################################################################################
# Copyright © 2019 TRINAMIC Motion Control GmbH & Co. KG
# (now owned by Analog Devices Inc.),
#
# Copyright © 2023 Analog Devices Inc. All Rights Reserved.
# This software is proprietary to Analog Devices, Inc. and its licensors.
################################################################################

from ..modules import TMCLModule

# features
from ..features import MotorControlModule, DriveSettingModule, LinearRampModule
from ..features import StallGuard2Module, CoolStepModule


class TMCM6212(TMCLModule):
    """
    The TMCM-6212 is a six axis stepper motor controller/driver module for sensorless load dependent current control.
    """
    def __init__(self, connection, module_id=1):
        super().__init__(connection, module_id)
        self.name = "TMCM-6212"
        self.desc = self.__doc__
        self.motors = [self._MotorTypeA(self, 0), self._MotorTypeA(self, 1), self._MotorTypeA(self, 2),
                       self._MotorTypeA(self, 3), self._MotorTypeA(self, 4), self._MotorTypeA(self, 5)]

    def rotate(self, axis, velocity):
        self.connection.rotate(axis, velocity, self.module_id)

    def stop(self, axis):
        self.connection.stop(axis, self.module_id)

    def move_to(self, axis, position, velocity=None):
        if velocity:
            self.motors[axis].linear_ramp.max_velocity = velocity
        self.connection.move_to(axis, position, self.module_id)

    def move_by(self, axis, difference, velocity=None):
        if velocity:
            self.motors[axis].linear_ramp.max_velocity = velocity
        self.connection.move_by(axis, difference, self.module_id)

    class _MotorTypeA(MotorControlModule):

        def __init__(self, module, axis):
            MotorControlModule.__init__(self, module, axis, self.AP)
            self.drive_settings = DriveSettingModule(module, axis, self.AP)
            self.linear_ramp = LinearRampModule(module, axis, self.AP)
            self.stallguard2 = StallGuard2Module(module, axis, self.AP)
            self.coolstep = CoolStepModule(module, axis, self.AP, self.stallguard2)

        def get_position_reached(self):
            return self.get_axis_parameter(self.AP.PositionReachedFlag)

        class AP:
            TargetPosition                 = 0
            ActualPosition                 = 1
            TargetVelocity                 = 2
            ActualVelocity                 = 3
            MaxVelocity                    = 4
            MaxAcceleration                = 5
            MaxCurrent                     = 6
            StandbyCurrent                 = 7
            PositionReachedFlag            = 8
            HomeSwitch                     = 9
            RightEndstop                   = 10
            LeftEndstop                    = 11
            RightLimitSwitchDisable        = 12
            LeftLimitSwitchDisable         = 13
            SwapLimitSwitches              = 14
            A1                             = 15
            V1                             = 16
            MaxDeceleration                = 17
            D1                             = 18
            StartVelocity                  = 19
            StopVelocity                   = 20
            RampWaitTime                   = 21
            HighSpeedThreshold             = 22
            MinDcStepSpeed                 = 23
            RightLimitSwitchPolarity       = 24
            LeftLimitSwitchPolarity        = 25
            SoftStop                       = 26
            HighSpeedChopperMode           = 27
            HighSpeedFullstepMode          = 28
            MeasuredSpeed                  = 29
            PowerDownRamp                  = 31
            DcStepTime                     = 32
            DcStepStallGuard               = 33
            RelativePositioningOption      = 127
            MicrostepResolution            = 140
            ChopperBlankTime               = 162
            ConstantTOffMode               = 163
            DisableFastDecayComparator     = 164
            ChopperHysteresisEnd           = 165
            ChopperHysteresisStart         = 166
            TOff                           = 167
            SEIMIN                         = 168
            SECDS                          = 169
            SmartEnergyHysteresis          = 170
            SECUS                          = 171
            SmartEnergyHysteresisStart     = 172
            SG2FilterEnable                = 173
            SG2Threshold                   = 174
            SmartEnergyActualCurrent       = 180
            SmartEnergyStallVelocity       = 181
            SmartEnergyThresholdSpeed      = 182
            RandomTOffMode                 = 184
            ChopperSynchronization         = 185
            PWMThresholdSpeed              = 186
            PWMGrad                        = 187
            PWMAmplitude                   = 188
            PWMScale                       = 189
            PWMMode                        = 190
            PWMFrequency                   = 191
            PWMAutoscale                   = 192
            ReferenceSearchMode            = 193
            ReferenceSearchSpeed           = 194
            ReferenceSwitchSpeed           = 195
            ReferenceSwitchDistance        = 196
            LastReferenceSwitchPosition    = 197
            LatchedActualPosition          = 198
            LatchedEncoderPosition         = 199
            EncoderMode                    = 201
            FullstepResolution             = 202
            FreewheelingMode               = 204
            LoadValue                      = 206
            ErrorFlags                     = 207  # ExtendedErrorFlags
            StatusFlags                    = 208  # DrvStatusFlags
            EncoderPosition                = 209
            EncoderClearOnNull             = 210
            MaxEncoderDeviation            = 212
            GroupIndex                     = 213
            PowerDownDelay                 = 214
            ReverseShaft                   = 251
            UnitMode                       = 255
    
        class ENUM:
            microstep_resolution_fullstep = 0
            microstep_resolution_halfstep = 1
            microstep_resolution_4_microsteps = 2
            microstep_resolution_8_microsteps = 3
            microstep_resolution_16_microsteps = 4
            microstep_resolution_32_microsteps = 5
            microstep_resolution_64_microsteps = 6
            microstep_resolution_128_microsteps = 7
            microstep_resolution_256_microsteps = 8

    class GP0:
        SerialBaudRate      = 65
        SerialAddress       = 66
        SerialHearbeat      = 68
        CANBitRate          = 69
        CANsendID           = 70
        CANreceiveID        = 71
        TelegramPauseTime   = 75
        SerialHostAddress   = 76
        AutoStartMode       = 77
        TMCLCodeProtection  = 81
        CANHeartbeat        = 82
        CANSecondaryAddress = 83
        eepromCoordinateStore          = 84
        zeroUserVariables              = 85
        serialSecondaryAddress         = 87
        ApplicationStatus   = 128
        ProgramCounter      = 130
        TickTimer           = 132
        RandomNumber        = 133
        SuppressReply       = 255

    class GP3:
        timer_0                        = 0
        timer_1                        = 1
        timer_2                        = 2
        stopLeft_0                     = 27
        stopRight_0                    = 28
        stopLeft_1                     = 29
        stopRight_1                    = 30
        stopLeft_2                     = 31
        stopRight_2                    = 32
        stopLeft_3                     = 33
        stopRight_3                    = 34
        stopLeft_4                     = 35
        stopRight_4                    = 36
        stopLeft_5                     = 37
        stopRight_5                    = 38
        input_0                        = 39
        input_1                        = 40
        input_2                        = 41
        input_3                        = 42

    class IO:
        OUT0   = 0
        OUT1   = 1
        OUT2   = 2
        OUT3   = 3
        IN0    = 0
        IN1    = 1
        IN2    = 2
        IN3    = 3