# -*- coding: UTF-8 -*-
# Copyright 2015-2023 - RoboDK Inc. - https://robodk.com/
#
# This is a compiled post processor.
#
# This file loads the compiled version of the RoboDK post processor for:
#   Mitsubishi robot controllers
# 
# More information about RoboDK Post Processors and Offline Programming:
#     https://robodk.com/help#PostProcessor
#     https://robodk.com/doc/en/PythonAPI/postprocessor.html
# ----------------------------------------------------

import sys
import os

#Needed to make the robodk generated code work
import math
from robodk import *

# Detect Python version and post processor
print("Using Python version: " + str(sys.version_info))
path_app = os.path.dirname(__file__).replace(os.sep,"/")
print("RoboDK Post Processor: " + path_app)

# Check if the post is compatible with the Python version
version_str = str(sys.version_info[0]) + str(sys.version_info[1])
path_library = path_app + '/v' + version_str
if not os.path.isdir(path_library):
    msg = "Invalid Python version or post processor not found. Make sure you are using a supported Python version: " + path_library
    msg += "\nSelect Tools-Options-Python and select a supported Python version"
    print(msg)
    raise Exception(msg)

# Load the post processor
exec("from v" + version_str + ".Mitsubishi import RobotPost as BasePost")

class RobotPost(BasePost):
    """Robot post object"""
    # ----------------------------------------------------
    # Default Digital Output module (usually OUT or M_OUT)
    DOUT_STRING = "M_OUT"    

    # Default Analog Output module (usually OUT or M_OUT)
    AOUT_STRING = "OUT"    

    # Set the default configuration flag (7,0):
    #FLAG_CONFIG = '6'  # Set to 6 to use front/elbow up/non flip
    #FLAG_CONFIG = '7'  # Set to 7 to use front/elbow up/flip
    #FLAG_CONFIG = ''   # Set an empty string to leave it unset
    # Set to None to let RoboDK calculate it automatically
    FLAG_CONFIG = None    

    # Set the default turn flag (7,0):
    #FLAG_TURNS = '0'  # Closest to 0
    # Set to None to let RoboDK calculate it automatically
    FLAG_TURNS = None    


    pass

if __name__== "__main__":
    exec("from v" + version_str + ".Mitsubishi import test_post")
    test_post()