# /// script
# dependencies = ["pyserial>=3.5"]
# ///
import serial
from enum import Flag, auto

class StatusByte(Flag):
    """
    The Status Byte returned by the RDSBYTE (RB) command.
    The value parameter should be an 8-bit int, 0-255.
    00000001 <- Bit 0 is 1, commanded move in progress.
    """
    COMMANDED_MOVE = auto()
    AXIS_ENABLED = auto()
    MOTOR_ACTIVE = auto()
    JS_KNOB_ENABLED = auto()
    MOTOR_RAMPING = auto()
    MOTOR_RAMPING_UP = auto()
    AT_UPPER_LIMIT = auto()
    AT_LOWER_LIMIT = auto()

def main() -> None:
    # use an empty string for MS2000 (card_address = "")
    card_address = "1"

    # which axes to query (for a single axis use: axes = ["X"])
    # axes_byte_len is the number of bytes that need to be read for RDSBYTE
    axes = ["X", "Y"]
    axes_str = " ".join(axes)
    axes_byte_len = len(axes) + 3  # 3 bytes for ':', '\r', and '\n'

    with serial.Serial("COM5", 115200, timeout=1) as serial_port:
        # query the controller for the status byte of each axis
        command = f"{card_address}RB {axes_str}\r"
        serial_port.write(bytes(command, encoding="ascii"))
        response = serial_port.read(axes_byte_len)

        # report and check for errors
        print(f"Send: \"{command[:-1]}\"")
        print(f"Recv: \"{response}\" (interpreted as ASCII)")
        print(f"Number of bytes to read: {axes_byte_len}\n")
        if b"N" in response:
            print("Error in response...")
            return

        # view as bytes
        response_bytes = [byte for byte in response]
        print(f"{response_bytes = } (raw bytes)\n")

        # get the status byte for each axis and skip the first byte (':')
        status_bytes = [response[i] for i in range(1, len(axes) + 1)]
        print(f"{status_bytes = } (decimal)")

        # create a dictionary that maps uppercase axis names to status bytes
        status_bytes_dict = {axis.upper(): StatusByte(status_byte) for (axis, status_byte) in zip(axes, status_bytes, strict=True)}
        print(f"{status_bytes_dict = }\n")

        # check the status of each axis
        for axis in axes:
            status_byte = status_bytes_dict.get(axis.upper())
            # check a single flag
            is_at_upper_limit = StatusByte.AT_UPPER_LIMIT in status_byte
            # check multiple flags
            is_js_and_axis_enabled = StatusByte.JS_KNOB_ENABLED | StatusByte.AXIS_ENABLED in status_byte
            # check if one flag is True and the other is False
            is_motor_on_and_not_cmd_move = StatusByte.MOTOR_ACTIVE in status_byte and StatusByte.COMMANDED_MOVE not in status_byte
            print(f"{axis} Axis Status: {status_byte.value:08b}")  # print the status_byte in binary
            print(f"{status_byte = }")
            print(f"{is_at_upper_limit = }")
            print(f"{is_js_and_axis_enabled = }")
            print(f"{is_motor_on_and_not_cmd_move = }\n")

if __name__ == "__main__":
    main()