from machine import Pin,ADC
from time import sleep_us,sleep
import json
import utime
import machine
import time




def update_data():
    # 将更新后的字典写回文件
    with open("esp32_cnc.txt", "w",encoding='utf-8') as file:
        json.dump(data, file)
    
def manul_control_port():
    motion_ports = ['x', 'y', 'z']
    current_port_index = motion_ports.index(data['manual_control_port'])
    # 使用取模运算符循环列表
    next_port_index = (current_port_index + 1) % len(motion_ports)
    data['manual_control_port'] = motion_ports[next_port_index]
    print(data['manual_control_port'])
    update_data()


def Ramp_function(pin):
    check_button.append(1)
    
def scan_callback(timer):
    if len(check_button) == 0:
        pass
    else:
        manul_control_port()
        check_button.clear()



# 手动控制电机运行
# 输入电压范围对应方向 0-1.65v 对应负方向 1.65-3.3v 对应正方向
# 输入电压数值对应步进电机速度  0-1.65v
# 步进电机转速计算 周期f = 2000us，频率 1000000/2000/200 = 2.5r/s  最大8r/s  最小2r/s 0-1.65v对应时间500-1000us，1.65-3.3v对应时间1000-500us            
# 手动操作添加步数更新

def manual_control():  # 摇杆调用控制运行命令
    # 创建电压输入引脚
    # 检测电压值
    # 判断电压值范围
    # 确定当前轴运动方向
    # 确定当前轴的运动速度
    # 驱动当前轴运动
    # 确定轴运动停止条件
    while Automatic_switching_control_pin.value() == 0:
        voltage = round(voltage_detection_pin.read()/4095*3.3,1) # 读取电压值
#         print("电压值：", voltage) # 打印电压值
        while voltage < reference_voltage-0.3: # 判断电压值范围
            direction = 0 # 确定当前轴运动方向为负方向
            axis = globals()['{}_pin'.format(data['manual_control_port'])]  # 动态轴变量
            axis[1].value(direction) # 确定当前轴运动方向为负方向
            delay_us = int(round(1000-(reference_voltage-voltage)/reference_voltage*500,0)) # 确定当前轴的运动速度
            print(delay_us)
            axis[0].value(1)
            sleep_us(delay_us)
            axis[0].value(0)
            sleep_us(delay_us)
            data['{}2'.format(data['manual_control_port'])] -= 1
            update_data()
            break
        while voltage > reference_voltage+0.3: # 判断电压值范围
            direction = 1 # 确定当前轴运动方向为正方向
            axis = globals()['{}_pin'.format(data['manual_control_port'])]  # 动态轴变量
            axis[1].value(direction) # 确定当前轴运动方向为正方向
            delay_us = int(round(1000-(voltage-reference_voltage)/(3.3-reference_voltage)*500,0)) # 确定当前轴的运动速度
            print(delay_us)
            axis[0].value(1)
            sleep_us(delay_us)
            axis[0].value(0)
            sleep_us(delay_us)
            data['{}2'.format(data['manual_control_port'])] += 1
            update_data()
            break

def manual_control_main():
    print('手动运行》》》》》》》》')
    while Automatic_switching_control_pin.value() == 0:
        manul_control_pin.irq(trigger=Pin.IRQ_FALLING, handler=Ramp_function)
        manual_control()
        pass


# 输入值定义为距离还是步数：定义为距离mm
# 定义一个通用的步进函数2  m对应值x,y,z；delay_us = [500,1000],
def step_motor2(m, direction, distance, delay_us):  # m = ["x","y","z"]   加工文件调用运行命令
    steps = int(round(distance / 0.015,1))
    step_pin,dir_pin = globals()['{}_pin'.format(m)]
    dir_pin.value(direction)
    #运行前检测x1的值处于运行范围内
    #运行前判断下一步是否会超出限位
    #运行一步，更新x1的值
    #正向运行+1，反向运行-1步
    axis0 = '{}0'.format(m)
    axis1 = '{}1'.format(m)
    axis2 = '{}2'.format(m)
    print("{}轴运行".format(m))
    if data[axis2] > data[axis0] and data[axis2] < data[axis1]: # 判断x2的值是否处于运行范围内
        if direction == 1: # x轴正向运行
            if data[axis2] + steps > data[axis1]: # 判断是否超出限位值   
                print("超出限位值，报警") # 超出限位值报警  
                return
            else:
                for i in range(steps):
                    step_pin.value(1)
                    sleep_us(delay_us)
                    step_pin.value(0)
                    sleep_us(delay_us)
                data[axis2] += steps # 更新x2的值
                update_data()
        else: # x轴反向运行
            if data[axis2] - steps < data[axis0]: # 判断是否超出限位值   
                print("超出限位值，报警") # 超出限位值报警  
                return
            else:
                for i in range(steps):
                    step_pin.value(1)
                    sleep_us(delay_us)
                    step_pin.value(0)
                    sleep_us(delay_us)
                data[axis2] -= steps # 更新x2的值
                update_data()
    else:
        print("步进值超出运行范围")

def step_motor3(m, direction):  # m = ["x","y","z"]   回位调用运行命令
    delay_us = 1500
    step_pin,dir_pin = globals()['{}_pin'.format(m)]
    dir_pin.value(direction)
    step_pin.value(1)
    sleep_us(delay_us)
    step_pin.value(0)
    sleep_us(delay_us)


# 机械回零
# Z轴回零，触发行程开关停止
# x轴回零，触发行程开关停止
# y轴回零，触发行程开关停止
# 更新x2、y2、z2坐标值为0
def Mechanical_reset(pin):
    while z_limit_pin.value() == 1:
        step_motor3('z', 0)
    while x_limit_pin.value() == 1:
        step_motor3('x', 1)
    while y_limit_pin.value() == 1:
        step_motor3('y', 1)
    data['x2'] = 0
    data['y2'] = 0
    data['z2'] = 0
    update_data()
    print("机械回零完成")
    return

def Zero_point_record(pin):
    data['x3'] = data['x2'] # 记录工件零点
    data['y3'] = data['y2'] # 记录工件零点
    data['z3'] = data['z2'] # 记录工件零点
    update_data() # 更新文件
    print('工件零点已更新')

def Automatic_control_main():
    # 自动控制
    print('自动运行》》》》》》》》')
    Mechanical_reset(2)
    while Automatic_switching_control_pin.value() == 1:
        pass
 

        # 读取文件中的数据




if __name__ == '__main__':
    # 从文件读取字典
    with open("esp32_cnc.txt", "r",encoding='utf-8') as file:
        data = json.load(file)
        print(data)
    # {"x0": 0, "y0": 0, "z0": 0, "x1": 25600, "y1": 20200, "z1": 8066, "x2": 0, "y2": 0, "z2": 0, "x3": 0, "y3": 0, "z3": 0,"manual_control_port": "x"}
    # x0-z0:机械原点坐标；x1-z1:限位坐标；x2-z2:当前位置坐标；x3-z3：工件原点；manual_control_port：手动控制轴

       
    # 初始化步进电机的引脚
    x_pin =  [Pin(13, Pin.OUT), Pin(14, Pin.OUT)] # x轴步进电机引脚,13step,14dir
    y_pin =  [Pin(26, Pin.OUT), Pin(25, Pin.OUT)] # y轴步进电机引脚,26step,25dir
    z_pin =  [Pin(33, Pin.OUT), Pin(32, Pin.OUT)] # z轴步进电机引脚,33step,32dir

    manul_control_pin = Pin(27, Pin.IN,Pin.PULL_UP) # 上拉电阻，保持端口高电位,手动切换X，y，z轴运行
    x_limit_pin = Pin(18, Pin.IN, Pin.PULL_UP) # x轴限位开关引脚,18
    y_limit_pin = Pin(19, Pin.IN, Pin.PULL_UP) # y轴限位开关引脚,19
    z_limit_pin = Pin(21, Pin.IN, Pin.PULL_UP) # z轴限位开关引脚,21
    Mechanical_reset_pin = Pin(36, Pin.IN, Pin.PULL_UP) # ,34 触发机械回零
    Automatic_switching_control_pin = Pin(34, Pin.IN) # 4  判断自动控制还是手动控制
    Zero_point_pin = Pin(4, Pin.IN,Pin.PULL_UP) # 4 设置工件零点

    check_button = []
    # 设置方向
    x_pin[1].value(1) # x轴方向设置为1
    y_pin[1].value(1) # y轴方向设置为1
    z_pin[1].value(1) # z轴方向设置为1

    scan_timer = machine.Timer(-1)
    scan_timer.init(period=10, mode=machine.Timer.PERIODIC, callback=scan_callback)

    Mechanical_reset_pin.irq(trigger=Pin.IRQ_FALLING,handler = Mechanical_reset) # 机械回零触发中断
    Zero_point_pin.irq(trigger=Pin.IRQ_FALLING,handler = Zero_point_record) # 记录工件零点触发中断

    reference_voltage = 1.5
    voltage_detection_pin = ADC(Pin(35))
    voltage_detection_pin.atten(ADC.ATTN_11DB) # 设置电压输入范围 0-3.3v  0-4095
    voltage_detection_pin.width(ADC.WIDTH_12BIT) # 设置电压输入精度 12位

    while Automatic_switching_control_pin.value() == 0 or Automatic_switching_control_pin.value() == 1:
        print(Automatic_switching_control_pin.value())
        if Automatic_switching_control_pin.value() == 0:
            manual_control_main()
        elif Automatic_switching_control_pin.value() == 1:
            Automatic_control_main()





    



# 运行说明
    # 开机，运行ESP32_CNC.py
    # 判断手动运行状态还是自动运行状态
    # 手动运行：1、手动切换x，y，z；2、手动控制对应轴运动
    # 自动运行：
        # 1、自动机械回零；
        # 2、工件零点 X3，y3，z3  手动记录工件零点
        # 3、读取加工件；
        # 4、运行加工