'''

Python 3.x library to control an UR robot through its TCP/IP interfaces

Copyright (C) 2017  Martin Huus Bjerge, Rope Robotics ApS, Denmark

Permission is hereby granted, free of charge, to any person obtaining a copy of this software

and associated documentation files (the "Software"), to deal in the Software without restriction,

including without limitation the rights to use, copy, modify, merge, publish, distribute,

sublicense, and/or sell copies of the Software, and to permit persons to whom the Software

is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies

or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,

INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR

PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL "Rope Robotics ApS" BE LIABLE FOR ANY CLAIM,

DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,

OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Except as contained in this notice, the name of "Rope Robotics ApS" shall not be used

in advertising or otherwise to promote the sale, use or other dealings in this Software

without prior written authorization from "Rope Robotics ApS".

'''

__author__ = "Martin Huus Bjerge"

__copyright__ = "Copyright 2017, Rope Robotics ApS, Denmark"

__license__ = "MIT License"

import URBasic

class RobotModel(object):

    '''

    Data class holding all data and states

    Input parameters:

    '''

    def __init__(self, log_path="ur_log/", log_config_path=None):

        '''

        Constructor see class description for more info.

        '''

        logger = URBasic.dataLogging.DataLogging(path=log_path, config=log_config_path)

        name = logger.AddEventLogging(__name__)

        self.__logger = logger.__dict__[name]

        self.__logger.info('Init done')

        #Universal Robot Model content

        self.password = None

        self.ipAddress = None

        self.dataDir = {'timestamp':None,

                         'target_q':None,

                         'target_q':None,

                         'target_qd':None,

                         'target_qdd':None,

                         'target_current':None,

                         'target_moment':None,

                         'actual_q':None,

                         'actual_qd':None,

                         'actual_current':None,

                         'joint_control_output':None,

                         'actual_TCP_pose':None,

                         'actual_TCP_speed':None,

                         'actual_TCP_force':None,

                         'target_TCP_pose':None,

                         'target_TCP_speed':None,

                         'actual_digital_input_bits':None,

                         'joint_temperatures':None,

                         'actual_execution_time':None,

                         'robot_mode':None,

                         'joint_mode':None,

                         'safety_mode':None,

                         'actual_tool_accelerometer':None,

                         'speed_scaling':None,

                         'target_speed_fraction':None,

                         'actual_momentum':None,

                         'actual_main_voltage':None,

                         'actual_robot_voltage':None,

                         'actual_robot_current':None,

                         'actual_joint_voltage':None,

                         'actual_digital_output_bits':None,

                         'runtime_state':None,

                         'robot_status_bits':None,

                         'safety_status_bits':None,

                         'analog_io_types':None,

                         'standard_analog_input0':None,

                         'standard_analog_input1':None,

                         'standard_analog_output0':None,

                         'standard_analog_output1':None,

                         'io_current':None,

                         'euromap67_input_bits':None,

                         'euromap67_output_bits':None,

                         'euromap67_24V_voltage':None,

                         'euromap67_24V_current':None,

                         'tool_mode':None,

                         'tool_analog_input_types':None,

                         'tool_analog_input0':None,

                         'tool_analog_input1':None,

                         'tool_output_voltage':None,

                         'tool_output_current':None,

                         'tcp_force_scalar':None,

                         'output_bit_registers0_to_31':None,

                         'output_bit_registers32_to_63':None,

                         'output_int_register_0':None,

                         'output_int_register_1':None,

                         'output_int_register_2':None,

                         'output_int_register_3':None,

                         'output_int_register_4':None,

                         'output_int_register_5':None,

                         'output_int_register_6':None,

                         'output_int_register_7':None,

                         'output_int_register_8':None,

                         'output_int_register_9':None,

                         'output_int_register_10':None,

                         'output_int_register_11':None,

                         'output_int_register_12':None,

                         'output_int_register_13':None,

                         'output_int_register_14':None,

                         'output_int_register_15':None,

                         'output_int_register_16':None,

                         'output_int_register_17':None,

                         'output_int_register_18':None,

                         'output_int_register_19':None,

                         'output_int_register_20':None,

                         'output_int_register_21':None,

                         'output_int_register_22':None,

                         'output_int_register_23':None,

                         'output_double_register_0':None,

                         'output_double_register_1':None,

                         'output_double_register_2':None,

                         'output_double_register_3':None,

                         'output_double_register_4':None,

                         'output_double_register_5':None,

                         'output_double_register_6':None,

                         'output_double_register_7':None,

                         'output_double_register_8':None,

                         'output_double_register_9':None,

                         'output_double_register_10':None,

                         'output_double_register_11':None,

                         'output_double_register_12':None,

                         'output_double_register_13':None,

                         'output_double_register_14':None,

                         'output_double_register_15':None,

                         'output_double_register_16':None,

                         'output_double_register_17':None,

                         'output_double_register_18':None,

                         'output_double_register_19':None,

                         'output_double_register_20':None,

                         'output_double_register_21':None,

                         'output_double_register_22':None,

                         'output_double_register_23':None,

                         'urPlus_force_torque_sensor':None,

                         'urPlus_totalMovedVerticalDistance':None

                         }

        self.rtcConnectionState = None

        self.rtcProgramRunning = False

        self.rtcProgramExecutionError = False

        self.stopRunningFlag = False

        self.forceRemoteActiveFlag = False

        self.realtimeControlFlag = False

        # UR plus content

        self.hasForceTorqueSensor = False

        self.forceTourqe = None

    def RobotTimestamp(self):return self.dataDir['timestamp']

    def LastUpdateTimestamp(self):raise NotImplementedError('Function Not yet implemented')

    def RTDEConnectionState(self):raise NotImplementedError('Function Not yet implemented')

    def RuntimeState(self): return self.rtcProgramRunning

    def StopRunningFlag(self): return self.stopRunningFlag

    def DigitalInputbits(self,n):

        if n>=0 & n<8:

            n = pow(2,n)

            return n&self.dataDir['actual_digital_input_bits']==n

        else:

            return None

    def ConfigurableInputBits(self,n):

        if n>=8 & n<16:

            n = pow(2,n+8)

            return n&self.dataDir['actual_digital_input_bits']==n

        else:

            return None

    def DigitalOutputBits(self,n):

        if n>=0 & n<8:

            n = pow(2,n)

            return n&self.dataDir['actual_digital_output_bits']==n

        else:

            return None

    def ConfigurableOutputBits(self,n):

        if n>=8 & n<16:

            n = pow(2,n+8)

            return n&self.dataDir['actual_digital_output_bits']==n

        else:

            return None

    def RTDEProtocolVersion(self):raise NotImplementedError('Function Not yet implemented')

    def ActualTCPPose(self):return self.dataDir['actual_TCP_pose']

    def RobotModee(self):raise NotImplementedError('Function Not yet implemented')

    def SafetyMode(self):raise NotImplementedError('Function Not yet implemented')

    def TargetQ(self):raise NotImplementedError('Function Not yet implemented')

    def TargetQD(self):raise NotImplementedError('Function Not yet implemented')

    def TargetQDD(self):raise NotImplementedError('Function Not yet implemented')

    def TargetCurrent(self):raise NotImplementedError('Function Not yet implemented')

    def TargetMoment(self):raise NotImplementedError('Function Not yet implemented')

    def ActualQ(self):return self.dataDir['actual_q']

    def ActualQD(self):raise NotImplementedError('Function Not yet implemented')

    def ActualCurrent(self):raise NotImplementedError('Function Not yet implemented')

    def JointControlOutput(self):raise NotImplementedError('Function Not yet implemented')

    def ActualTCPSpeed(self):return self.dataDir["actual_TCP_speed"]

    def ActualTCPForce(self):return self.dataDir['actual_TCP_force']

    def TargetTCPPose(self):raise NotImplementedError('Function Not yet implemented')

    def TargetTCPSpeed(self):raise NotImplementedError('Function Not yet implemented')

    def JointTemperatures(self):raise NotImplementedError('Function Not yet implemented')

    def ActualExecutionTime(self):raise NotImplementedError('Function Not yet implemented')

    def JointMode(self):raise NotImplementedError('Function Not yet implemented')

    def ActualToolAccelerometer(self):raise NotImplementedError('Function Not yet implemented')

    def SpeedScaling(self):raise NotImplementedError('Function Not yet implemented')

    def TargetSpeedFraction(self):raise NotImplementedError('Function Not yet implemented')

    def ActualMomentum(self):raise NotImplementedError('Function Not yet implemented')

    def ActualMainVoltage(self):raise NotImplementedError('Function Not yet implemented')

    def ActualRobotVoltage(self):raise NotImplementedError('Function Not yet implemented')

    def ActualRobotCurrent(self):raise NotImplementedError('Function Not yet implemented')

    def ActualJointVoltage(self):raise NotImplementedError('Function Not yet implemented')

    def RunTimeState(self):raise NotImplementedError('Function Not yet implemented')

    def IoCurrent(self):raise NotImplementedError('Function Not yet implemented')

    def ToolAnalogInput0(self):raise NotImplementedError('Function Not yet implemented')

    def ToolAnalogInput1(self):raise NotImplementedError('Function Not yet implemented')

    def ToolOutputCurrent(self):raise NotImplementedError('Function Not yet implemented')

    def ToolOutputVoltage(self):raise NotImplementedError('Function Not yet implemented')

    def StandardAnalogInput(self,n):

        if n == 0:

            return self.dataDir['standard_analog_input0']

        elif n == 1:

            return self.dataDir['standard_analog_input1']

        else:

            raise KeyError('Index out of range')

    def StandardAnalogOutput(self):raise NotImplementedError('Function Not yet implemented')

    def RobotStatus(self):

        '''

        SafetyStatusBit class defined in the bottom of this file

        '''

        result = RobotStatusBit()

        result.PowerOn            =  1&self.dataDir['robot_status_bits']==1

        result.ProgramRunning     =  2&self.dataDir['robot_status_bits']==2

        result.TeachButtonPressed =  4&self.dataDir['robot_status_bits']==4

        result.PowerButtonPressed =  8&self.dataDir['robot_status_bits']==8

        return result

    def SafetyStatus(self):

        '''

        SafetyStatusBit class defined in the bottom of this file

        '''

        result = SafetyStatusBit()

        result.NormalMode             =     1&self.dataDir['safety_status_bits']==1

        result.ReducedMode            =     2&self.dataDir['safety_status_bits']==2

        result.ProtectiveStopped      =     4&self.dataDir['safety_status_bits']==4

        result.RecoveryMode           =     8&self.dataDir['safety_status_bits']==8

        result.SafeguardStopped       =    16&self.dataDir['safety_status_bits']==16

        result.SystemEmergencyStopped =    32&self.dataDir['safety_status_bits']==32

        result.RobotEmergencyStopped  =    64&self.dataDir['safety_status_bits']==64

        result.EmergencyStopped       =   128&self.dataDir['safety_status_bits']==128

        result.Violation              =   256&self.dataDir['safety_status_bits']==256

        result.Fault                  =   512&self.dataDir['safety_status_bits']==512

        result.StoppedDueToSafety     =  1024&self.dataDir['safety_status_bits']==1024

        return result

    def TcpForceScalar(self): return self.dataDir['tcp_force_scalar']

    def OutputBitRegister(self):

        result = [None]*64

        for ii in range(64):

            if ii<32 and self.dataDir['output_bit_registers0_to_31'] is not None:

                result[ii] = 2**(ii)&self.dataDir['output_bit_registers0_to_31']==2**(ii)

            elif ii>31 and self.dataDir['output_bit_registers32_to_63'] is not None:

                result[ii] = 2**(ii-32)&self.dataDir['output_bit_registers32_to_63']==2**(ii-32)

        return result

    def OutputDoubleRegister(self, n):

        return self.dataDir["output_double_register_" + str(n)]

    def UrControlVersion(self):raise NotImplementedError('Function Not yet implemented')

    def ClearToSend(self):raise NotImplementedError('Function Not yet implemented')

class RobotStatusBit(object):

    PowerOn = None

    ProgramRunning = None

    TeachButtonPressed = None

    PowerButtonPressed = None

class SafetyStatusBit(object):

    NormalMode = None

    ReducedMode = None

    ProtectiveStopped = None

    RecoveryMode = None

    SafeguardStopped = None

    SystemEmergencyStopped = None

    RobotEmergencyStopped = None

    EmergencyStopped = None

    Violation = None

    Fault = None

    StoppedDueToSafety = None