#!/usr/bin/python3
from uio.utils import fix_ctypes_struct
from uio.ti.icss import Icss
from ctypes import c_uint32 as u32, c_uint16 as u16, c_int32 as int32, c_bool as boolean, Structure
from time import sleep
from sys import exit
from bone_pinmux import *

print(get_pinmux_state("stepper"))
if (get_pinmux_state("stepper") == "default"):
    set_pinmux_state("stepper","active")
pruss = Icss( "/dev/uio/pruss/module" )
pruss.initialize()

core_0 = pruss.core0
core_0.load( 'pulse_train.out' )


# used to communicate ddr layout to C program
class DDRLayout( Structure ):
    _fields_ = [
            ( 'msgbuf',      u32 ),
            ( 'num_msgs',    u16 ),
            ( 'msg_size',    u16 ),
        ]

# volatile variables in pruss shared memory
class UserControlVars( Structure ):
    _fields_ = [
            # PRU parameters
            ( 'abort_file'   , u32 ),
            ( 'abort_line'   , u32 ),
            ( 'ridx'         , u16 ),
            # stepper parameters
            ( 'target_pos'    ,  u32 ),
            ( 'current_pos'   ,  u32 ),
            ( 'speed'         ,  u32 ),
            ( 'hault_request' ,  boolean ),
            ( 'moving'        ,  boolean ),
        ]

# map shared memory variables
ddr_layout = core_0.map( DDRLayout,0x10000 )
shmem = core_0.map(UserControlVars, 0x10100)

# ready, set, go!
shmem.hault_request = False
pruss.ecap.pwm.initialize( 2**32 )
shmem.current_pos = 0
core_0.run()
print('starting PRU0')

try:
    shmem.hault_request = False
    shmem.target_pos = 400
    shmem.speed = 999
    shmem.moving = True
    print(f'Initial position {shmem.current_pos} Target = {shmem.target_pos}')
    while (shmem.moving == True):
        print(f'\rDesired position {shmem.target_pos} current position {shmem.current_pos}', end = '', flush = True)
        sleep(0.01)

except KeyboardInterrupt:
    pass

finally:

    print( '', flush=True )
    shmem.hault_request = True
    sleep( 0.01 )  # make sure that response has been receivedi
    print(f'Position {shmem.current_pos} Target = {shmem.target_pos}')
    core_0.halt()
    print('done hopefully you moved')