/***************************************************************************
 *   Copyright (c) 2023 Ondsel, Inc.                                       *
 *                                                                         *
 *   This file is part of OndselSolver.                                    *
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
 
#include "ASMTGeneralMotion.h"
#include "ASMTAssembly.h"
#include "SymbolicParser.h"
#include "BasicUserFunction.h"
#include "CREATE.h"
#include "Constant.h"
#include "EulerAngles.h"

using namespace MbD;

void MbD::ASMTGeneralMotion::parseASMT(std::vector<std::string>& lines)
{
	readName(lines);
	readMarkerI(lines);
	readMarkerJ(lines);
	readrIJI(lines);
	readangIJJ(lines);
	readRotationOrder(lines);
}

void MbD::ASMTGeneralMotion::readrIJI(std::vector<std::string>& lines)
{
	rIJI = std::make_shared<std::vector<std::string>>(3);

	assert(lines[0].find("rIJI1") != std::string::npos);
	lines.erase(lines.begin());
	rIJI->at(0) = readString(lines[0]);
	lines.erase(lines.begin());
	assert(lines[0].find("rIJI2") != std::string::npos);
	lines.erase(lines.begin());
	rIJI->at(1) = readString(lines[0]);
	lines.erase(lines.begin());
	assert(lines[0].find("rIJI3") != std::string::npos);
	lines.erase(lines.begin());
	rIJI->at(2) = readString(lines[0]);
	lines.erase(lines.begin());
}

void MbD::ASMTGeneralMotion::readangIJJ(std::vector<std::string>& lines)
{
	angIJJ = std::make_shared<std::vector<std::string>>(3);

	assert(lines[0].find("angIJJ1") != std::string::npos);
	lines.erase(lines.begin());
	angIJJ->at(0) = readString(lines[0]);
	lines.erase(lines.begin());
	assert(lines[0].find("angIJJ2") != std::string::npos);
	lines.erase(lines.begin());
	angIJJ->at(1) = readString(lines[0]);
	lines.erase(lines.begin());
	assert(lines[0].find("angIJJ3") != std::string::npos);
	lines.erase(lines.begin());
	angIJJ->at(2) = readString(lines[0]);
	lines.erase(lines.begin());
}

void MbD::ASMTGeneralMotion::readRotationOrder(std::vector<std::string>& lines)
{
	assert(lines[0].find("RotationOrder") != std::string::npos);
	lines.erase(lines.begin());
	rotationOrder = readString(lines[0]);
	lines.erase(lines.begin());
}

std::shared_ptr<Joint> MbD::ASMTGeneralMotion::mbdClassNew()
{
	return CREATE<FullMotion>::With();
}

void MbD::ASMTGeneralMotion::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
{
	ASMTMotion::createMbD(mbdSys, mbdUnits);
	auto parser = CREATE<SymbolicParser>::With();
	parser->owner = this;
	auto geoTime = owner->root()->geoTime();
	parser->variables->insert(std::make_pair("time", geoTime));
	std::shared_ptr< BasicUserFunction> userFunc;
	auto fullMotion = std::static_pointer_cast<FullMotion>(mbdObject);

	//rIJI
	userFunc = CREATE<BasicUserFunction>::With(rIJI->at(0), 1.0);
	parser->parseUserFunction(userFunc);
	auto geoX = parser->stack->top();
	geoX = Symbolic::times(geoX, std::make_shared<Constant>(1.0 / mbdUnits->length));
	geoX->createMbD(mbdSys, mbdUnits);
	auto xBlk = geoX->simplified(geoX);

	userFunc = CREATE<BasicUserFunction>::With(rIJI->at(1), 1.0);
	parser->parseUserFunction(userFunc);
	auto geoY = parser->stack->top();
	geoY = Symbolic::times(geoY, std::make_shared<Constant>(1.0 / mbdUnits->length));
	geoY->createMbD(mbdSys, mbdUnits);
	auto yBlk = geoY->simplified(geoY);

	userFunc = CREATE<BasicUserFunction>::With(rIJI->at(2), 1.0);
	parser->parseUserFunction(userFunc);
	auto geoZ = parser->stack->top();
	geoZ = Symbolic::times(geoZ, std::make_shared<Constant>(1.0 / mbdUnits->length));
	geoZ->createMbD(mbdSys, mbdUnits);
	auto zBlk = geoZ->simplified(geoZ);

	auto xyzBlkList = std::initializer_list<Symsptr>{ xBlk, yBlk, zBlk };
	fullMotion->frIJI = std::make_shared<FullColumn<Symsptr>>(xyzBlkList);

	//angIJJ
	userFunc = CREATE<BasicUserFunction>::With(angIJJ->at(0), 1.0);
	parser->parseUserFunction(userFunc);
	auto geoPhi = parser->stack->top();
	geoPhi = Symbolic::times(geoPhi, std::make_shared<Constant>(1.0 / mbdUnits->angle));
	geoPhi->createMbD(mbdSys, mbdUnits);
	auto phiBlk = geoPhi->simplified(geoPhi);

	userFunc = CREATE<BasicUserFunction>::With(angIJJ->at(1), 1.0);
	parser->parseUserFunction(userFunc);
	auto geoThe = parser->stack->top();
	geoThe = Symbolic::times(geoThe, std::make_shared<Constant>(1.0 / mbdUnits->angle));
	geoThe->createMbD(mbdSys, mbdUnits);
	auto theBlk = geoThe->simplified(geoThe);

	userFunc = CREATE<BasicUserFunction>::With(angIJJ->at(2), 1.0);
	parser->parseUserFunction(userFunc);
	auto geoPsi = parser->stack->top();
	geoPsi = Symbolic::times(geoPsi, std::make_shared<Constant>(1.0 / mbdUnits->angle));
	geoPsi->createMbD(mbdSys, mbdUnits);
	auto psiBlk = geoPsi->simplified(geoPsi);

	auto xyzRotBlkList = std::initializer_list<Symsptr>{ phiBlk, theBlk, psiBlk };
	auto fangIJJ = std::make_shared<EulerAngles<Symsptr>>(xyzRotBlkList);
	std::istringstream iss(rotationOrder);
	auto rotOrder = std::make_shared<FullColumn<int>>();
	int order;
	for (int i = 0; i < 3; i++)
	{
		iss >> order;
		rotOrder->push_back(order);
	}
	fangIJJ->rotOrder = rotOrder;
	fullMotion->fangIJJ = fangIJJ;
}