if result == -1:
                    LOG.debug('MDI command {} failed.'.format(cmd))
        self.RESTORE_RECORDED_MODE()


    #------- Touch plate touchoff

    def read_stdout(self):
        qba = self.proc.readAllStandardOutput()
        line = qba.data()
        self.parse_line(line)

    def read_stderror(self):
        qba = self.proc.readAllStandardError()
        line = qba.data()
        self.parse_line(line)

    def parse_line(self, line):
        line = line.decode("utf-8")
        if "COMPLETE" in line:
            self.SET_DISPLAY_MESSAGE("Touchplate touchoff routine returned successfully")
        elif "DEBUG" in line: # must set DEBUG level on LOG in top of this file
            LOG.debug(line[line.find('DEBUG')+6:])
        # This also gets error text sent from logging of ACTION library in the subprogram
        elif "ERROR" in line:
            # remove preceding text
            s = line[line.find('ERROR')+6:]
            s = s[s.find(']')+1:]
            # remove (possible)trailing debug info
            d = s.find('(')
            if not d == -1:
                s = s[:d]
            self.SET_ERROR_MESSAGE(s)

    def touchoff_started(self):
        LOG.debug("Touchplate touchOff subprogram started with PID {}\n".format(self.proc.processId()))

    def touchoff_finished(self, exitCode, exitStatus):
        LOG.debug("Touchplate touchoff Process finished - exitCode {} exitStatus {}".format(exitCode, exitStatus))
        self.proc = None

    #------- boiler code

    def __getitem__(self, item):
        return getattr(self, item)

    def __setitem__(self, item, value):
        return setattr(self, item, value)


#############################

class Progress:
    def __init__(self, phases, total):
        self.num_phases = phases
        self.phase = 0
        self.total = total or 1
        self.lastcount = 0
        self.text = None

    def update(self, count, force=0):
        if force or count - self.lastcount > 400:
            fraction = (self.phase + count * 1. / self.total) / self.num_phases
            self.lastcount = count
            self.emit_percent(int(fraction * 100))

    # Send out progress
    def emit_percent(self, percent):
        STATUS.emit('progress', percent, self.text)

    def nextphase(self, total):
        self.phase += 1
        self.total = total or 1
        self.lastcount = -100
        self.update(0, True)

    def done(self):
        self.emit_percent(-1)

    # text for filter progress bar
    def set_text(self, text):
        if text is None:
            self.text = "Filter Progress"
        else:
            self.text = text


###########################################
# Filter Class
########################################################################
import os, sys, time, select, re
import tempfile, atexit, shutil

# slightly reworked code from gladevcp
# loads a filter program and collects the result
progress_re = re.compile("^FILTER_PROGRESS=(\\d*)$")


class FilterProgram:
    def __init__(self, program_filter, infilename, outfilename, callback=None):
        import subprocess
        outfile = open(outfilename, "w")
        infilename_q = infilename.replace("'", "'\\''")

        p = subprocess.Popen(["sh", "-c", "%s '%s'" % (program_filter, infilename_q)],
                             stdin=subprocess.PIPE,
                             stdout=outfile,
                             stderr=subprocess.PIPE)
        p.stdin.close()  # No input for you

        self.p = p
        self.stderr_text = []
        self.program_filter = os.path.split(program_filter)[1]
        self.filtered_program = os.path.split(infilename_q)[1]
        self.callback = callback

        self.progress = Progress(1, 100)
        self.progress.set_text("Filtering...")
        self.gid = STATUS.connect('periodic', self.update)

    def update(self, w):
        # check if done
        if self.p.poll() is not None:
            self.finish()
            STATUS.disconnect(self.gid)
            return False
        # check if there is something to read or pass
        r, w, x = select.select([self.p.stderr], [], [], 0)
        if not r:
            return True
        # process message from standard error
        stderr_line = self.p.stderr.readline()
        stderr_line = stderr_line.decode("utf-8")
        # compare to pre compiled re string
        # if true : update progress
        # else add it too error message string for later
        m = progress_re.match(stderr_line)
        if m:
            self.progress.update(int(m.group(1)), 1)
        else:
            self.stderr_text.append(stderr_line)
            sys.stderr.write(stderr_line)
        return True

    def finish(self):
        self.progress.done()
        # .. might be something left on stderr
        for line in self.p.stderr:
            line = line.decode("utf-8")
            m = progress_re.match(line)
            if not m:
                self.stderr_text.append(line)
        r = self.p.returncode
        if r:
            self.error(r, "".join(self.stderr_text))
        if self.callback:
            self.callback(r)

    # request an error dialog box
    def error(self, exitcode, stderr):
        LOG.error('Filter Program Error:{}'.format(stderr))
        message = _('''The filter program '{}' that was filtering '{}' 
                        exited with an errorL'''.format(
                            self.program_filter, self.filtered_program))

        dialog = gtk.MessageDialog(None, 0, gtk.MessageType.ERROR,
                                        gtk.ButtonsType.CLOSE, message)
        dialog.format_secondary_text(stderr)
        dialog.run()
        dialog.destroy()


# For testing purposes

if __name__ == "__main__":
    from qtvcp.core import Action

    testcase = Action()

    # print status caught errors
    def mess(error, text):
        print('STATUS caught:', text)

    STATUS.connect("error", lambda w, n, d: mess(n, d))

    # test case
    testcase.SAVE_PROGRAM('hi', '/../../home')