# ***************************************************************************
# *   Copyright (c) 2014 sliptonic <shopinthewoods@gmail.com>               *
# *                                                                         *
# *   This file is part of the FreeCAD CAx development system.              *
# *                                                                         *
# *   This program is free software; you can redistribute it and/or modify  *
# *   it under the terms of the GNU Lesser General Public License (LGPL)    *
# *   as published by the Free Software Foundation; either version 2 of     *
# *   the License, or (at your option) any later version.                   *
# *   for detail see the LICENCE text file.                                 *
# *                                                                         *
# *   FreeCAD is distributed in the hope that it will be useful,            *
# *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
# *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
# *   GNU Lesser General Public License for more details.                   *
# *                                                                         *
# *   You should have received a copy of the GNU Library General Public     *
# *   License along with FreeCAD; if not, write to the Free Software        *
# *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  *
# *   USA                                                                   *
# *                                                                         *
# ***************************************************************************/

# ****************************************************************************
# *   Modifications by Samuel Mayer (samuel.mayer@posteo.de)                 *
# *   2021                                                                   *
# *                                                                          *
# *   This postprocessor is based on the linuxcnc_post coming with FreeCAD   *
# *   0.19 and modified to work with Kinetic-NC (cnc-step.com) and Beamicon2 *
# *   (benezan-electronics.de) (up to 4 Axis)                                *
# *                                                                          *
# ***************************************************************************/

import FreeCAD
from FreeCAD import Units
import Path
import Path.Post.Utils as PostUtils
import argparse
import datetime
import shlex
from PathScripts import PathUtils
import PathScripts.PathUtils as PathUtils

TOOLTIP = """
This is a postprocessor file for the Path workbench. It is used to
take a pseudo-G-code fragment outputted by a Path object, and output
real G-code suitable for the KineticNC/Beamicon2 Control Software for up to 4 Axis (3 plus rotary).
The CORNER_MAX Values are set for a mill with max travel of 1000mm in X, 600mm in Y and 300mm in Z direction.
This postprocessor, once placed in the appropriate PathScripts folder, can be used directly from inside
FreeCAD, via the GUI importer or via python scripts with:

import KineticNCBeamicon2_post
KineticNCBeamicon2_post.export(object,"/path/to/file.ncc","")
"""

now = datetime.datetime.now()

parser = argparse.ArgumentParser(prog="linuxcnc", add_help=False)
parser.add_argument("--no-header", action="store_true", help="suppress header output")
parser.add_argument(
    "--no-comments", action="store_true", help="suppress comment output"
)
parser.add_argument(
    "--line-numbers", action="store_true", help="prefix with line numbers"
)
parser.add_argument(
    "--no-show-editor",
    action="store_true",
    help="don't pop up editor before writing output",
)
parser.add_argument(
    "--precision", default="3", help="number of digits of precision, default=3"
)
parser.add_argument(
    "--preamble",
    help='set commands to be issued before the first command, default="G17\nG90"',
)
parser.add_argument(
    "--postamble",
    help='set commands to be issued after the last command, default="M05\nG17 G90\nM2"',
)
parser.add_argument(
    "--inches", action="store_true", help="Convert output for US imperial mode (G20)"
)
parser.add_argument(
    "--modal",
    action="store_true",
    help="Output the Same G-command Name USE NonModal Mode",
)
parser.add_argument(
    "--axis-modal", action="store_true", help="Output the Same Axis Value Mode"
)

TOOLTIP_ARGS = parser.format_help()

# These globals set common customization preferences
OUTPUT_COMMENTS = True
OUTPUT_HEADER = True
OUTPUT_LINE_NUMBERS = False
SHOW_EDITOR = True
MODAL = False  # if true commands are suppressed if the same as previous line.
OUTPUT_DOUBLES = (
    True  # if false duplicate axis values are suppressed if the same as previous line.
)
COMMAND_SPACE = " "
LINENR = 100  # line number starting value

# These globals will be reflected in the Machine configuration of the project
UNITS = "G21"  # G21 for metric, G20 for us standard
UNIT_SPEED_FORMAT = "mm/min"
UNIT_FORMAT = "mm"

MACHINE_NAME = "not set"
CORNER_MIN = {"x": 0, "y": 0, "z": 0}
CORNER_MAX = {"x": 1000, "y": 600, "z": 300}
PRECISION = 3

# Preamble text will appear at the beginning of the GCODE output file.
PREAMBLE = """%
G17 G21 G40 G49 G80 G90
M08
"""

# Postamble text will appear following the last operation.
POSTAMBLE = """M05 M09
G17 G90 G80 G40
M30
"""

# Pre operation text will be inserted before every operation
PRE_OPERATION = """"""

# Post operation text will be inserted after every operation
POST_OPERATION = """"""

# Tool Change commands will be inserted before a tool change
TOOL_CHANGE = """M05
M09"""

# to distinguish python built-in open function from the one declared below
if open.__module__ in ["__builtin__", "io"]:
    pythonopen = open


def processArguments(argstring):
    global OUTPUT_HEADER
    global OUTPUT_COMMENTS
    global OUTPUT_LINE_NUMBERS
    global SHOW_EDITOR
    global PRECISION
    global PREAMBLE
    global POSTAMBLE
    global UNITS
    global UNIT_SPEED_FORMAT
    global UNIT_FORMAT
    global MODAL
    global OUTPUT_DOUBLES

    try:
        args = parser.parse_args(shlex.split(argstring))
        if args.no_header:
            OUTPUT_HEADER = False
        if args.no_comments:
            OUTPUT_COMMENTS = False
        if args.line_numbers:
            OUTPUT_LINE_NUMBERS = True
        if args.no_show_editor:
            SHOW_EDITOR = False
        print("Show editor = %d" % SHOW_EDITOR)
        PRECISION = args.precision
        if args.preamble is not None:
            PREAMBLE = args.preamble
        if args.postamble is not None:
            POSTAMBLE = args.postamble
        if args.inches:
            UNITS = "G20"
            UNIT_SPEED_FORMAT = "in/min"
            UNIT_FORMAT = "in"
            PRECISION = 4
        if args.modal:
            MODAL = True
        if args.axis_modal:
            print("here")
            OUTPUT_DOUBLES = False

    except:
        return False

    return True


def export(objectslist, filename, argstring):
    if not processArguments(argstring):
        return None
    global UNITS
    global UNIT_FORMAT
    global UNIT_SPEED_FORMAT

    for obj in objectslist:
        if not hasattr(obj, "Path"):
            print(
                "the object "
                + obj.Name
                + " is not a path. Please select only path and Compounds."
            )
            return None

    print("postprocessing...")
    gcode = ""

    # write header
    if OUTPUT_HEADER:
        gcode += linenumber() + "(Exported by FreeCAD)\n"
        gcode += linenumber() + "(Post Processor: " + __name__ + ")\n"
        gcode += linenumber() + "(Output Time:" + str(now) + ")\n"

    # Write the preamble
    if OUTPUT_COMMENTS:
        gcode += linenumber() + "(begin preamble)\n"
    for line in PREAMBLE.splitlines(False):
        gcode += linenumber() + line + "\n"
    gcode += linenumber() + UNITS + "\n"

    for obj in objectslist:

        # fetch machine details
        job = PathUtils.findParentJob(obj)

        myMachine = "not set"

        if hasattr(job, "MachineName"):
            myMachine = job.MachineName

        if hasattr(job, "MachineUnits"):
            if job.MachineUnits == "Metric":
                UNITS = "G21"
                UNIT_FORMAT = "mm"
                UNIT_SPEED_FORMAT = "mm/min"
            else:
                UNITS = "G20"
                UNIT_FORMAT = "in"
                UNIT_SPEED_FORMAT = "in/min"

        # do the pre_op
        if OUTPUT_COMMENTS:
            gcode += linenumber() + "(begin operation: %s)\n" % obj.Label
            gcode += linenumber() + "(machine: %s, %s)\n" % (
                myMachine,
                UNIT_SPEED_FORMAT,
            )
        for line in PRE_OPERATION.splitlines(True):
            gcode += linenumber() + line

        gcode += parse(obj)

        # do the post_op
        if OUTPUT_COMMENTS:
            gcode += linenumber() + "(finish operation: %s)\n" % obj.Label
        for line in POST_OPERATION.splitlines(True):
            gcode += linenumber() + line

    # do the post_amble
    if OUTPUT_COMMENTS:
        gcode += "(begin postamble)\n"
    for line in POSTAMBLE.splitlines(True):
        gcode += linenumber() + line

    if FreeCAD.GuiUp and SHOW_EDITOR:
        dia = PostUtils.GCodeEditorDialog()
        dia.editor.setText(gcode)
        result = dia.exec_()
        if result:
            final = dia.editor.toPlainText()
        else:
            final = gcode
    else:
        final = gcode

    print("done postprocessing.")

    if not filename == "-":
        gfile = pythonopen(filename, "w")
        gfile.write(final)
        gfile.close()

    return final


def linenumber():
    global LINENR
    if OUTPUT_LINE_NUMBERS is True:
        LINENR += 10
        return "N" + str(LINENR) + " "
    return ""


def parse(pathobj):
    global PRECISION
    global MODAL
    global OUTPUT_DOUBLES
    global UNIT_FORMAT
    global UNIT_SPEED_FORMAT

    out = ""
    lastcommand = None
    precision_string = "." + str(PRECISION) + "f"
    currLocation = {}  # keep track for no doubles

    # the order of parameters
    # linuxcnc doesn't want K properties on XY plane  Arcs need work.
    params = [
        "X",
        "Y",
        "Z",
        "A",
        "B",
        "C",
        "I",
        "J",
        "F",
        "S",
        "T",
        "Q",
        "R",
        "L",
        "H",
        "D",
        "P",
    ]
    firstmove = Path.Command("G0", {"X": -1, "Y": -1, "Z": -1, "F": 0.0})
    currLocation.update(firstmove.Parameters)  # set First location Parameters

    if hasattr(pathobj, "Group"):  # We have a compound or project.
        # if OUTPUT_COMMENTS:
        #     out += linenumber() + "(compound: " + pathobj.Label + ")\n"
        for p in pathobj.Group:
            out += parse(p)
        return out
    else:  # parsing simple path

        # groups might contain non-path things like stock.
        if not hasattr(pathobj, "Path"):
            return out

        # if OUTPUT_COMMENTS:
        #     out += linenumber() + "(" + pathobj.Label + ")\n"

        for c in PathUtils.getPathWithPlacement(pathobj).Commands:

            outstring = []
            command = c.Name
            outstring.append(command)

            # if modal: suppress the command if it is the same as the last one
            if MODAL is True:
                if command == lastcommand:
                    outstring.pop(0)

            if c.Name[0] == "(" and not OUTPUT_COMMENTS:  # command is a comment
                continue

            # Now add the remaining parameters in order
            for param in params:
                if param in c.Parameters:
                    if param == "F" and (
                        currLocation[param] != c.Parameters[param] or OUTPUT_DOUBLES
                    ):
                        if c.Name not in [
                            "G0",
                            "G00",
                        ]:  # linuxcnc doesn't use rapid speeds
                            speed = Units.Quantity(
                                c.Parameters["F"], FreeCAD.Units.Velocity
                            )
                            if speed.getValueAs(UNIT_SPEED_FORMAT) > 0.0:
                                outstring.append(
                                    param
                                    + format(
                                        float(speed.getValueAs(UNIT_SPEED_FORMAT)),
                                        precision_string,
                                    )
                                )
                        else:
                            continue
                    elif param == "T":
                        outstring.append(param + str(int(c.Parameters["T"])))
                    elif param == "H":
                        outstring.append(param + str(int(c.Parameters["H"])))
                    elif param == "D":
                        outstring.append(param + str(int(c.Parameters["D"])))
                    elif param == "S":
                        outstring.append(param + str(int(c.Parameters["S"])))
                    else:
                        if (
                            (not OUTPUT_DOUBLES)
                            and (param in currLocation)
                            and (currLocation[param] == c.Parameters[param])
                        ):
                            continue
                        else:
                            pos = Units.Quantity(
                                c.Parameters[param], FreeCAD.Units.Length
                            )
                            outstring.append(
                                param
                                + format(
                                    float(pos.getValueAs(UNIT_FORMAT)), precision_string
                                )
                            )

            # store the latest command
            lastcommand = command
            currLocation.update(c.Parameters)

            # Check for Tool Change:
            if command == "M6":
                # if OUTPUT_COMMENTS:
                #     out += linenumber() + "(begin toolchange)\n"
                for line in TOOL_CHANGE.splitlines(True):
                    out += linenumber() + line

            if command == "message":
                if OUTPUT_COMMENTS is False:
                    out = []
                else:
                    outstring.pop(0)  # remove the command

            # prepend a line number and append a newline
            if len(outstring) >= 1:
                if OUTPUT_LINE_NUMBERS:
                    outstring.insert(0, (linenumber()))

                # append the line to the final output
                for w in outstring:
                    out += w + COMMAND_SPACE
                out = out.strip() + "\n"

        return out
