#!/usr/bin/python3
import time
from enum import Enum

# import Constant
# from COM.COM_Robot import RobotClient
# from Util.util_time import CClockPulse, CTon
from .EMV import *


class CatchStatus(Enum):
    CNone = 0
    CTake = 1  #  抓取
    CRelease = 2  #  放开
    CDrop = 3
    CShake = 4
    COk = 5

class CatchTool:
    def __init__(self):
        self.catch_status = CatchStatus.CNone

    # =========================================
    # 密胺餐盘
    # 电磁阀1 需要在 吸盘吸的时候 关闭
    # 电磁阀1 需要在 夹爪工作的时候打开

    # 电磁阀2 开 -> 吸盘吸
    # 电磁阀2 关 -> 吸盘放开

    # 电磁阀3  开-> 打开夹爪
    # 电磁阀3  关 -> 闭合夹爪

    # =======================================
    # 夹爪 抓取
    def gripper_grasp(self):
        close(0, 0, 1)  # 电磁阀3关
        open(1, 0, 0)  # 电磁阀1开
        time.sleep(1)  # 间隔1秒

    # 夹爪 放开
    def gripper_release(self):
        open(1, 0, 1) # 电磁阀1开，电磁阀3开
        time.sleep(1)  # 间隔1秒

    # 吸盘 吸取
    def suction_pick(self):
        close(1, 0, 0)  # 电磁阀1关
        open(0, 1, 0)  # 电磁阀2开
        time.sleep(1)  # 间隔1秒

    # 吸盘 释放(松开)
    def suction_release(self):
        close(0, 1, 0)  # 电磁阀2关
        time.sleep(1)  # 间隔1秒

# catch_tool = CatchTool()
# catch_tool.gripper_grasp()