# Copyright (c) 2018 Ultimaker B.V.
# Cura is released under the terms of the LGPLv3 or higher.

from typing import List

from cura.MachineAction import MachineAction
from cura.PrinterOutputDevice import PrinterOutputDevice

from UM.FlameProfiler import pyqtSlot

from UM.Application import Application
from UM.i18n import i18nCatalog
catalog = i18nCatalog("cura")


##  A simple action to handle manual bed leveling procedure for printers that don't have it on the firmware.
#   This is currently only used by the Ultimaker Original+
class BedLevelMachineAction(MachineAction):
    def __init__(self):
        super().__init__("BedLevel", catalog.i18nc("@action", "Level build plate"))
        self._qml_url = "BedLevelMachineAction.qml"
        self._bed_level_position = 0

    def _execute(self):
        pass

    def _reset(self):
        self._bed_level_position = 0
        pass

    @pyqtSlot()
    def startBedLeveling(self):
        self._bed_level_position = 0
        printer_output_devices = self._getPrinterOutputDevices()
        if printer_output_devices:
            printer_output_devices[0].homeBed()
            printer_output_devices[0].moveHead(0, 0, 3)
            printer_output_devices[0].homeHead()

    def _getPrinterOutputDevices(self) -> List[PrinterOutputDevice]:
        return [printer_output_device for printer_output_device in Application.getInstance().getOutputDeviceManager().getOutputDevices() if isinstance(printer_output_device, PrinterOutputDevice)]

    @pyqtSlot()
    def moveToNextLevelPosition(self):
        output_devices = self._getPrinterOutputDevices()
        if output_devices:  # We found at least one output device
            output_device = output_devices[0]

            if self._bed_level_position == 0:
                output_device.moveHead(0, 0, 3)
                output_device.homeHead()
                output_device.moveHead(0, 0, 3)
                output_device.moveHead(Application.getInstance().getGlobalContainerStack().getProperty("machine_width", "value") - 10, 0, 0)
                output_device.moveHead(0, 0, -3)
                self._bed_level_position += 1
            elif self._bed_level_position == 1:
                output_device.moveHead(0, 0, 3)
                output_device.moveHead(-Application.getInstance().getGlobalContainerStack().getProperty("machine_width", "value" ) / 2, Application.getInstance().getGlobalContainerStack().getProperty("machine_depth", "value") - 10, 0)
                output_device.moveHead(0, 0, -3)
                self._bed_level_position += 1
            elif self._bed_level_position == 2:
                output_device.moveHead(0, 0, 3)
                output_device.moveHead(-Application.getInstance().getGlobalContainerStack().getProperty("machine_width", "value") / 2 + 10, -(Application.getInstance().getGlobalContainerStack().getProperty("machine_depth", "value") + 10), 0)
                output_device.moveHead(0, 0, -3)
                self._bed_level_position += 1
            elif self._bed_level_position >= 3:
                output_device.sendCommand("M18") # Turn off all motors so the user can move the axes
                self.setFinished()