#!/usr/bin/env python3
import hal, time
import linuxcnc
import emccanon
import sys
from interpreter import *
from emccanon import MESSAGE
from util import lineno
throw_exceptions = 1



def change_prolog(self, **words):
    try:
        if self.selected_pocket < 0:
            self.set_errormsg("M6: žádný nástroj není zvolen")
            return INTERP_ERROR
        if self.cutter_comp_side:
            self.set_errormsg("Nemůže proběhnout výměna nástrojů se zapnutou korekcí")
            return INTERP_ERROR
        s = linuxcnc.stat() # create a connection to the status channel
        s.poll() # get current values
        if s.actual_position[2] > 0.1:
            self.set_errormsg("Nejdříve sjeď osou Z dolů")
            return INTERP_ERROR
        if not (s.homed.count(1) == s.joints):
            self.set_errormsg("Zreferuj nejdříve stroj")
            return INTERP_ERROR
        otacky = hal.get_value("hm2_7i96.0.encoder.00.velocity")
        if (otacky > 0.1 or otacky < -0.1):
            self.set_errormsg("Vřeteno se stále točí")
            return INTERP_ERROR
        self.params["tool_in_spindle"] = self.current_tool
        self.params["selected_tool"] = self.selected_tool
        self.params["current_pocket"] = self.current_pocket
        self.params["selected_pocket"] = self.selected_pocket
        return INTERP_OK
    except Exception as e:
        self.set_errormsg("M6/change_prolog: %s" % (e))
        return INTERP_ERROR


def change_epilog(self, **words):
    try:
        if not self.value_returned:
            r = self.blocks[self.remap_level].executing_remap
            self.set_errormsg("the %s remap procedure %s did not return a value"
                             % (r.name,r.remap_ngc if r.remap_ngc else r.remap_py))
            yield INTERP_ERROR
        # this is relevant only when using iocontrol-v2.
        if self.params[5600] > 0.0:
            if self.params[5601] < 0.0:
                self.set_errormsg("Toolchanger hard fault %d" % (int(self.params[5601])))
                yield INTERP_ERROR
            print("change_epilog: Toolchanger soft fault %d" % int(self.params[5601]))

        if self.blocks[self.remap_level].builtin_used:
            #print "---------- M6 builtin recursion, nothing to do"
            yield INTERP_OK
        else:
            if self.return_value > 0.0:
                # commit change
                self.selected_pocket =  int(self.params["selected_pocket"])
                emccanon.CHANGE_TOOL(self.selected_pocket)
                self.current_pocket = self.selected_pocket
                self.selected_pocket = -1
                self.selected_tool = -1
                # cause a sync()
                self.set_tool_parameters()
                self.toolchange_flag = True
                yield INTERP_EXECUTE_FINISH
            else:
                # yield to print any messages from the NGC program
                yield INTERP_EXECUTE_FINISH
                self.set_errormsg("M6 aborted (return code %.1f)" % (self.return_value))
                yield INTERP_ERROR
    except Exception as e:
        self.set_errormsg("M6/change_epilog: %s" % (e))
        yield INTERP_ERROR