import tkinter as tk
from tkinter.constants import W, X
import serial.tools.list_ports
import functools
import tkinter.ttk as ttk
from configparser  import ConfigParser
import os
import labrobot as lrb
import threading

# commands
command = []
infoline = []
# serial ports
ports = serial.tools.list_ports.comports()
serialObj = serial.Serial()

def serial_ports():
    return serial.tools.list_ports.comports()

def on_select(event=None):
    serialObj.port = cb.get().split(' ')[0]
    serialObj.baudrate = 115000
    serialObj.open()


root = tk.Tk()
infobar = tk.StringVar()
#configue root
root.title("Jfs Labrobot")
root.geometry('800x500+300+300')
root.columnconfigure(0,weight=1)
root.rowconfigure(0,weight=1)
#root.config(bg='#b7f731')

notebook = ttk.Notebook(root)
notebook.grid(sticky='news',padx=5,pady=5)
notebook.enable_traversalrightmainframe = ttk.Frame(notebook)

mainframe = ttk.Frame(notebook)
#mainframe.rowconfigure(0,weight=1)
mainframe.columnconfigure(0,weight=1)

notebook.add(mainframe,text='main',underline=0)

leftframe = ttk.Frame(mainframe)

leftframe.columnconfigure(0,weight=1)
leftframe.rowconfigure(1,weight=1)
leftframe.grid(column=0,row=0,sticky='news')

rightframe = ttk.Frame(mainframe)
rightframe.columnconfigure(0,weight=1)
rightframe.rowconfigure(0,weight=1)
rightframe.grid(column=1,row=0,sticky='new')

uprightframe =ttk.LabelFrame(rightframe,text='Basic')
uprightframe.grid(column=0,row=0,sticky='ns')

downrightframe =ttk.LabelFrame(rightframe,text='More to select')
downrightframe.grid(column=0,row=1,sticky='new',pady=5)

cb =ttk.Combobox(leftframe,values=serial_ports())
cb.grid(row=0,column=0,stick="nwe")
cb.bind('<<ComboboxSelected>>',on_select)

info = ttk.Label(textvariable=infobar)
info.grid(row=99,column=0,sticky='ew',padx=5)
infobar.set('Info Bar')

scb =tk.Scrollbar(leftframe)
scb.grid(row=1,column=1,sticky='ns')
#txt = tk.Text(leftframe,height=30,width=50)
txt = tk.Text(leftframe)
txt.grid(row=1,column=0,sticky='ewns')
scb.config(command=txt.yview)
txt.config(yscrollcommand=scb.set)
txt.tag_configure('small',font=('Verdana',8),foreground='black')

b1 = ttk.Button(uprightframe,text='Home All',width=12)
b1.grid(row=0,column=0,sticky='nw')
b2 = ttk.Button(uprightframe,text='Home X',width=12)
b2.grid(row=0,column=1,sticky='ne')
b3 = ttk.Button(uprightframe,text='Home Y',width=12)
b3.grid(row=1,column=0,sticky='nw')
b4 = ttk.Button(uprightframe,text='Home Z',width=12)
b4.grid(row=1,column=1,sticky='ne')
b6 = ttk.Button(uprightframe,text='Home P',width=12)
b6.grid(row=2,column=0,sticky='nw')
b7 = ttk.Button(uprightframe,text='Get Position',width=12)
b7.grid(row=2,column=1,sticky='ne')
l1 = ttk.Label(uprightframe,text="Enter G-Code").grid(row=3,column=0)
e1 = ttk.Entry(uprightframe)
e1.grid(row=3,column=1)
b5 = ttk.Button(uprightframe,text='Send Code')
b5.grid(row=4,column=1,sticky="ne")

b8 = ttk.Button(downrightframe,text='Next Tip')
b8.grid(row=0,column=0,sticky='ne')
b9 = ttk.Button(downrightframe,text='Up')
b9.grid(row=0,column=1,sticky='ne')
b10 = ttk.Button(downrightframe,text='Down')
b10.grid(row=0,column=2,sticky='ne')
b11 = ttk.Button(downrightframe,text='Top')
b11.grid(row=1,column=0,sticky='ne')
b13 = ttk.Button(downrightframe,text='Load')
b13.grid(row=1,column=1,sticky='ne')
b12 = ttk.Button(downrightframe,text='Dispense')
b12.grid(row=1,column=2,sticky='ne')
b14 = ttk.Button(downrightframe,text='Take Chem')
b14.grid(row=2,column=0,sticky='ne')
b15 = ttk.Button(downrightframe,text='Next Vessel')
b15.grid(row=2,column=1,sticky='ne')
b16 = ttk.Button(downrightframe,text='Load Next')
b16.grid(row=2,column=2,sticky='ne')
ttk.Label(downrightframe,text='Start Vessel').grid(row=3,column=0,sticky='e')
e2 =ttk.Entry(downrightframe,width=5)
e2.grid(row=3,column=1,sticky='w')
ttk.Label(downrightframe,text='Last Vessel').grid(row=4,column=0,sticky='e')
e3 =ttk.Entry(downrightframe,width=5)
e3.grid(row=4,column=1,sticky='w')
b17 = ttk.Button(downrightframe,text='Load All')
b17.grid(row=4,column=2,sticky='e')
b18 = ttk.Button(downrightframe,text='Clear Tip')
b18.grid(row=3,column=2,sticky='e')


###################### Parts
## init Labrobot
startVessel = tk.IntVar()
lastVessel = tk.IntVar()
## Top Block
xoffset = tk.DoubleVar()
yoffset = tk.DoubleVar()
rows = tk.IntVar()
cols = tk.IntVar()
xspace = tk.DoubleVar()
yspace = tk.DoubleVar()
zlevel = tk.DoubleVar()
akttip = tk.IntVar()
## Tip
tipvol = tk.IntVar()
tipup = tk.DoubleVar()
tiphub = tk.DoubleVar()
tipspeed = tk.IntVar()
aktvol = tk.DoubleVar()
## Chemicals
chemX = tk.DoubleVar()
chemY = tk.DoubleVar()
chemVol = tk.DoubleVar()
chemZ = tk.DoubleVar()
deltaz = tk.DoubleVar()
tauch = tk.DoubleVar()
reaPart = tk.DoubleVar()
## ReactionSpace
rxoffset = tk.DoubleVar()
ryoffset = tk.DoubleVar()
rrows = tk.IntVar()
rcols = tk.IntVar()
rxspace = tk.DoubleVar()
ryspace = tk.DoubleVar()
rtipvol = tk.IntVar()
rzlevel = tk.DoubleVar()
rakt = tk.IntVar()



def conf_read():
    config = ConfigParser()
    config.read(os.path.join(os.path.dirname(__file__), "config.ini"),)
    xoffset.set(float(config.get('tipblock','xoffset',fallback=0)))
    yoffset.set(float(config.get('tipblock','yoffset',fallback=0)))
    rows.set(int(config.get('tipblock','rows',fallback=0)))
    cols.set(int(config.get('tipblock','cols',fallback=0)))
    xspace.set(float(config.get('tipblock','xspace',fallback=0)))
    yspace.set(float(config.get('tipblock','yspace',fallback=0)))
    tipvol.set(int(config.get('tipblock','tipvol',fallback=0)))
    zlevel.set(float(config.get('tipblock','zlevel',fallback=0)))
    tipup.set(float(config.get('tipblock','tipup',fallback=0)))
    tiphub.set(float(config.get('tipblock','tiphub',fallback=0)))
    tipspeed.set(int(config.get('tipblock','tipspeed',fallback=0)))
    chemX.set(float(config.get('chemblock','chemx',fallback=0)))
    chemY.set(float(config.get('chemblock','chemy',fallback=0)))
    chemVol.set(float(config.get('chemblock','chemvol',fallback=0)))
    chemZ.set(float(config.get('chemblock','chemz',fallback=0)))
    deltaz.set(float(config.get('chemblock','deltaz',fallback=0)))
    tauch.set(float(config.get('chemblock','tauch',fallback=0)))
    reaPart.set(float(config.get('chemblock','reapart',fallback=0)))
    rxoffset.set(float(config.get('reacblock','rxoffset',fallback=0)))
    ryoffset.set(float(config.get('reacblock','ryoffset',fallback=0)))
    rrows.set(int(config.get('reacblock','rrows',fallback=0)))
    rcols.set(int(config.get('reacblock','rcols',fallback=0)))
    rxspace.set(float(config.get('reacblock','rxspace',fallback=0)))
    ryspace.set(float(config.get('reacblock','ryspace',fallback=0)))
    rzlevel.set(float(config.get('reacblock','rzlevel',fallback=0)))

def conf_write():
     config = ConfigParser()
     config.read(os.path.join(os.path.dirname(__file__), "config.ini"),)
     config.set('tipblock','xoffset',str(xoffset.get()))
     config.set('tipblock','yoffset',str(yoffset.get()))
     config.set('tipblock','rows',str(rows.get()))
     config.set('tipblock','cols',str(cols.get()))
     config.set('tipblock','xspace',str(xspace.get()))
     config.set('tipblock','yspace',str(yspace.get()))
     config.set('tipblock','tipvol',str(tipvol.get()))
     config.set('tipblock','zlevel',str(zlevel.get()))
     config.set('tipblock','tipup',str(tipup.get()))
     config.set('tipblock','tiphub',str(tiphub.get()))
     config.set('tipblock','tipspeed',str(tipspeed.get()))   
     config.set('chemblock','chemx',str(chemX.get())) 
     config.set('chemblock','chemy',str(chemY.get()))    
     config.set('chemblock','chemvol',str(chemVol.get()))   
     config.set('chemblock','chemz',str(chemZ.get()))   
     config.set('chemblock','deltaz',str(deltaz.get()))   
     config.set('chemblock','tauch',str(tauch.get())) 
     config.set('chemblock','reapart',str(reaPart.get()))     
     config.set('reacblock','rxoffset',str(rxoffset.get()))
     config.set('reacblock','ryoffset',str(ryoffset.get()))
     config.set('reacblock','rrows',str(rrows.get()))
     config.set('reacblock','rcols',str(rcols.get()))
     config.set('reacblock','rxspace',str(rxspace.get()))
     config.set('reacblock','ryspace',str(ryspace.get())) 
     config.set('reacblock','rzlevel',str(rzlevel.get()))
     with open(os.path.join(os.path.dirname(__file__), "config.ini"),'w') as f:
         config.write(f)
conf_read()

lpb = lrb.LabPipBlock(xoffset.get(),yoffset.get(),zlevel.get(),rows.get(),cols.get(),xspace.get(),yspace.get())
pip = lrb.LabPip(vol=tipvol.get(),top=tipup.get(),hub=tiphub.get(),fe=tipspeed.get())
chem = lrb.ChemLoc(chemX.get(),chemY.get(),chemZ.get(),chemVol.get(),deltaz.get(),tauch.get(),chemVol.get())
react = lrb.LabReactBlock(rxoffset.get(),ryoffset.get(),rzlevel.get(),rrows.get(),rcols.get(),rxspace.get(),ryspace.get())

partframe = ttk.Frame(notebook)
#partframe.rowconfigure(0,weight=1)
partframe.columnconfigure(0,weight=1)
notebook.add(partframe,text='parts',underline=0)

pipblockframe =ttk.LabelFrame(partframe,text='Tip Block')
pipblockframe.grid(column=0,row=0,sticky='wns',padx=5,pady=5)
pl1 = ttk.Label(pipblockframe,text='X offset').grid(column=0,row=0,padx=5)
pe1 = ttk.Entry(pipblockframe,textvariable=xoffset)
pe1.grid(column=1,row=0,sticky='e')
pl2 = ttk.Label(pipblockframe,text='rows').grid(column=0,row=2,padx=5)
pe2 = ttk.Entry(pipblockframe,textvariable=rows)
pe2.grid(column=1,row=2,sticky='e')
pl3 = ttk.Label(pipblockframe,text='columns').grid(column=0,row=3,padx=5)
pe3 = ttk.Entry(pipblockframe,textvariable=cols)
pe3.grid(column=1,row=3,sticky='e')
pl4 = ttk.Label(pipblockframe,text='x space').grid(column=0,row=4,padx=5)
pe4 = ttk.Entry(pipblockframe,textvariable=xspace)
pe4.grid(column=1,row=4,sticky='e')
pl5 = ttk.Label(pipblockframe,text='y space').grid(column=0,row=5,padx=5)
pe5 = ttk.Entry(pipblockframe,textvariable=yspace)
pe5.grid(column=1,row=5,sticky='e')
pl6 = ttk.Label(pipblockframe,text='Y offset').grid(column=0,row=1,padx=5)
pe6 = ttk.Entry(pipblockframe,textvariable=yoffset)
pe6.grid(column=1,row=1,sticky='e')
pl8 = ttk.Label(pipblockframe,text='Z uptake').grid(column=0,row=6,padx=5)
pe8 = ttk.Entry(pipblockframe,textvariable=zlevel)
pe8.grid(column=1,row=6,sticky='e')
ttk.Separator(pipblockframe, orient=tk.HORIZONTAL).grid(row=7,sticky='ew')
pl7 = ttk.Label(pipblockframe,text='Tip Volume').grid(column=0,row=8,padx=5)
pe7 = ttk.Entry(pipblockframe,textvariable=tipvol)
pe7.grid(column=1,row=8,sticky='e')
pl9 = ttk.Label(pipblockframe,text='Tip Top').grid(column=0,row=9,padx=5)
pe9 = ttk.Entry(pipblockframe,textvariable=tipup)
pe9.grid(column=1,row=9,sticky='e')
pl10 = ttk.Label(pipblockframe,text='Tip Hub').grid(column=0,row=10,padx=5)
pe10 = ttk.Entry(pipblockframe,textvariable=tiphub)
pe10.grid(column=1,row=10,sticky='e')
pl11 = ttk.Label(pipblockframe,text='Tip Speed').grid(column=0,row=11,padx=5)
pe11 = ttk.Entry(pipblockframe,textvariable=tipspeed)
pe11.grid(column=1,row=11,sticky='e')
ttk.Separator(pipblockframe, orient=tk.HORIZONTAL).grid(row=80,sticky='ew')
pl12 = ttk.Label(pipblockframe,text='Akt Tip').grid(column=0,row=81,padx=5)
pe12 = ttk.Entry(pipblockframe,textvariable=akttip)
pe12.grid(column=1,row=81,sticky='e')
pl13 = ttk.Label(pipblockframe,text='Akt Volumne').grid(column=0,row=82,padx=5)
pe13 = ttk.Entry(pipblockframe,textvariable=aktvol)
pe13.grid(column=1,row=82,sticky='e')
ttk.Separator(pipblockframe, orient=tk.HORIZONTAL).grid(row=98,sticky='ew')
pb1 = ttk.Button(pipblockframe,text='Set')
pb1.grid(column=0,row=99,sticky='e')
pb2 = ttk.Button(pipblockframe,text='Save')
pb2.grid(column=1,row=99,sticky='w')

chemframe =ttk.LabelFrame(partframe,text='Chemicals')
chemframe.grid(column=1,row=0,sticky='wns',padx=5,pady=5)
cl1 = ttk.Label(chemframe,text='X pos').grid(column=0,row=0,padx=5)
ce1 = ttk.Entry(chemframe,textvariable=chemX)
ce1.grid(column=1,row=0,sticky='e')
cl2 = ttk.Label(chemframe,text='Y pos').grid(column=0,row=1,padx=5)
ce2 = ttk.Entry(chemframe,textvariable=chemY)
ce2.grid(column=1,row=1,sticky='e')
cl3 = ttk.Label(chemframe,text='Z Surface').grid(column=0,row=2,padx=5)
ce3 = ttk.Entry(chemframe,textvariable=chemZ)
ce3.grid(column=1,row=2,sticky='e')
cl4 = ttk.Label(chemframe,text='Volume').grid(column=0,row=3,padx=5)
ce4 = ttk.Entry(chemframe,textvariable=chemVol)
ce4.grid(column=1,row=3,sticky='e')
cl5 = ttk.Label(chemframe,text='DeltaZ/ml').grid(column=0,row=4,padx=5)
ce5 = ttk.Entry(chemframe,textvariable=deltaz)
ce5.grid(column=1,row=4,sticky='e')
cl6 = ttk.Label(chemframe,text='React Vol').grid(column=0,row=5,padx=5)
ce6 = ttk.Entry(chemframe,textvariable=reaPart)
ce6.grid(column=1,row=5,sticky='e')
reactframe =ttk.LabelFrame(partframe,text='Reaction Vessels')
reactframe.grid(column=2,row=0,sticky='wns',padx=5,pady=5)
rl1 = ttk.Label(reactframe,text='X offset').grid(column=0,row=0,padx=5)
re1 = ttk.Entry(reactframe,textvariable=rxoffset)
re1.grid(column=1,row=0,sticky='e')
rl2 = ttk.Label(reactframe,text='rows').grid(column=0,row=2,padx=5)
re2 = ttk.Entry(reactframe,textvariable=rrows)
re2.grid(column=1,row=2,sticky='e')
rl3 = ttk.Label(reactframe,text='columns').grid(column=0,row=3,padx=5)
re3 = ttk.Entry(reactframe,textvariable=rcols)
re3.grid(column=1,row=3,sticky='e')
rl4 = ttk.Label(reactframe,text='x space').grid(column=0,row=4,padx=5)
re4 = ttk.Entry(reactframe,textvariable=rxspace)
re4.grid(column=1,row=4,sticky='e')
rl5 = ttk.Label(reactframe,text='y space').grid(column=0,row=5,padx=5)
re5 = ttk.Entry(reactframe,textvariable=ryspace)
re5.grid(column=1,row=5,sticky='e')
rl6 = ttk.Label(reactframe,text='Y offset').grid(column=0,row=1,padx=5)
re6 = ttk.Entry(reactframe,textvariable=ryoffset)
re6.grid(column=1,row=1,sticky='e')
rl7 = ttk.Label(reactframe,text='Z level').grid(column=0,row=6,padx=5)
re7 = ttk.Entry(reactframe,textvariable=rzlevel)
re7.grid(column=1,row=6,sticky='e')
ttk.Separator(reactframe, orient=tk.HORIZONTAL).grid(row=80,sticky='ew')
rl8 = ttk.Label(reactframe,text='Akt Vessel').grid(column=0,row=81,padx=5)
re8 = ttk.Entry(reactframe,textvariable=rakt)
re8.grid(column=1,row=81,sticky='e')
### commands and bindings

pb2.config(command=conf_write)



def set_tipblock():
    global lpb
    lpb.xoffset = float(xoffset.get())
    lpb.yoffset = float(yoffset.get())
    lpb.rows = int(rows.get())
    lpb.columns = int(cols.get())
    lpb.deltax = float(xspace.get())
    lpb.deltay = float(yspace.get())
    lpb.z = float(zlevel.get())
    lpb.akt = int(akttip.get())
    global pip
    pip.vol = int(tipvol.get())
    pip.hub = float(tiphub.get())
    pip.fe = int(tipspeed.get())
    pip.top = float(tipup.get())
    global chem
    chem.xloc = float(chemX.get())
    chem.yloc = float(chemY.get())
    chem.vol = float(chemVol.get())
    chem.zloc = float(chemZ.get())
    chem.deltaz = float(deltaz.get())
    chem.tauch = float(tauch.get())
    chem.chemvol = float(chemVol.get())
    global react
    react.xoffset = float(rxoffset.get())
    react.yoffset = float(ryoffset.get())
    react.rows = int(rrows.get())
    react.columns = int(rcols.get())
    react.deltax = float(rxspace.get())
    react.deltay = float(ryspace.get())
    react.z = float(rzlevel.get())
    react.akt = int(rakt.get())


pb1.config(command=set_tipblock)
    
def homeAll():
    serialObj.write(b'<G28>\n')    
b1.configure(command=homeAll)

def homeX():
    serialObj.write(b'<JX>\n')
b2.configure(command=homeX)

def homeY():
    serialObj.write(b'<JY>\n')
b3.configure(command=homeY)

def homeZ():
    serialObj.write(b'<JZ>\n')    
b4.configure(command=homeZ)

def homeP():
    serialObj.write(b'<JP>\n')    
b6.configure(command=homeP)

def getPos():
    serialObj.write(b'<J2>\n')      
b7.configure(command=getPos)

def do_gcode():
    s = e1.get()
    s = s + '\n'
    print(s)
    serialObj.write(s.encode('utf-8')) 
b5.configure(command=do_gcode)

def upTip():
    command.append(pip.up().encode('utf-8'))    
b9.configure(command=upTip)

def downTip():
    command.append(pip.down().encode('utf-8'))  
b10.configure(command=downTip)

def nextTip():
    upTip()
    serialObj.write(pip.get_tip(lpb.next()).encode('utf-8')) 
    akttip.set(lpb.akt)
    downTip()    
b8.configure(command=nextTip)

def load():
    if pip.amIdown() == False:
        command.append(pip.go_top().encode('utf-8'))
        command.append(pip.go_down().encode('utf-8'))
    else:
        command.append(pip.go_top().encode('utf-8'))
    pip.setVolMax()
    aktvol.set(pip.getVol())
b13.config(command=load)

def dispense():
    v = reaPart.get()
    if pip.dispenseVol(v):
        command.append(pip.sendE().encode('utf-8'))
    else : 
        takeChem()
        upTip()
        command.append(pip.get_tip(react.same()).encode('utf-8'))
        downTip()
        if pip.dispenseVol(v):
            command.append(pip.sendE().encode('utf-8'))
        else:
            print('Error')
    aktvol.set(pip.getVol()) 
    print(pip.getVol())   

b12.config(command=dispense)

def top():
    command.append(pip.go_top().encode('utf-8'))     
b11.config(command=top)

def takeChem():
    upTip()
    pip.setXY(chem.getXY())
    command.append(pip.sendXY().encode('utf-8'))
    pip.setZ(chem.load(pip.vol/1000))  #load 1ml
    command.append(pip.down().encode('utf-8'))
    load()
    command.append(pip.up().encode('utf-8'))
    chemVol.set(chem.vol)
b14.config(command=takeChem)

def nextVessel():
    upTip()
    command.append(pip.get_tip(react.next()).encode('utf-8')) 
    rakt.set(react.akt)
    downTip()   
b15.config(command=nextVessel)

def loadNext():
    upTip()
    takeChem()
    nextVessel()
    dispense()
    upTip()
b16.config(command=loadNext)

def loadSerie():
    takeChem()
    p = startVessel.get()
    q = lastVessel.get() + 1
    for i in range(p,q):       
        print(i)
        react.akt = i
        rakt.set(react.akt)
        upTip()
        command.append(pip.get_tip(react.same()).encode('utf-8'))
        downTip()
        dispense()
    upTip()
b17.config(command=loadSerie)

def clearTip():
    upTip()
    pip.setXY(chem.getXY())
    command.append(pip.sendXY().encode('utf-8'))
    pip.clearVol()
    command.append(pip.sendE().encode('utf-8'))

b18.config(command=clearTip)

### Init Vars
startVessel.set(1)
e2.config(textvariable=startVessel)
lastVessel.set(6)
e3.config(textvariable=lastVessel)

weiter = True
def checkSerialPort():
    global weiter
    if serialObj.isOpen() and serialObj.in_waiting:
        recentPacket = serialObj.readline()
        recentPacketString  = recentPacket.decode('utf')
        txt.insert('0.1',recentPacketString,'small')
        weiter = True
    if  (len(command) > 0) & (weiter==True) :
            x = command.pop(0)
            txt.insert('0.1',x,'small')
            serialObj.write(x)
            weiter=False
           


while True:
    root.update()
    checkSerialPort()