################################################################################
#                                                                              #
#                 This file is part of the Buildbotics firmware.               #
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#         This Source describes Open Hardware and is licensed under the        #
#                                 CERN-OHL-S v2.                               #
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################################################################################

from .ProgramMDI import *

__all__ = ['ProgramSetPosition']


class ProgramSetPosition(ProgramMDI):
  def __init__(self, ctrl, axis, position):
    axis = axis.lower()
    state = ctrl.state

    if state.is_axis_homed(axis):
      # If homed, change the offset rather than the absolute position
      cmd = 'G92%s%f' % (axis, position)

    elif state.is_axis_enabled(axis):
      # Set absolute position via planner
      target = position + state.get('offset_' + axis)
      cmd = 'G28.3 %s%f\nG28.2 %s0' % (axis, target, axis)

    super().__init__(ctrl, cmd)
