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#!/usr/bin/env python

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# -*- coding: utf-8 -*-

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# This file is part of Beremiz

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#

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# Copyright (C) 2013: Real-Time & Embedded Systems (RTES) Lab., University of Seoul

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#

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# See COPYING file for copyrights details.

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import os

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import wx

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import wx.grid

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import wx.gizmos

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import wx.lib.buttons

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# --------------------------------------------------------------------

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from controls import CustomGrid, CustomTable

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# --------------------------------------------------------------------

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# ------------ for SDO Management --------------------

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import string

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import wx.grid as gridlib

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#-------------------------------------------------------------

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# ------------ for register management --------------- 

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from xml.dom import minidom

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#-------------------------------------------------------------

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# ----------------------------- For Sync Manager Table -----------------------------------

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def GetSyncManagersTableColnames():

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    """

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    Returns column names of SyncManager Table in Slave state panel.

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    """

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    _ = lambda x : x

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    return ["#", _("Name"), _("Start Address"), _("Default Size"), _("Control Byte"), _("Enable")]

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#-------------------------------------------------------------------------------

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#                    Sync Managers Table

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#-------------------------------------------------------------------------------

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class SyncManagersTable(CustomTable):

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    def GetValue(self, row, col): 

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        if row < self.GetNumberRows():

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            if col == 0:

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                return row

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            return self.data[row].get(self.GetColLabelValue(col, False), "")

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#-------------------------------------------------------------------------------

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#                    EtherCAT Management Treebook

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#-------------------------------------------------------------------------------

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class EtherCATManagementTreebook(wx.Treebook):

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    def __init__(self, parent, controler, node_editor):

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        """

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        Constructor

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        @param parent: Reference to the parent wx.ScrolledWindow object

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        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

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        @param node_editor: Reference to Beremiz frame

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        """

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        wx.Treebook.__init__(self, parent, -1, size=wx.DefaultSize, style=wx.BK_DEFAULT)

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        self.parent = parent

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        self.Controler = controler

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        self.NodeEditor = node_editor

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        self.EtherCATManagementClassObject = {}

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        # fill EtherCAT Management Treebook

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        for pname, pclass, subs in [

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            ("Slave State",        SlaveStatePanelClass, []),

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            ("SDO Management",     SDOPanelClass, []),

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                for spname, spclass in subs:

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#-------------------------------------------------------------------------------

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#                    For SlaveState Panel

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#-------------------------------------------------------------------------------        

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class SlaveStatePanelClass(wx.Panel):

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    def __init__(self, parent, controler):

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        """

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        Constructor

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        @param parent: Reference to the parent EtherCATManagementTreebook class

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        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

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        """

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        wx.Panel.__init__(self, parent, -1, (0, 0), size=wx.DefaultSize, style = wx.SUNKEN_BORDER)

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        self.Controler = controler

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        self.parent = parent

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        # initialize SlaveStatePanel UI dictionaries

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        self.StaticBoxDic = {}

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        self.StaticTextDic = {}

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        self.TextCtrlDic = {}

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        self.ButtonDic = {}

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        # iniitalize BoxSizer and FlexGridSizer

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        self.SizerDic = {

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            "SlaveState_main_sizer" : wx.BoxSizer(wx.VERTICAL),

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            "SlaveState_inner_main_sizer" : wx.FlexGridSizer(cols=1, hgap=50, rows=3, vgap=10),

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            "SlaveInfosDetailsInnerSizer" : wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10),

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            "SyncManagerInnerSizer" : wx.FlexGridSizer(cols=1, hgap=5, rows=1, vgap=5),

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            "SlaveState_sizer" : wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10),

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            "SlaveState_up_sizer" : wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10),

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            "SlaveState_down_sizer" : wx.FlexGridSizer(cols=2, hgap=10, rows=1, vgap=10)}

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        # initialize StaticBox and StaticBoxSizer

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        for box_name, box_label in [

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                ("SlaveInfosDetailsBox", "Slave Informations"),

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                ("SyncManagerBox", "Sync Manager"),

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                ("SlaveStateBox", "Slave State Transition && Monitoring")]:

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            self.StaticBoxDic[box_name] = wx.StaticBox(self, label=_(box_label))

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            self.SizerDic[box_name] = wx.StaticBoxSizer(self.StaticBoxDic[box_name])  

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        for statictext_name, statictext_label, textctrl_name in [

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                ("VendorLabel", "Vendor:", "vendor"),

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                ("ProductcodeLabel", "Product code:", "product_code"),

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                ("RevisionnumberLabel", "Slave Count:", "revision_number"),

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                ("PhysicsLabel", "Physics:", "physics")]:

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            self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))

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            self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)

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            self.SizerDic["SlaveInfosDetailsInnerSizer"].AddMany([self.StaticTextDic[statictext_name], 

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                                                               self.TextCtrlDic[textctrl_name]])    

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        self.SizerDic["SlaveInfosDetailsBox"].AddSizer(self.SizerDic["SlaveInfosDetailsInnerSizer"])

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        self.SyncManagersGrid = CustomGrid(self, size=wx.Size(605,155), style=wx.VSCROLL)      

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        self.SizerDic["SyncManagerInnerSizer"].Add(self.SyncManagersGrid)    

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        self.SizerDic["SyncManagerBox"].Add(self.SizerDic["SyncManagerInnerSizer"])

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        for button_name, button_id, button_label, button_tooltipstring, event_method, sub_item in [

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                ("InitButton",   0, "INIT", "State Transition to \"Init\" State",     self.OnButtonClick, []),

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                ("PreOPButton",  1, "PREOP", "State Transition to \"PreOP\" State",   self.OnButtonClick, [

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                        ("TargetStateLabel", "Target State:" , "TargetState")]),

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                ("SafeOPButton", 2, "SAFEOP", "State Transition to \"SafeOP\" State", self.OnButtonClick, []),

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                ("OPButton",     3, "OP",  "State Transition to \"OP\" State",        self.OnButtonClick, [

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                        ("CurrentStateLabel", "Current State:", "CurrentState")])]:

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            self.ButtonDic[button_name] = wx.Button(self, id=button_id ,label=_(button_label))

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            self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method)

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            self.ButtonDic[button_name].SetToolTipString(button_tooltipstring)

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            self.SizerDic["SlaveState_up_sizer"].Add(self.ButtonDic[button_name])

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            for statictext_name, statictext_label, textctrl_name in sub_item :

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                self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))

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                self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.DefaultSize, style=wx.TE_READONLY)

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                self.SizerDic["SlaveState_up_sizer"].AddMany([self.StaticTextDic[statictext_name], 

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                                                               self.TextCtrlDic[textctrl_name]])

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        for button_name, button_label, button_tooltipstring, event_method in [

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                ("StartTimerButton", "Start State Monitoring", "Slave State Update Restart", self.StartTimer),

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                ("StopTimerButton", "Stop State Monitoring", "Slave State Update Stop", self.CurrentStateThreadStop)]:

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            self.ButtonDic[button_name] = wx.Button(self, label=_(button_label))

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            self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method)

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            self.ButtonDic[button_name].SetToolTipString(button_tooltipstring)

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            self.SizerDic["SlaveState_down_sizer"].Add(self.ButtonDic[button_name])   

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        self.SizerDic["SlaveState_sizer"].AddMany([self.SizerDic["SlaveState_up_sizer"], 

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            self.SizerDic["SlaveState_down_sizer"]])

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        self.SizerDic["SlaveStateBox"].Add(self.SizerDic["SlaveState_sizer"])

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        self.SizerDic["SlaveState_inner_main_sizer"].AddMany([

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            self.SizerDic["SlaveInfosDetailsBox"], self.SizerDic["SyncManagerBox"],

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            self.SizerDic["SlaveStateBox"]])

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        self.SizerDic["SlaveState_main_sizer"].Add(self.SizerDic["SlaveState_inner_main_sizer"])

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        self.SetSizer(self.SizerDic["SlaveState_main_sizer"])

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        self.Bind(wx.EVT_TIMER, self.GetCurrentState)

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        self.CreateSyncManagerTable()

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        self.Centre()

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    def CreateSyncManagerTable(self):

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        """

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        Create grid for "SyncManager"

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        """

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        # declare Table object 

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        self.SyncManagersTable = SyncManagersTable(self, [], GetSyncManagersTableColnames())

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        self.SyncManagersGrid.SetTable(self.SyncManagersTable)

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        # set grid alignment attr. (CENTER)

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        # set grid size

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        self.SyncManagersGridColSizes = [40, 150, 100, 100, 100, 100]

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        self.SyncManagersGrid.SetRowLabelSize(0)

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        for col in range(self.SyncManagersTable.GetNumberCols()):

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            attr = wx.grid.GridCellAttr()

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            self.SyncManagersGrid.SetColAttr(col, attr)

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            self.SyncManagersGrid.SetColMinimalWidth(col, self.SyncManagersGridColSizes[col])

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            self.SyncManagersGrid.AutoSizeColumn(col, False) 

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        self.RefreshSlaveInfos()

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    def RefreshSlaveInfos(self):

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        """

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        Fill data in "Slave Information" and "SyncManager"

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        """

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        slave_infos = self.Controler.GetSlaveInfos()

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        sync_manager_section = ["vendor", "product_code", "revision_number", "physics"]

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        if slave_infos is not None:

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            # this method is same as "TextCtrl.SetValue" 

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            for textctrl_name in sync_manager_section:

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                self.TextCtrlDic[textctrl_name].SetValue(slave_infos[textctrl_name])

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            self.SyncManagersTable.SetData(slave_infos["sync_managers"])

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            self.SyncManagersTable.ResetView(self.SyncManagersGrid)

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        else:

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            for textctrl_name in sync_manager_section:

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                self.TextCtrlDic[textctrl_name].SetValue("")

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            self.SyncManagersTable.SetData([])

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            self.SyncManagersTable.ResetView(self.SyncManagersGrid)

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    def OnButtonClick(self, event):

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        """

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        Event handler for slave state transition button click (Init, PreOP, SafeOP, OP button)

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        @param event : wx.EVT_BUTTON object

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        """

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        if check_connect_flag :

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            state_dic = ["INIT", "PREOP", "SAFEOP", "OP"]

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            # If target state is one of {INIT, PREOP, SAFEOP}, request slave state transition immediately.

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            if event.GetId() < 3 :

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                self.Controler.CommonMethod.RequestSlaveState(state_dic[event.GetId()])

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                self.TextCtrlDic["TargetState"].SetValue(state_dic[event.GetId()])

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            # If target state is OP, first check "PLC status".

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            #  (1) If current PLC status is "Started", then request slave state transition

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            #  (2) Otherwise, show error message and return

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            else :

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                status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus()

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                if status == "Started" :

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                    self.Controler.CommonMethod.RequestSlaveState("OP")

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                    self.TextCtrlDic["TargetState"].SetValue("OP")

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                else :

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                    self.Controler.CommonMethod.CreateErrorDialog("PLC is Not Started")  

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    def GetCurrentState(self, event):

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        """

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        @param event : wx.TIMER object

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        """

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        if check_connect_flag:

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            returnVal = self.Controler.CommonMethod.GetSlaveStateFromSlave()

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            line = returnVal.split("\n")

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            try :

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                self.SetCurrentState(line[self.Controler.GetSlavePos()])

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            except :

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                pass  

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    def SetCurrentState(self, line):

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        """

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        Show current slave state using the executiob result of "ethercat slaves" command.

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        @param line : result of "ethercat slaves" command

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        """

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        state_array = ["INIT", "PREOP", "SAFEOP", "OP"]

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        try :

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            # parse the execution result of  "ethercat slaves" command

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            # Result example : 0  0:0  PREOP  +  EL9800 (V4.30) (PIC24, SPI, ET1100)

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            token = line.split("  ")

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            if token[2] in state_array:

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                self.TextCtrlDic["CurrentState"].SetValue(token[2])           

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        except :

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            pass     

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    def StartTimer(self, event):

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        """

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        Event handler for "Start State Monitoring" button.

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          - start slave state monitoring thread

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        @param event : wx.EVT_BUTTON object

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        """

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    def CurrentStateThreadStop(self, event):

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        """

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        Event handler for "Stop State Monitoring" button.

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          - stop slave state monitoring thread

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        @param event : wx.EVT_BUTTON object

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        """

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        try:

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            self.SlaveStateThread.Stop()

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        except:

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            pass

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#-------------------------------------------------------------------------------

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#                    For SDO Management Panel

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#-------------------------------------------------------------------------------  

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    def __init__(self, parent, controler):

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        """

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        Constructor

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        @param parent: Reference to the parent EtherCATManagementTreebook class

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        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

   348

        """

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        wx.Panel.__init__(self, parent, -1)

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   351

        self.DatatypeDescription, self.CommunicationObject, self.ManufacturerSpecific, \

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        self.ProfileSpecific, self.Reserved, self.AllSDOData = range(6)

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        self.Controler = controler

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        self.SDOManagementMainSizer = wx.BoxSizer(wx.VERTICAL)

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        self.SetSizer(self.SDOManagementMainSizer)

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        self.Controler.CommonMethod.ClearSDODataSet()

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        if check_connect_flag: