/***************************************************************************
 *   Copyright (c) 2008 Jürgen Riegel <juergen.riegel@web.de>              *
 *                                                                         *
 *   This file is part of the FreeCAD CAx development system.              *
 *                                                                         *
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Library General Public           *
 *   License as published by the Free Software Foundation; either          *
 *   version 2 of the License, or (at your option) any later version.      *
 *                                                                         *
 *   This library  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 Library General Public License for more details.                  *
 *                                                                         *
 *   You should have received a copy of the GNU Library General Public     *
 *   License along with this library; see the file COPYING.LIB. If not,    *
 *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
 *   Suite 330, Boston, MA  02111-1307, USA                                *
 *                                                                         *
 ***************************************************************************/


#include "PreCompiled.h"
#ifndef _PreComp_
# include <QMessageBox>
#endif

#include <App/Application.h>
#include <Gui/Application.h>
#include <Gui/MainWindow.h>
#include <Gui/Command.h>
#include <Gui/FileDialog.h>
#include <Gui/Selection.h>
#include <Gui/SelectionFilter.h>
#include <Gui/SelectionObject.h>
#include <Gui/Document.h>
#include <Gui/Control.h>

#include <Mod/Robot/App/RobotObject.h>
#include <Mod/Robot/App/TrajectoryObject.h>

#include "TrajectorySimulate.h"
#include "TaskDlgSimulate.h"


using namespace std;
using namespace RobotGui;

DEF_STD_CMD_A(CmdRobotSetHomePos)

CmdRobotSetHomePos::CmdRobotSetHomePos()
	:Command("Robot_SetHomePos")
{
    sAppModule      = "Robot";
    sGroup          = QT_TR_NOOP("Robot");
    sMenuText       = QT_TR_NOOP("Set the home position");
    sToolTipText    = QT_TR_NOOP("Set the home position");
    sWhatsThis      = "Robot_SetHomePos";
    sStatusTip      = sToolTipText;
    sPixmap         = "Robot_SetHomePos";
}


void CmdRobotSetHomePos::activated(int)
{
   const char * SelFilter =
        "SELECT Robot::RobotObject COUNT 1 ";

    Gui::SelectionFilter filter(SelFilter);
    Robot::RobotObject *pcRobotObject;
    if (filter.match()) {
        pcRobotObject = static_cast<Robot::RobotObject*>(filter.Result[0][0].getObject());
    }
    else {
        QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
            QObject::tr("Select one Robot to set home position"));
        return;
    }


    std::string FeatName = pcRobotObject->getNameInDocument();

    const char* n = FeatName.c_str();
    openCommand("Set home");
    doCommand(Doc,"App.activeDocument().%s.Home = [App.activeDocument().%s.Axis1,App.activeDocument().%s.Axis2,App.activeDocument().%s.Axis3,App.activeDocument().%s.Axis4,App.activeDocument().%s.Axis5,App.activeDocument().%s.Axis6]",n,n,n,n,n,n,n);
    updateActive();
    commitCommand();

}

bool CmdRobotSetHomePos::isActive(void)
{
    return hasActiveDocument();
}


// #####################################################################################################
DEF_STD_CMD_A(CmdRobotRestoreHomePos)

CmdRobotRestoreHomePos::CmdRobotRestoreHomePos()
	:Command("Robot_RestoreHomePos")
{
    sAppModule      = "Robot";
    sGroup          = QT_TR_NOOP("Robot");
    sMenuText       = QT_TR_NOOP("Move to home");
    sToolTipText    = QT_TR_NOOP("Move to home");
    sWhatsThis      = "Robot_RestoreHomePos";
    sStatusTip      = sToolTipText;
    sPixmap         = "Robot_RestoreHomePos";
}


void CmdRobotRestoreHomePos::activated(int)
{
    const char * SelFilter =
        "SELECT Robot::RobotObject COUNT 1 ";

    Gui::SelectionFilter filter(SelFilter);
    Robot::RobotObject *pcRobotObject;
    if (filter.match()) {
        pcRobotObject = static_cast<Robot::RobotObject*>(filter.Result[0][0].getObject());
    }
    else {
        QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
            QObject::tr("Select one Robot"));
        return;
    }


    std::string FeatName = pcRobotObject->getNameInDocument();

    const char* n = FeatName.c_str();
    openCommand("Move to home");
    doCommand(Doc,"App.activeDocument().%s.Axis1 = App.activeDocument().%s.Home[0]",n,n);
    doCommand(Doc,"App.activeDocument().%s.Axis2 = App.activeDocument().%s.Home[1]",n,n);
    doCommand(Doc,"App.activeDocument().%s.Axis3 = App.activeDocument().%s.Home[2]",n,n);
    doCommand(Doc,"App.activeDocument().%s.Axis4 = App.activeDocument().%s.Home[3]",n,n);
    doCommand(Doc,"App.activeDocument().%s.Axis5 = App.activeDocument().%s.Home[4]",n,n);
    doCommand(Doc,"App.activeDocument().%s.Axis6 = App.activeDocument().%s.Home[5]",n,n);
    updateActive();
    commitCommand();

}

bool CmdRobotRestoreHomePos::isActive(void)
{
    return hasActiveDocument();
}


// #####################################################################################################
DEF_STD_CMD_A(CmdRobotConstraintAxle)

CmdRobotConstraintAxle::CmdRobotConstraintAxle()
	:Command("Robot_Create")
{
    sAppModule      = "Robot";
    sGroup          = QT_TR_NOOP("Robot");
    sMenuText       = QT_TR_NOOP("Place robot...");
    sToolTipText    = QT_TR_NOOP("Place a robot (experimental!)");
    sWhatsThis      = "Robot_Create";
    sStatusTip      = sToolTipText;
    sPixmap         = "Robot_CreateRobot";
}


void CmdRobotConstraintAxle::activated(int)
{
    std::string FeatName = getUniqueObjectName("Robot");
    std::string RobotPath = "Mod/Robot/Lib/Kuka/kr500_1.wrl";
    std::string KinematicPath = "Mod/Robot/Lib/Kuka/kr500_1.csv";

    openCommand("Place robot");
    doCommand(Doc,"App.activeDocument().addObject(\"Robot::RobotObject\",\"%s\")",FeatName.c_str());
    doCommand(Doc,"App.activeDocument().%s.RobotVrmlFile = App.getResourceDir()+\"%s\"",FeatName.c_str(),RobotPath.c_str());
    doCommand(Doc,"App.activeDocument().%s.RobotKinematicFile = App.getResourceDir()+\"%s\"",FeatName.c_str(),KinematicPath.c_str());
    doCommand(Doc,"App.activeDocument().%s.Axis2 = -90",FeatName.c_str());
    doCommand(Doc,"App.activeDocument().%s.Axis3 = 90",FeatName.c_str());
    doCommand(Doc,"App.activeDocument().%s.Axis5 = 45",FeatName.c_str());
    updateActive();
    commitCommand();

}

bool CmdRobotConstraintAxle::isActive(void)
{
    return hasActiveDocument();
}


// #####################################################################################################

DEF_STD_CMD_A(CmdRobotSimulate)

CmdRobotSimulate::CmdRobotSimulate()
	:Command("Robot_Simulate")
{
    sAppModule      = "Robot";
    sGroup          = QT_TR_NOOP("Robot");
    sMenuText       = QT_TR_NOOP("Simulate a trajectory");
    sToolTipText    = QT_TR_NOOP("Run a simulation on a trajectory");
    sWhatsThis      = "Robot_Simulate";
    sStatusTip      = sToolTipText;
    sPixmap         = "Robot_Simulate";
}


void CmdRobotSimulate::activated(int)
{
#if 1
    const char * SelFilter =
        "SELECT Robot::RobotObject  \n"
        "SELECT Robot::TrajectoryObject  ";

    Gui::SelectionFilter filter(SelFilter);
    Robot::RobotObject *pcRobotObject;
    Robot::TrajectoryObject *pcTrajectoryObject;

    if (filter.match()) {
        pcRobotObject = static_cast<Robot::RobotObject*>(filter.Result[0][0].getObject());
        pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(filter.Result[1][0].getObject());;
    }
    else {
        QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
            QObject::tr("Select one Robot and one Trajectory object."));
        return;
    }

    if(pcTrajectoryObject->Trajectory.getValue().getSize() < 2){
        QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Trajectory not valid"),
            QObject::tr("You need at least two waypoints in a trajectory to simulate."));
        return;
    }

    Gui::TaskView::TaskDialog* dlg = new TaskDlgSimulate(pcRobotObject,pcTrajectoryObject);
    Gui::Control().showDialog(dlg);

#else


   const char * SelFilter =
       "SELECT Robot::RobotObject  \n"
       "SELECT Robot::TrajectoryObject  ";

    Gui::SelectionFilter filter(SelFilter);
    Robot::RobotObject *pcRobotObject;
    Robot::TrajectoryObject *pcTrajectoryObject;

    if(filter.match()){
        pcRobotObject = dynamic_cast<Robot::RobotObject*>(filter.Result[0][0].getObject());
        pcTrajectoryObject = dynamic_cast<Robot::TrajectoryObject*>(filter.Result[1][0].getObject());;
    }else{
        QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
            QObject::tr("Select one Robot and one Trajectory object."));
    }

    RobotGui::TrajectorySimulate dlg(pcRobotObject,pcTrajectoryObject,Gui::getMainWindow());
    dlg.exec();
#endif
}

bool CmdRobotSimulate::isActive(void)
{
    return (hasActiveDocument() && !Gui::Control().activeDialog());
}



// #####################################################################################################



void CreateRobotCommands(void)
{
    Gui::CommandManager &rcCmdMgr = Gui::Application::Instance->commandManager();

    rcCmdMgr.addCommand(new CmdRobotRestoreHomePos());
    rcCmdMgr.addCommand(new CmdRobotSetHomePos());
    rcCmdMgr.addCommand(new CmdRobotConstraintAxle());
    rcCmdMgr.addCommand(new CmdRobotSimulate());
 }