import sigrokdecode as srd
from .lists import *

( 
    ANN_RS1, ANN_RS2, ANN_RS3, ANN_xEQ1, ANN_xEQ2, ANN_xEQ3,
    ANN_WARN
    ) = range(7)

class Decoder(srd.Decoder):
    api_version = 3
    id = 'tmc429'
    name = 'TMC429'
    longname = 'Trinamic TMC429'
    desc = 'Trinamic TMC429 3-axis motion controller.'
    license = 'gplv3+'
    inputs = ['spi']
    outputs = []
    tags = ['IC']
    annotations = (
        ('RS1', 'Left rerence switch 1'),
        ('RS2', 'Left rerence switch 2'),
        ('RS3', 'Left rerence switch 3'),
        ('xEQ1', 'Motro 1 reached target posistion'),
        ('xEQ2', 'Motro 2 reached target posistion'),
        ('xEQ3', 'Motro 3 reached target posistion'),
        ('warning', 'Warnings')
    )
    annotation_rows = (
        ('recieve', 'Recieve', (ANN_RS1, ANN_RS2, ANN_RS3, ANN_xEQ1, ANN_xEQ2, ANN_xEQ3)),
        ('warning', 'Warnings', (ANN_WARN))
    )

    def __init__(self):
        self.reset()

    def reset(self):
        #self.ss_cmd, self.es_cmd = 0, 0
        self.mosi_bytes = []

    def start(self):
        self.out_ann = self.register(srd.OUTPUT_ANN)

    # def putx(self, data):
    #     self.put(self.ss_cmd, self.es_cmd, self.out_ann, data)

    def put_warn(self, pos, msg):
        self.put(pos[0], pos[1], self.out_ann, [2, [msg]])

    def decode(self, ss, es, data):
        if(data[0] == 'BITS'):
            # check length of datapacket
            if(len(data[1]) < 16):
                # datapacket to short
                #TODO: add error
                return

            # trim to the last 16 bits
            #TODO: add warning it packet is to long
            while(len(data[1]) == 16):
                data[1].pop(0)
                data[2].pop(0)

            self.decodeRecieve(data[2])
    
    def decodeRecieve(self, data):
        # read left rerence switches
        if(data[2][0]):
            self.put(data[2][1], data[2][2], self.out_ann, [ANN_RS3, ['RS3']])
        if(data[4][0]):
            self.put(data[4][1], data[4][2], self.out_ann, [ANN_RS2, ['RS2']])
        if(data[6][0]):
            self.put(data[6][1], data[6][2], self.out_ann, [ANN_RS1, ['RS1']])