#!/usr/bin/python

import sys, io, time
import gettext
import linuxcnc, hal

h = None

rack_params = {
        "RACK_POSITION_X": 0,
        "RACK_POSITION_Y": 0,
        "POCKET_SEPARATION_X": 75,
        "POCKET_SEPARATION_Y": 75,
        "ROWS": 2,
        "COLUMNS": 7,
        "DROP_HEIGHT": -100,
        "GRAB_HEIGHT": -105,
        "PDB_CODE": "P2",
        "BLOW_CODE": "P1",
        "Z_RETRACT_SPEED": 2000
        }

def move_to_pocket(interpreter, pocket):
    pocket = int(pocket)
    print 'moving to pocket %i' % pocket
    x_pos = (pocket / rack_params["COLUMNS"])*rack_params["POCKET_SEPARATION_X"] + rack_params["RACK_POSITION_X"]
    y_pos = (pocket % rack_params["COLUMNS"])*rack_params["POCKET_SEPARATION_Y"] + rack_params["RACK_POSITION_Y"]
    print 'calculated coords %i, %i' % (x_pos, y_pos)
    interpreter.execute("G53 G1 X%i Y%i F%i" % (x_pos, y_pos, rack_params["Z_RETRACT_SPEED"]))



def drop_tool(interpreter, tool):
    print 'dropping tool %i' % tool
    move_to_pocket(intepreter, tool)

def pickup_tool(interpreter, tool):
    print 'picking up tool %i' % tool
    move_to_pocket(interpreter, tool)

#    interpreter.execute("G53 G1 Z%i F%i" % (rack_params["DROP_HEIGHT"], rack_params["DROP_SPEED"]))
#    interpreter.execute("M64 %s" % (rack_params["PDB_COLD"]))

def setup_pins():
    global h
    h = hal.component("hal_racktoolchange")
    h.newpin("toolnumber", hal.HAL_S32, hal.HAL_IN)
    h.newpin("change", hal.HAL_BIT, hal.HAL_IN)
    h.newpin("changed", hal.HAL_BIT, hal.HAL_OUT)
    h.newpin("spindle_stopped", hal.HAL_BIT, hal.HAL_IN)
    h.newpin("tool_secure", hal.HAL_BIT, hal.HAL_IN)
    h.newpin("tool_released", hal.HAL_BIT, hal.HAL_IN)
    h.newpin("drawbar", hal.HAL_BIT, hal.HAL_OUT)
    h.newpin("blow", hal.HAL_BIT, hal.HAL_OUT)
    return h

def spindle_off(interpreter):
    print("turning spindle off")
    interpreter.execute("M5")

def quill_up(interpreter):
    print 'executing quill up'
    interpreter.execute("G53 G1 Z0 F%i" % rack_params["Z_RETRACT_SPEED"])

def toolchange(interpreter):
#    if interpreter.selected_pocket < 0:
#        interpreter.set_errormsg("M6: No tool prepared.")
#        return 0

    spindle_off(interpreter)
    quill_up(interpreter)

    current_pos = (interpreter.current_x, interpreter.current_y,interpreter.current_z)
    current_tool = interpreter.params["tool_in_spindle"]
    requested_tool =  interpreter.params["selected_tool"]
    print current_pos, current_tool, requested_tool
    if current_tool >= 0:
        drop_tool(interpreter, current_tool)
    if(requested_tool >= 0):
        pickup_tool(interpreter, requested_tool)
    return 1