#!/usr/bin/python
import serial, reprap, time, sys

#reprap.snap.printOutgoingPackets = True
#reprap.snap.printIncomingPackets = True
#reprap.snap.printFailedPackets = True
#reprap.printDebug = True

if reprap.openSerial( 0, 19200, 60 ):

	#print reprap.serialPort

	reprap.cartesian.x.active = True	# these devices are present in network
	reprap.cartesian.y.active = True
	reprap.cartesian.z.active = True
	reprap.extruder.active = True

	reprap.cartesian.x.setNotify()						
	reprap.cartesian.y.setNotify()
	reprap.cartesian.z.setNotify()
	reprap.cartesian.x.limit = 2523
	#reprap.cartesian.y.limit = 2743
	reprap.cartesian.y.limit = 2000
	#work surface approx x 2523, y 2743

	def printHelp():
		print "\nreprapcontrol command [args]"
		print "    Commands:"
		print "        stop                 Stop all axies"
		print "        reset                Send all axies to home"
		print "        pos                  Print current position"
		print "        goto [x] [y]         Go to specified position"
		print "        power [0 to 63]      Set power level"
		print "        speed [0 to 255]     Set steper speed"
		print "        go                   Test routine"
		print "        free                 Power off steper motors"
		print "        run [x/y] [speed]    Spin motor forwards"
		print "        runb [x/y] [speed]   Spin motor backwards"
		print "        step [x/y/z]         Step motor forward"
		print "        stepb [x/y/z]         Step motor backwards"

	def printPos():
		x, y, z = reprap.cartesian.getPos()
		print "Location [" + str(x) + ", " + str(y) + ", " + str(z) + "]"


	print "================================================================"


	if len(sys.argv) < 2:
		printHelp()
	

	########### control of cartesian frame as a whole #########

	#stop all steppers
	if sys.argv[1] == "stop":
		reprap.cartesian.stop()

	#goto 0,0
	elif sys.argv[1] == "reset":
		reprap.cartesian.homeReset( waitArrival = False )
		#time.sleep(2)
		printPos()

	#print current positon
	elif sys.argv[1] == "pos":
		printPos()

	#goto a specific location
	elif sys.argv[1] == "goto":
		#reprap.cartesian.seek( ( int(sys.argv[2]), int(sys.argv[3]), 0 ), waitArrival = False)
		reprap.cartesian.seek( ( int(sys.argv[2]), int(sys.argv[3]), int(sys.argv[4]) ), waitArrival = False)
		printPos()

	#goto a specific location (use sync)
	elif sys.argv[1] == "gotos":
		reprap.cartesian.syncSeek( ( int(sys.argv[2]), int(sys.argv[3]), 0 ), waitArrival = False)
		printPos()

	elif sys.argv[1] == "power":
		reprap.cartesian.setPower( int( sys.argv[2] ) )	# This is a value from 0 to 63 (6 bits)

	elif sys.argv[1] == "speed":
		reprap.cartesian.setMoveSpeed( int( sys.argv[2] ) )	# This is a value from 0 to 255


	#test routine
	elif sys.argv[1] == "go":	#stepper test
		reprap.cartesian.seek( (1000, 1000, 0), 200, True )	
		time.sleep(2)
		reprap.cartesian.seek( (500, 1000, 0), 200, True )
		time.sleep(2)
		reprap.cartesian.seek( (500, 500, 0), 200, True )
		time.sleep(2)
		reprap.cartesian.seek( (10, 10, 0), 200, True )

	#free motors (switch off all coils)
	elif sys.argv[1] == "free":
		reprap.cartesian.free()

	############## control of individual steppers #############

	#spin stepper
	elif sys.argv[1] == "run":	# run axis
		if sys.argv[2] == "x":
			reprap.cartesian.x.forward( int(sys.argv[3]) )
		elif sys.argv[2] == "y":
			reprap.cartesian.y.forward( int(sys.argv[3]) )
		elif sys.argv[2] == "z":
			reprap.cartesian.z.forward( int(sys.argv[3]) )

	#spin stepper in reverse
	elif sys.argv[1] == "runb":	#runb axis
		if sys.argv[2] == "x":
			reprap.cartesian.x.backward( int(sys.argv[3]) )
		elif sys.argv[2] == "y":
			reprap.cartesian.y.backward( int(sys.argv[3]) )
		elif sys.argv[2] == "z":
			reprap.cartesian.z.backward( int(sys.argv[3]) )

	elif sys.argv[1] == "step":
		if sys.argv[2] == "x":
			reprap.cartesian.x.forward1()
		elif sys.argv[2] == "y":
			reprap.cartesian.y.forward1()	
		elif sys.argv[2] == "z":
			reprap.cartesian.z.forward1()	

	elif sys.argv[1] == "stepb":
		if sys.argv[2] == "x":
			reprap.cartesian.x.backward1()
		elif sys.argv[2] == "y":
			reprap.cartesian.y.backward1()	
		elif sys.argv[2] == "z":
			reprap.cartesian.z.backward1()	

	################# control of extruder #####################

	#test extrder motor
	elif sys.argv[1] == "motor":
		nn = 0
		while 1:
			if nn > 0:
				nn = 0
			else:
				nn = 150
			reprap.extruder.setMotor(reprap.CMD_REVERSE, nn)
			time.sleep(1)

	elif sys.argv[1] == "getinfo":
		mtype = reprap.extruder.getModuleType()
		version = reprap.extruder.getVersion()
		print "module", mtype, "version", version

	elif sys.argv[1] == "heat":
		reprap.extruder.setHeat(255, 255, 255, 255)

	#setHeat(self, lowHeat, highHeat, tempTarget, tempMax

	elif sys.argv[1] == "temp":
		print "Temp is ", reprap.extruder.getTemp()

	elif sys.argv[1] == "setref":
		reprap.extruder.setVoltateReference( int(sys.argv[2]) )




	############### scan network for devices ###################

	#scan snap network
	elif sys.argv[1] == "scan":
		reprap.scanNetwork()

	else:
		printHelp()