# Code for handling the kinematics of cable winch robots
#
# Copyright (C) 2018-2021  Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import mathutil
import stepper


class WinchKinematics:
    def __init__(self, toolhead, config):
        # Setup steppers at each anchor
        self.steppers = []
        self.anchors = []
        for i in range(26):
            name = "stepper_" + chr(ord("a") + i)
            if i >= 3 and not config.has_section(name):
                break
            stepper_config = config.getsection(name)
            s = stepper.PrinterStepper(stepper_config)
            self.steppers.append(s)
            a = tuple([stepper_config.getfloat("anchor_" + n) for n in "xyz"])
            self.anchors.append(a)
            s.setup_itersolve("winch_stepper_alloc", *a)
            s.set_trapq(toolhead.get_trapq())
            toolhead.register_step_generator(s.generate_steps)
        # Setup boundary checks
        acoords = list(zip(*self.anchors))
        self.axes_min = toolhead.Coord(*[min(a) for a in acoords], e=0.0)
        self.axes_max = toolhead.Coord(*[max(a) for a in acoords], e=0.0)
        self.set_position([0.0, 0.0, 0.0], "")

    def get_steppers(self):
        return list(self.steppers)

    def calc_position(self, stepper_positions):
        # Use only first three steppers to calculate cartesian position
        pos = [stepper_positions[rail.get_name()] for rail in self.steppers[:3]]
        return mathutil.trilateration(self.anchors[:3], [sp * sp for sp in pos])

    def set_position(self, newpos, homing_axes):
        for s in self.steppers:
            s.set_position(newpos)

    def clear_homing_state(self, clear_axes):
        # XXX - homing not implemented
        pass

    def home(self, homing_state):
        # XXX - homing not implemented
        homing_state.set_axes([0, 1, 2])
        homing_state.set_homed_position([0.0, 0.0, 0.0])

    def check_move(self, move):
        # XXX - boundary checks and speed limits not implemented
        pass

    def get_status(self, eventtime):
        # XXX - homed_checks and rail limits not implemented
        return {
            "homed_axes": "xyz",
            "axis_minimum": self.axes_min,
            "axis_maximum": self.axes_max,
        }


def load_kinematics(toolhead, config):
    return WinchKinematics(toolhead, config)