from robot.func import *

# os.environ["LIBGL_ALWAYS_SOFTWARE"] = "1"


class PrepareRobotData:
    line_speed = 100.0
    line_smooth = 0
    line_tool = 0

    def make_step(self, type, point, start_coordinates):
        step = {
            "oneshot": "1",
            "delay": "0.0",
            "speed": str(self.line_speed),
            "smooth": str(self.line_smooth),
            "coord": "0",
            "tool": str(self.line_tool),
            "ckStatus": "0x3F",
        }
        if type == "line" or type == "free":
            pairs = zip(start_coordinates, point)
            data = []
            for pair in pairs:
                data.append(round(sum(pair), 3))

            m0, m1, m2, m3, m4, m5 = data
            if type == "line":
                step.update({"action": "10"})
            if type == "free":
                step.update({"action": "4"})
            step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
            step.update({"m6": 0, "m7": 0})
        elif type == "curve":
            pairs = zip(self.world_coordinates, point[:5])
            m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]

            pairs_p = zip(self.world_coordinates, point[6:])
            m0_p, m1_p, m2_p, m3_p, m4_p, m5_p = [round(sum(i), 3) for i in pairs_p]
            step.update({"action": "17"})
            step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
            step.update({"m6": 0, "m7": 0})
            step.update(
                {
                    "m0_p": m0_p,
                    "m1_p": m1_p,
                    "m2_p": m2_p,
                    "m3_p": m3_p,
                    "m4_p": m4_p,
                    "m5_p": m5_p,
                }
            )
            step.update({"m6_p": 0, "m7_p": 0})

        for s in step:
            step[s] = str(step[s])
        return step