#!/usr/bin/env python3
# -*- coding: utf-8 -*-

"""ArmCtlListener.py: python listener for ArmControl scripts."""

__author__ = "Kevin Matz"
__copyright__ = "Copyright 2019, Company 235, LLC"
__credits__ = ["Kevin Matz"]

__license__ = "MIT"
__version__ = "0.1"
__maintainer__ = "Kevin Matz"
__email__ = "kevin@company235.com"

__status__ = "Prototype"


import logging
from language.ArmControlParser import ArmControlParser
from language.ArmControlListener import ArmControlListener
from firmware.robot import Robot
from time import sleep

logger = logging.getLogger('__main__')


class ArmCtlListener(ArmControlListener):
    def __init__(self, robot):
        self.r = robot

    # Enter a parse tree produced by ArmControlParser#statement.
    def enterStatement(self, ctx: ArmControlParser.StatementContext):
        ctx.doMove = False

    # Exit a parse tree produced by ArmControlParser#statement.
    def exitStatement(self, ctx: ArmControlParser.StatementContext):
        if ctx.doMove:
            self.r.move()

    # Exit a parse tree produced by ArmControlParser#Go.
    def exitGo(self, ctx: ArmControlParser.GoContext):
        if ctx.coords() is not None:
            self.r.target = ctx.coords().values
            ctx.parentCtx.doMove = True
            return
        if ctx.name() is None:
            logger.error("ERROR: Go command with no name?")
            return
        if ctx.value() is None:
            preset = self.r.preset.get(ctx.name().getText(), None)
            if preset is None:
                logger.error("ERROR: Preset not found")
                return
            preset = self.r.read_preset(preset)
            if preset is None:
                logger.error("ERROR: preset invalid")
                return
            self.r.target = preset
            ctx.parentCtx.doMove = True
            return

        index = int(self.r.config.get(ctx.name().getText(), -1))
        if index is -1:
            logger.error("Error: axis name not recognized.")
            return
        self.r.target[index] = ctx.value().value
        ctx.parentCtx.doMove = True

    # Exit a parse tree produced by ArmControlParser#Pause.
    def exitPause(self, ctx: ArmControlParser.PauseContext):
        if ctx.parentCtx.doMove:
            ctx.parentCtx.doMove = False
            self.r.move()
        sleep(ctx.number().value)

    # Exit a parse tree produced by ArmControlParser#Wait.
    def exitWait(self, ctx: ArmControlParser.WaitContext):
        if ctx.parentCtx.doMove:
            ctx.parentCtx.doMove = False
            self.r.move()
        while self.r.isMoving():
            sleep(.0015)
        if (ctx.number() is not None):
            sleep(ctx.number().value)

    # Exit a parse tree produced by ArmControlParser#WhereAmI.
    def exitWhereAmI(self, ctx: ArmControlParser.WhereAmIContext):
        print(self.r.to_preset_string(self.r.target))

    # Enter a parse tree produced by ArmControlParser#coords.
    def enterCoords(self, ctx: ArmControlParser.CoordsContext):
        ctx.values = self.r.target
        ctx.index = 0

    # Exit a parse tree produced by ArmControlParser#value.
    def exitValue(self, ctx: ArmControlParser.ValueContext):
        if isinstance(ctx.parentCtx, ArmControlParser.CoordsContext):
            if ctx.parentCtx.index < len(ctx.parentCtx.values):
                ctx.parentCtx.values[ctx.parentCtx.index] = ctx.value

    # Exit a parse tree produced by ArmControlParser#number.
    def exitNumber(self, ctx: ArmControlParser.NumberContext):
        try:
            ctx.value = int(ctx.getText())
        except ValueError:
            ctx.value = float(ctx.getText())
        if isinstance(ctx.parentCtx, ArmControlParser.ValueContext):
            ctx.parentCtx.value = ctx.value

    # Exit a parse tree produced by ArmControlParser#hexidecimal.
    def exitHexidecimal(self, ctx: ArmControlParser.HexidecimalContext):
        ctx.value = int(ctx.getText(), 16)
        if isinstance(ctx.parentCtx, ArmControlParser.ValueContext):
            ctx.parentCtx.value = ctx.value

    # Exit a parse tree produced by ArmControlParser#seperator.
    def exitSeperator(self, ctx: ArmControlParser.SeperatorContext):
        if isinstance(ctx.parentCtx, ArmControlParser.CoordsContext):
            ctx.parentCtx.index += 1