################################################################################
# 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 TMCM6214(TMCLModule):
    """
    The TMCM-6214 is a six axis controller/driver module. Supply voltage is 24V.
    """
    def __init__(self, connection, module_id=1):
        super().__init__(connection, module_id)
        self.name = "TMCM-6214"
        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):
        """
        Rotates the motor on the given axis with the given velocity.

        Parameters:
        axis: Axis index.
        velocity: Target velocity to rotate the motor with. Units are module specific.

        Returns: None
        """
        self.connection.rotate(axis, velocity, self.module_id)

    def stop(self, axis):
        """
        Stops the motor on the given axis.

        Parameters:
        axis: Axis index.

        Returns: None
        """
        self.connection.stop(axis, self.module_id)

    def move_to(self, axis, position, velocity=None):
        """
        Moves the motor on the given axis to the given target position.

        Parameters:
        axis: Axis index.
        position: Target position to move the motor to. Units are module specific.
        velocity: Maximum position velocity to position the motor. Units are module specific.
        If no velocity is given, the previously configured maximum positioning velocity (AP 4)
        will be used.

        Returns: 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, delta, velocity=None):
        """
        Moves the motor on the given axis by the given position difference.

        Parameters:
        axis: Axis index.
        delta: Position difference to move the motor by. Units are module specific.
        velocity: Maximum position velocity to position the motor. Units are module specific.
        If no velocity is given, the previously configured maximum positioning velocity (AP 4)
        will be used.

        Returns: None
        """
        if velocity:
            self.motors[axis].linear_ramp.max_velocity = velocity
        self.connection.move_by(axis, delta, self.module_id)

    class _MotorTypeA(MotorControlModule):
        """
        Motor class for the motor on axis 0.
        """
        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):
            """
            Indicates whether a positioning task has been completed.

            Returns:
            1, if target position has been reached.
            0, if target position has not been reached.
            """
            return self.get_axis_parameter(self.AP.PositionReachedFlag)

        class AP:
            # Axis parameter map for this axis.
            TargetPosition                   = 0
            ActualPosition                   = 1
            TargetVelocity                   = 2
            ActualVelocity                   = 3
            MaxVelocity                      = 4
            MaxAcceleration                  = 5
            MaxCurrent                       = 6
            RunCurrent                       = MaxCurrent
            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
            HighSpeedTheshold                = 22
            MinDcStepSpeed                   = 23
            RightSwitchPolarity              = 24
            LeftSwitchPolarity               = 25
            Softstop                         = 26
            HighSpeedChopperMode             = 27
            HighSpeedFullstepMode            = 28
            MeasuredSpeed                    = 29
            PowerDownRamp                    = 31
            DcStepTime                       = 32
            DcStepStallGuard                 = 33
            PositionCompareStart             = 40
            PositionCompareDistance          = 41
            PositionCompareOutput            = 42
            PositionCompareOutputPulseLength = 43
            RelativePositioningOptionCode    = 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
            ShortToGroundProtection          = 177
            VSense                           = 179
            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
            RefSwitchSpeed                   = 195
            RightLimitSwitchPosition         = 196
            LastReferencePosition            = 197
            LatchedActualPosition            = 198
            LatchedEncoderPosition           = 199
            EncoderMode                      = 201
            MotorFullStepResolution          = 202
            FreewheelingMode                 = 204
            LoadValue                        = 206
            ErrorFlags                       = 207
            StatusFlags                      = 208
            EncoderPosition                  = 209
            EncoderResolution                = 210
            EncoderDeviationMax              = 212
            GroupIndex                       = 213
            PowerDownDelay                   = 214
            DeviationAction                  = 240
            ReverseShaft                     = 251
            UnitMode                         = 255

        class ENUM:
            """
            Constant enums for parameters of this module.
            """
            MicrostepResolutionFullstep      = 0
            MicrostepResolutionHalfstep      = 1
            MicrostepResolution4Microsteps   = 2
            MicrostepResolution8Microsteps   = 3
            MicrostepResolution16Microsteps  = 4
            MicrostepResolution32Microsteps  = 5
            MicrostepResolution64Microsteps  = 6
            MicrostepResolution128Microsteps = 7
            MicrostepResolution256Microsteps = 8

    class GP0:
        """
        Global parameter map for this module.
        """
        RS485Baudrate                 = 65
        SerialAddress                 = 66
        SerialHeartbeat               = 68
        CANBitrate                    = 69
        CANSendId                     = 70
        CANReceiveId                  = 71
        TelegramPauseTime             = 75
        SerialHostAddress             = 76
        AutoStartMode                 = 77
        ProtectionMode                = 81
        CANHeartbeat                  = 82
        CANSecondaryAddress           = 83
        EepromCoordinateStore         = 84
        ZeroUserVariables             = 85
        SerialSecondaryAddress        = 86
        ApplicationStatus             = 128
        DownloadMode                  = 129
        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
        Input_4                        = 43
        Input_5                        = 44
        Input_6                        = 45
        Input_7                        = 46


    class IO:
        OUT0   = 0
        OUT1   = 1
        OUT2   = 2
        OUT3   = 3
        OUT4   = 4
        OUT5   = 5
        OUT6   = 6
        OUT7   = 7
        AIN0   = 0
        IN1    = 1
        IN2    = 2
        IN3    = 3
        AIN4   = 4
        IN5    = 5
        IN6    = 6
        IN7    = 7
        STO    = 10
        STO1   = 13
        STO2   = 14
