#!/usr/bin/python3

# _*_ coding: UTF-8 _*_

import serial

import sys

serial_name='/dev/ttyUSB0'

if(len(sys.argv)==2):

serial_name=sys.argv[1]

ser=serial.Serial(serial_name,9600,timeout=1);

min_coord=[-50,-50,0,-10]

max_coord=[1700,50,290,95]

def update(content,num,coord_lines):

i=int(coord_lines[num])

move_i=int(content[1:])

if((i+move_i)<min_coord[num]):

print("Warning: out of range.")

move_i=min_coord[num]-i

i=min_coord[num]

content=content[0]+str(move_i)+"."

elif((i+move_i)>max_coord[num]):

print("<Warning: out of range>")

move_i=max_coord[num]-i

i=max_coord[num]

content=content[0]+str(move_i)+"."

else:

i +=move_i

content=content+"."

print("move:%d"%(move_i))

coord_line=str(i)+"\n"

return content,coord_line

def moveOneStep(content):

if(content[0]=='q'):

content='q111'

content=content+"."

#unicode to utf-8

ser.write(content.encode(encoding = "ascii"))

# response=ser.readall().decode(encoding="utf-8")

# print ("I heared:%s"%(response),end='')

# if(response[-4:-2]=="sh"):

# pass

# else:

response=""

# # #response=ser.readall().decode(encoding="utf-8")

# while(response==""):

# response=ser.readall().decode(encoding="ascii")

while response=="":

response=ser.readline().decode(encoding="ascii")

ser.flushInput()

ser.flushOutput()

if(response[0:2]=="11"):

print("finish")

else:

print(response,end='')

sys.exit(1)

commands=[

#"mz0020",

#"mx-020",

#0/0/30/95

"x0180",

"z0200",

"x-040",

"j-90", #夹菜

"z-230", #抬升

"x0960", #移向切刀

"z0290", #向下

"q",

"z-260",

"q",

"x0600",

"j090",

"x-1600"

]

while(True):

command=input("enter:")

moveOneStep(command)

# for i in range(len(commands)):

# moveOneStep(commands[i])

print("bye")

ser.close()