CLI.py
"""
Must run on python 3 
"""

import Gcode
from time import sleep
import instructions as i
from byteparams import parameter as par
import pickle
import os
import subprocess
import config

mode = "ABS"
serPort = "/dev/ttyACM0"
file = ""

def openSender():
    os.system("python3 sender.py")

def sendComm():
    f = open("comm.pickle", "wb")
    pickle.dump(serPort, f)
    pickle.dump(file, f)
    f.close()
    
class Exceptions():
    def write(self, ser):
        print("No Connection")
    def read(dd, aa):
        print("No connection")
ser = Exceptions()

def gcoload(x):
            global file
            s = x
            try:
                if (".g" in s) or (".gco" in s) or (".gcode" in s):
                    with open(s) as f:
                        file = s
                        f.read()
                        print("Gcode loaded\n")
                else:
                    print("Not a gcode\n")
            except:
                print("Path: "+s+" does not exist\n")

def STOP():
    print("RESET!!")
    try:
        f = open("comm.pickle", "rb")
        pid = pickle.load(f)
        f.close()
        os.system("rm comm.pickle")
        os.system("kill "+str(pid))
    except:
        print("no comm.pickle")
    for motor in range (0,4):
        b2,b3,b4,b5,b6,b7,b8 = i.MST(motor)
        b1,b2,b3,b4,b5,b6,b7,b8,b9 = par(1,b2,b3,b4,b5,b6,b7,b8)
        x = bytearray([b1,b2,b3,b4,b5,b6,b7,b8,b9])
        ser.write(x)
        sleep(0.001)
        b2, b3, b4, b5, b6, b7, b8 = i.SAP(1,motor,0)
        b1,b2,b3,b4,b5,b6,b7,b8,b9 = par(1,b2,b3,b4,b5,b6,b7,b8)
        p = bytearray([b1,b2,b3,b4,b5,b6,b7,b8,b9])
        ser.write(p)
        sleep(0.001)
    sleep(0.001)
    send = Gcode.M104(0)[1]
    ser.write(send)                
def cli(x):
    """
    This is CLI for hot wire EPP cutter. For help enter help.
    
    Instructions are:
        port - takes one argument, for connecting to selected port
        connect - connect to port on which cutter is, no arguments
        disconnect - to disconnect from cutter, no arguments
        gcode - takes one argument, gcode which will be printing from
        cut - for cutting, no arguments
        stop - immediate stop of cutting, no arguments
        exit - to exit application, note that sender will continue sending gcode to the cutter
        G0, G1, G28, G90, G91, M104, MST - as genetral cutter commands, arguments:
            G0 X Y Z A
            G1 X Y Z A
            G28
            G90
            G91
            M104 S
            MST
            
        command - for direct single line shell command input. If needed more commands
                  it must be in form: <first command> ; <second command> ; ...
                  
    Default port is /dev/ttyACM0
    """
    t = x
    global mode
    global serPort
    global ser
    global file
    
    if t.find("G0") != -1:
        print("G0")
        x = t.find("X")
        y = t.find("Y")
        z = t.find("Z")
        a = t.find("A")
        if (x == -1) or (y == -1) or (z == -1) or (a == -1):
            print("Command must be in form: G0 X Y Z A\n")
            return
        try:
            xx = int(t[x+1:y-1])
            yy = int(t[y+1:z-1])
            zz = int(t[z+1:a-1])
            aa = int(t[a+1:])
        except:
            print("Command must be in form: G0 X Y Z A\n")
            return
        x, y, z, a = Gcode.G0(xx, yy, zz, aa)
        ser.write(x)
        sleep(0.001)
        ser.write(y)
        sleep(0.001)
        ser.write(z)
        sleep(0.001)
        ser.write(a)
    elif t.find("G1") != -1:
        print("G1")
        x = t.find("X")
        y = t.find("Y")
        z = t.find("Z")
        a = t.find("A")
        if (x == -1) or (y == -1) or (z == -1) or (a == -1):
            print("Command must be in form: G1 X Y Z A\n")
            return
        try:
            xx = int(t[x+1:y-1])
            yy = int(t[y+1:z-1])
            zz = int(t[z+1:a-1])
            aa = int(t[a+1:])
        except:
            print("Command must be in form: G1 X Y Z A\n")
            return
        x, y, z, a = Gcode.G1(xx, yy, zz, aa)
        ser.write(x)
        sleep(0.001)
        ser.write(y)
        sleep(0.001)
        ser.write(z)
        sleep(0.001)
        ser.write(a)
    elif t.find("G28") != -1:
        print("G28")
        x, y, z, a = Gcode.G28()
        for motor in range (0,4):
            b2,b3,b4,b5,b6,b7,b8 = i.SAP(193,motor,1)
            b1,b2,b3,b4,b5,b6,b7,b8,b9=par(1,b2,b3,b4,b5,b6,b7,b8)
            m = bytearray([b1,b2,b3,b4,b5,b6,b7,b8,b9])
            ser.write(m)
            sleep(0.001)
            b2,b3,b4,b5,b6,b7,b8 = i.SAP(194,motor,2047)
            b1,b2,b3,b4,b5,b6,b7,b8,b9=par(1,b2,b3,b4,b5,b6,b7,b8)
            s = bytearray([b1,b2,b3,b4,b5,b6,b7,b8,b9])
            ser.write(s)
            sleep(0.001)
            ser.write(x)
            sleep(0.001)
            ser.write(y)
            sleep(0.001)
            ser.write(z)
            sleep(0.001)
            ser.write(a)
    elif t.find("G90") != -1:
        global mode
        mode = Gcode.G90()
        print("G90")
    elif t.find("G91") != -1:               
        mode = Gcode.G91()
        print("G91")
    elif t.find("M104") != -1:
        a = t.find("S")
        if a == -1:
            print("Command must be in form: M104 S\n")
            return
        temp = int(t[a+1:])
        heat, send = Gcode.M104(temp)
        print(heat)
        ser.write(send)
    elif t.find("MST") != -1:
        for motor in range (0,4):
            b1,b2,b3,b4,b5,b6,b7,b8,b9 = par(1,3, 0, motor, 0, 0, 0, 0)
            x = bytearray([b1,b2,b3,b4,b5,b6,b7,b8,b9])
            ser.write(x)
            print("MST")
    elif t.find("port") != -1:
        serPort = t[5:]
    elif t.find("connect") != -1:
        try:
            ser = Gcode.connection(serPort)
            sleep(0.2)
            config.func()
        except: 
            ""
    elif t.find("disconnect") != -1:
        ser.close()
        ser = Exceptions()
    elif t.find("gcode") != -1:
        y = t[6:]
        gcoload(y)
    elif t.find("cut") != -1:
        if file != "":
            sendComm()
            print("Starting sender")
            sleep(1)
            openSender()
        else:
            print("no file for cutting selected")
    elif t.find("stop") != -1:
        STOP()
    elif t.find("exit") != -1:
        pid = os.getpid()
        subprocess.call("kill "+str(pid), shell = True)
    elif t.find("command") != -1:
        if len(t) > 8:
            x = t[8:]
            subprocess.call(x, shell = True)
        else:
            subprocess.call(input("command: "), shell = True)
    elif t.find("help") != -1:
        print(cli.__doc__)
    elif t == "":
        print("No command given\n")
    else:
        print("Unknown command: " + t)


print(cli.__doc__)
while True:
    x = input()
    cli(x)