#!/usr/bin/python

import sys

import os

import subprocess

import argparse

from time import sleep

from machinekit import launcher

if sys.version_info >= (3, 0):

import configparser

else:

import ConfigParser as configparser

parser = argparse.ArgumentParser(description='starts TheCoolTool configs')

parser.add_argument('-nm', '--no_machinetalk', help='legacy option', action='store_true')

parser.add_argument('-mk', '--mkwrapper', help='enables mkwrapper mode', action='store_true')

parser.add_argument('-m', '--machineface', help='displays the Machineface user interface', action='store_true')

parser.add_argument('-c', '--cetus', help='displays the Cetus user interface', action='store_true')

parser.add_argument('-r', '--robot', help='enables robot interaction', action='store_true')

parser.add_argument('config', nargs=1, help='path to config file')

args = parser.parse_args()

configName = args.config[0]

mtEnabled = args.mkwrapper

robotEnabled = args.robot

machineface = args.machineface

cetus = args.cetus

launcher.register_exit_handler()

#launcher.set_debug_level(5)

os.chdir(os.path.dirname(os.path.realpath(__file__)))

if not os.path.isfile(configName):

sys.stderr.write('Config file %s does not exist' % configName)

exit(1)

startupIniName = 'startup.ini'

sourceIni = open(configName) # open ini

lines = sourceIni.readlines()

sourceIni.close()

if mtEnabled:

lines = lines[:-3] # remove intro graphic

lines.append('DISPLAY = mkwrapper\n')

else:

lines.append('DISPLAY = axis\n')

startupIni = open(startupIniName, 'w')

startupIni.writelines(lines) # copy file contents

startupIni.close()

try:

launcher.check_installation()

launcher.cleanup_session()

if robotEnabled: # consider the special robot case

launcher.load_bbio_file('paralell_cape2_robot.bbio')

else:

launcher.load_bbio_file('paralell_cape2.bbio')

if mtEnabled: # load Machinetalk services

cfg = configparser.ConfigParser({'NAME': ''})

cfg.read(startupIniName)

machineName = cfg.get('EMC', 'NAME')

command = 'configserver'

if machineName is not '':

command += ' -n %s' % machineName

if machineface:

command += ' ~/Machineface'

if cetus:

command += ' ~/Cetus'

launcher.start_process(command)

if os.path.exists('/dev/video0'): # automatically start videoserver

launcher.start_process('videoserver -i video.ini Webcam1')

launcher.start_process('linuxcnc ' + startupIniName)

while True:

launcher.check_processes()

sleep(1)

except subprocess.CalledProcessError:

launcher.end_session()

exit(1)

exit(0)