#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2019, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>

"""
Description: Move Arc line(linear arc motion)
"""

import os
import sys
import time

sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))

from xarm.wrapper import XArmAPI


#######################################################
"""
Just for test example
"""
if len(sys.argv) >= 2:
    ip = sys.argv[1]
else:
    try:
        from configparser import ConfigParser
        parser = ConfigParser()
        parser.read('../robot.conf')
        ip = parser.get('xArm', 'ip')
    except:
        ip = input('Please input the xArm ip address:')
        if not ip:
            print('input error, exit')
            sys.exit(1)
########################################################


arm = XArmAPI(ip, is_radian=True)
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)


def callback_count_changed(item):
    print('counter val: {}'.format(item['count']))

arm.register_count_changed_callback(callback_count_changed)


arm.reset(wait=True)

paths = [
    [300, 0, 150, -180, 0, 0],
    [300, 200, 250, -180, 0, 0],
    [500, 200, 150, -180, 0, 0],
    [500, -200, 250, -180, 0, 0],
    [300, -200, 150, -180, 0, 0],
    [300, 0, 250, -180, 0, 0],
    [300, 200, 350, -180, 0, 0],
    [500, 200, 250, -180, 0, 0],
    [500, -200, 350, -180, 0, 0],
    [300, -200, 250, -180, 0, 0],
    [300, 0, 350, -180, 0, 0],
]

arm.set_position(*paths[0], wait=True)
_, angles = arm.get_servo_angle()
arm.set_pause_time(0.2)


def move():
    ret = arm.set_servo_angle(angle=angles, is_radian=False, speed=50, wait=False)
    if ret < 0:
        print('set_servo_angle, ret={}'.format(ret))
        return -1
    for path in paths:
        ret = arm.set_position(*path[:6], radius=0, is_radian=False, wait=False, speed=300)
        if ret < 0:
            print('set_position, ret={}'.format(ret))
            return -1
    return 0

arm.set_counter_reset()

for i in range(100):
    if move() != 0:
        break
    arm.set_counter_increase()

arm.reset(wait=True)
arm.disconnect()