"""
Arcus controller python interface.
Only works if one ARCUS device is connected.
Including Arcus Configuration cables.
Open ArcusDevice.py in Python IDE --> Run --> Enter Terminal Commands
"""
import threading
import Arcus
import copy
import sys

class ArcusDevice(object):
    """
    This is interface class to Arcus stepper controller
    @author Lukas Zubal
    @version 1.0
    """
    def __init__(self):
        """
        @brief Constructor
        @param self object instance
        """
        self.device = Arcus.Arcus()
        if self.device.Connect() == 1:
            print ' '
        else:
            print "Cannot open stepper device on port "
            sys.exit()
        self.outputBuffer = "                                                                "
        self.lock = threading.Lock()  # thread safety
        self.verbose = 0

    def close(self):
        """
        @brief Closes Arcus device connection
        @param self object instance
        @return bool Returns a 1 if successful
        """
        self.lock.acquire()
        self.device.Close()
        self.lock.release()
        del self.device
        return 1

    def write(self, data):
        """
        @brief Command-response call to Arcus device
        @see Arcus controller manual for complete list of interactive commands
        @param self object instance
        @param data string containing interactive commands to arcus
        @return str Returns string containing response of controller
        """
        self.lock.acquire()
        self.device.SendAndRecive(data, self.outputBuffer)
        resp = copy.deepcopy(self.outputBuffer[:])
        self.lock.release()
        resp = resp.split('\x00')[0]
        if self.verbose == 1:
            print resp
        return resp

arc = ArcusDevice()

arc.write('DN')  # Send Terminal Command to return device name.
# print "Connected to device: " + response # Notify user

for i in range(len(sys.argv)-1):  # The first param is the name of this file.
    response = arc.write(sys.argv[i+1])   # Process Command and save Controller Response
    print sys.argv[i+1], response
    if sys.argv[i+1] != 'DN':  # command 'DN' whose response is not 'OK'(actually is JSA00) is used to test if arcus is connected.
        while response != 'OK':
            response = arc.write(sys.argv[i+1])

arc.close() # Close Device.
del arc