################################################################################
#                                                                              #
#                This file is part of the Buildbotics firmware.                #
#                                                                              #
#                  Copyright (c) 2015 - 2018, Buildbotics LLC                  #
#                             All rights reserved.                             #
#                                                                              #
#     This file ("the software") is free software: you can redistribute it     #
#     and/or modify it under the terms of the GNU General Public License,      #
#      version 2 as published by the Free Software Foundation. You should      #
#      have received a copy of the GNU General Public License, version 2       #
#     along with the software. If not, see <http://www.gnu.org/licenses/>.     #
#                                                                              #
#     The software 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       #
#               Lesser General Public License for more details.                #
#                                                                              #
#       You should have received a copy of the GNU Lesser General Public       #
#                License along with the software.  If not, see                 #
#                       <http://www.gnu.org/licenses/>.                        #
#                                                                              #
#                For information regarding this software email:                #
#                  "Joseph Coffland" <joseph@buildbotics.com>                  #
#                                                                              #
################################################################################

import os
import time
import bbctrl
import bbctrl.Trace as Trace


class Ctrl(object):
    def __init__(self, args, ioloop, id):
        Trace.mark('ctrl.init.start', id=id or '<default>')
        self.args = args
        self.ioloop = bbctrl.IOLoop(ioloop)
        self.id = id
        self.timeout = None # Used in demo mode

        if id and not os.path.exists(id): os.mkdir(id)

        # Start log
        if args.demo: log_path = self.get_path(filename = 'bbctrl.log')
        else: log_path = args.log
        self.log = bbctrl.log.Log(args, self.ioloop, log_path)
        Trace.mark('ctrl.log_open')

        self.state = bbctrl.State(self)
        self.config = bbctrl.Config(self)
        Trace.mark('ctrl.state_config')

        self.log.get('Ctrl').info('Starting %s' % self.id)

        try:
            with Trace.span('ctrl.avr'):
                if args.demo: self.avr = bbctrl.AVREmu(self)
                else: self.avr = bbctrl.AVR(self)

            with Trace.span('ctrl.i2c'):
                self.i2c = bbctrl.I2C(args.i2c_port, args.demo)
            with Trace.span('ctrl.lcd'):
                self.lcd = bbctrl.LCD(self)
            with Trace.span('ctrl.mach'):
                self.mach = bbctrl.Mach(self, self.avr)
            with Trace.span('ctrl.preplanner'):
                self.preplanner = bbctrl.Preplanner(self)
            if not args.demo:
                with Trace.span('ctrl.jog'):
                    self.jog = bbctrl.Jog(self)
            with Trace.span('ctrl.pwr'):
                self.pwr = bbctrl.Pwr(self)
            with Trace.span('ctrl.hooks'):
                self.hooks = bbctrl.Hooks(self)
            with Trace.span('ctrl.aux'):
                self.aux = bbctrl.AuxAxis(self)

            with Trace.span('ctrl.mach.connect'):
                self.mach.connect()

            self.lcd.add_new_page(bbctrl.MainLCDPage(self))
            self.lcd.add_new_page(bbctrl.IPLCDPage(self.lcd))

            os.environ['GCODE_SCRIPT_PATH'] = self.get_upload()

            Trace.mark('ctrl.init.end')
            Trace.sd_notify('STATUS=ctrl initialized\n')

        except Exception:
            Trace.mark('ctrl.init.error')
            self.log.get('Ctrl').exception('Internal error: Control initialization failed')


    def __del__(self): print('Ctrl deleted')


    def clear_timeout(self):
        if self.timeout is not None: self.ioloop.remove_timeout(self.timeout)
        self.timeout = None


    def set_timeout(self, cb, *args, **kwargs):
        self.clear_timeout()
        t = self.args.client_timeout
        self.timeout = self.ioloop.call_later(t, cb, *args, **kwargs)


    def get_path(self, dir = None, filename = None):
        path = './' + self.id if self.id else '.'
        path = path if dir is None else (path + '/' + dir)
        return path if filename is None else (path + '/' + filename)


    def get_upload(self, filename = None):
        return self.get_path('upload', filename)


    def get_plan(self, filename = None):
        return self.get_path('plans', filename)


    def configure(self):
        # Indirectly configures state via calls to config() and the AVR
        self.config.reload()
        self.state.init()


    def ready(self):
        # This is used to synchronize the start of the preplanner
        self.preplanner.start()


    def close(self):
        try: self.aux.close()
        except Exception: pass
        self.log.get('Ctrl').info('Closing %s' % self.id)
        self.ioloop.close()
        self.avr.close()
        self.mach.planner.close()