#!/usr/bin/python2
# -*- encoding: utf-8 -*-

import Phytron

import MotionControl.MotionStage, MotionControl.PhytronAxis, MotionControl.Service
from MotionControl.MotionStage import MotionStage
from MotionControl.PhytronAxis import PhytronAxis
from MotionControl.Service import Service

ipcomm = Phytron.IPCOMM('/dev/ttyERDASTEP', axes=4)

axis_x = PhytronAxis( ipcomm[0], \
	max_run_freq = 825, \
	initiator = PhytronAxis.INITIATOR_PLUS, \
	initiator_position = 221786, \
	scale = {'mm': 8000} )

axis_y = PhytronAxis( ipcomm[1], \
	max_run_freq = 825, \
	initiator = PhytronAxis.INITIATOR_PLUS, \
	initiator_position = 115256, \
	scale = {'mm': 8000} )

axis_z = PhytronAxis( ipcomm[2], \
	max_run_freq = 500, \
	initiator = PhytronAxis.INITIATOR_PLUS, \
# FIXME: Z zero position needs yet to be determined
	initiator_position = 217952, \
	scale = {'mm': 8000} )

axis_phi = PhytronAxis( ipcomm[3], \
	max_run_freq = 1000, \
	initiator = PhytronAxis.INITIATOR_MINUS, \
	initiator_position = -273432, \
	scale = {'°': 1600} )

stage_axes = (axis_x, axis_y, axis_z, axis_phi)

Service.stage = MotionStage(stage_axes)

if __name__ == "__main__":
	from rpyc.utils.server import ThreadedServer 
	server = ThreadedServer(Service, port = 12345)
	server.start()