# ***************************************************************************
# *   Copyright (c) 2015 Jon Nordby <jononor@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.                                 *
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# *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
# *   GNU Lesser General Public License for more details.                   *
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# *   You should have received a copy of the GNU Library General Public     *
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# *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  *
# *   USA                                                                   *
# *                                                                         *
# ***************************************************************************


TOOLTIP = """
FreeCAD Path post-processor to output code for the Roland Modela MDX-## machines.

The machine speaks RML-1, specified in 'Roland RML-1 Programming Guidelines'
https://itp.nyu.edu/classes/cdp-spring2014/files/2014/09/RML1_Manual.pdf
http://altlab.org/d/content/m/pangelo/ideas/rml_command_guide_en_v100.pdf

The format has some overlap with HPGL:
https://en.wikipedia.org/wiki/HPGL
http://paulbourke.net/dataformats/hpgl/
"""

import FreeCAD
import Part
import Path.Post.Utils as PostUtils
from builtins import open as pyopen


# Entrypoint used by FreeCAD
def export(objectslist, filename, argstring):
    "Export objects as Roland Modela code."

    code = ""
    for obj in objectslist:
        code += convertobject(obj)

    gfile = pyopen(filename, "w")
    gfile.write(code)
    gfile.close()


def convertobject(obj):
    gcode = obj.Path.toGCode()
    gcode = parse(gcode)
    return gcode


def motoron():
    return ["!MC1;"]


def motoroff():
    return ["!MC0;"]


def home():
    return ["H;"]


def setjog():
    # "!PZ%d,%d;",iz_down,iz_up); // set z down, jog
    return ""


def addheader():
    return ["PA;PA;"]  # absolute positioning


def addfooter():
    return []


def mm2cord(mm):
    mm = float(mm)
    return int(40.0 * mm)


def feed(x=None, y=None, z=None, state=None):
    c = []
    if state is None:
        state = {}

    if x is not None:
        x = float(x)
        state["X"] = x
    if y is not None:
        y = float(y)
        state["Y"] = y
    if z is not None:
        z = float(z)
        state["Z"] = z

    if x is not None and y is not None and z is not None:
        # 3d motion
        c.append("Z%d,%d,%d;" % (mm2cord(x), mm2cord(y), mm2cord(z)))
    elif x is not None and y is not None:
        # 2d in XY plane
        c.append("PD%d,%d;" % (mm2cord(x), mm2cord(y)))
    elif z is not None:
        pass
    return c


def jog(x=None, y=None, z=None, state=None):
    c = []
    if state is None:
        state = {}
    if x is not None and y is not None:
        x, y = float(x), float(y)
        c.append("PU%d,%d;" % (mm2cord(x), mm2cord(y)))
        state["X"] = x
        state["Y"] = y
    if z is not None:
        z = float(z)
        c.append("PU;")
        state["Z"] = z

    return c


def xyarc(args, state):
    # no native support in RML/Modela, convert to linear line segments
    c = []

    lastPoint = FreeCAD.Vector(state["X"], state["Y"])
    newPoint = FreeCAD.Vector(float(args["X"]), float(args["Y"]))
    centerOffset = FreeCAD.Vector(float(args["I"]), float(args["J"]))
    center = lastPoint + centerOffset
    radius = (center - lastPoint).Length
    xyNormal = FreeCAD.Vector(0, 0, 1)
    circle = Part.Circle(center, xyNormal, radius)
    p0 = circle.parameter(lastPoint)
    p1 = circle.parameter(newPoint)
    arc = Part.ArcOfCircle(circle, p0, p1)
    steps = 64  # specify max error instead?
    points = arc.discretize(steps)
    # consider direction?
    # print('p = Part.ArcOfCircle(Part.Circle(FreeCAD.Vector(%f, %f), FreeCAD.Vector(0, 0, 1), %f), %f, %f)' % (center.x, center.y, radius, p0, p1))
    for p in points:
        c += feed(p.x, p.y, state["Z"], state)
    return c


def speed(xy=None, z=None, state=None):
    c = []
    if state is None:
        state = {}
    print(xy, z, state)
    if xy is not None:
        xy = float(xy)
        if xy > 0.0 and xy != state["XYspeed"]:
            c.append("VS%.1f;" % xy)
            state["XYspeed"] = xy
    if z is not None:
        z = float(z)
        if z > 0.0 and z != state["Zspeed"]:
            c.append("!VZ%.1f;" % z)
            state["Zspeed"] = z
    return c


def convertgcode(cmd, args, state):
    """Convert a single gcode command to equivalent Roland code"""
    if cmd == "G0":
        # jog
        return jog(args["X"], args["Y"], args["Z"], state)
    elif cmd == "G1":
        # linear feed
        c = []
        # feedrate
        c += speed(xy=args["F"], z=args["F"], state=state)
        # motion
        c += feed(args["X"], args["Y"], args["Z"], state)
        return c
    elif cmd == "G2" or cmd == "G3":
        # arc feed
        c = []
        # feedrate
        c += speed(xy=args["F"], state=state)
        # motion
        if args["X"] and args["Y"] and args["Z"]:
            # helical motion
            pass
        elif args["X"] and args["Y"]:
            # arc in plane
            c += xyarc(args, state)
        return c
    elif cmd == "G20":
        # inches mode
        raise ValueError("rml_post: Inches mode not supported")
    elif cmd == "G21":
        # millimeter mode
        return ""
    elif cmd == "G40":
        # tool compensation off
        return ""
    elif cmd == "G80":
        # cancel all cycles (drill normally)
        return "PU;"
    elif cmd == "G81":
        c = []
        # feedrate
        c += speed(z=args["F"], state=state)
        # motion
        c += jog(args["X"], args["Y"], state=state)
        c += feed(args["X"], args["Y"], args["Z"], state)
        return c
    elif cmd == "G90":
        # absolute mode?
        return ""
    elif cmd == "G98":
        # feedrate
        return ""
    else:
        raise NotImplementedError("rml_post: GCode command %s not understood" % (cmd,))


def parse(inputstring):
    "parse(inputstring): returns a parsed output string"

    state = {"X": 0.0, "Y": 0.0, "Z": 0.0, "XYspeed": -1.0, "Zspeed": -1.0}
    output = []

    # header
    output += addheader()
    output += motoron()

    output += speed(2.0, 1.0, state)  # defaults

    # respect clearance height?

    # treat the input line by line
    lines = inputstring.split("\n")
    for line in lines:
        if not line:
            continue
        parsed = PostUtils.stringsplit(line)
        command = parsed["command"]
        print("cmd", line)
        try:
            if command:
                code = convertgcode(command, parsed, state)
                if not isinstance(code, list):
                    code = [code]
                if len(code) and code[0]:
                    output += code
        except NotImplementedError as e:
            print(e)

    # footer
    output += motoroff()
    output += home()
    output += addfooter()

    return "\n".join(output)


# print (__name__ + " gcode postprocessor loaded.")
