/***
 *      Receives GCode, processes it and moves the Data to the Roboter-Class
 */
const fs = require('fs');
const GCodeParser = require('./GCodeParser');


class GCode{

    static fileName = "GCodeFiles/log.gcode";

    static containsMCode(s){
        return s.indexOf('M1') == 0
    }

    static receiveMCode(robot, m){

        m  = m.split(" ");
        if(m[0] == "M1"){
            m.forEach((s) => { 
                if(s.toUpperCase().includes("X")){ robot.xMotor += Number(s.substring(1, s.length));}
                if(s.toUpperCase().includes("Y")){ robot.alpha += Number(s.substring(1, s.length));}
                if(s.toUpperCase().includes("Z")){ robot.beta += Number(s.substring(1, s.length));}
            })
        }

        console.log("Empfangene Motor-Position (" + robot.xMotor.toPrecision(3)+ ", "+ robot.alpha.toPrecision(3)+ ", "+ robot.beta.toPrecision(3)+ ", "+ robot.a.toPrecision(5) + ", "+ robot.b.toPrecision(5)+ ", "+ robot.c.toPrecision(5)+ ") ");
        robot.sendCommand();
    }

    static containsCommand(s){

        if(s.indexOf('M1 ') !== -1){return true;} // M1-Commands = G1-Command only for Motor-Coordinates
        if(s.indexOf('G') !== 0){return false;}
        if(s.indexOf('G90') ==  0){return true;}
        if(s.indexOf('G91') ==  0){return true;}
        if(s.indexOf('G92') ==  0){return true;}    // G92 - Set Position
        if(s.indexOf('G28') !== -1){return true;}
        if(s.indexOf('G1 ') !== -1){return true;}
        return false;
    }


    static getM114(robot){
        let text = '{"position":{    "x":'+robot.x+
                                  ', "y":'+robot.y+
                                  ', "z":'+robot.z+
                                  ', "a":' +robot.phi + 
                                  ', "b":' +robot.theta + 
                                  ', "c":' +robot.psi + '},' +
                    '"motorCounts":{ "x":'+ robot.xMotor +
                                  ', "y":'+ robot.alpha + 
                                  ', "z":'+ robot.beta +
                                  ', "a":'+ robot.a + 
                                  ', "b":'+ robot.b + 
                                  ', "c":'+ robot.c +
                                  ', "e":'+ 0.0 +
                                  '}}'; 
        return text;
    }


    static toPiMultiple(gCode){
        if(gCode == undefined){return gCode;}

        var multipleParameters = gCode.split(" ");
        var newGString = ""; 
        multipleParameters.forEach((paramet) => { 
            if(paramet == undefined || !paramet || paramet.length === 0 || paramet == " " || paramet ==""){
            
            }
            else if(['A', 'a', 'B', 'b', 'C', 'c','E','e'].includes(paramet.charAt(0)) )
            {
                var numberParameter = Number(paramet.substring(1, paramet.length))
                newGString += " " + paramet[0] + String(numberParameter*Math.PI/180)
            }
            else{
                newGString += " " + paramet;
            }
        });
        return newGString.trim();
    };

    static receiveGCode(robot, g){
        const commands = GCodeParser.parse(g);
        if (!commands.length) return;

        commands.forEach(parsed => {
            if (!parsed || !parsed.command) {
                return;
            }

            const cmd = parsed.command;
            const params = parsed.params || {};

            if (cmd === 'G90') {
                robot.moveRelative = false;
                return;
            }

            if (cmd === 'G91') {
                robot.moveRelative = true;
                return;
            }

            if (cmd === 'G28') {
                robot.x = 0;
                robot.y = robot.l1 + robot.l2 + robot.l3;
                robot.z = 0;
                robot.phi = -Math.PI / 2;
                robot.theta = Math.PI / 2;
                robot.psi = 0;
                robot.e = 0;
                robot.calculateAngles3D();
                robot.sendCommand();
                return;
            }

            if (cmd === 'G1') {
                if (robot.moveRelative) {
                    if (Number.isFinite(params.X)) { robot.x += params.X; robot.xMotorChanged = true; }
                    if (Number.isFinite(params.Y)) { robot.y += params.Y; robot.yMotorChanged = true; }
                    if (Number.isFinite(params.Z)) { robot.z += params.Z; robot.zMotorChanged = true; }
                    if (Number.isFinite(params.A)) { robot.phi += params.A; robot.aMotorChanged = true; }
                    if (Number.isFinite(params.B)) { robot.theta += params.B; robot.bMotorChanged = true; }
                    if (Number.isFinite(params.C)) { robot.psi += params.C; robot.cMotorChanged = true; }
                    if (Number.isFinite(params.E)) { robot.e += params.E; robot.eMotorChanged = true; }
                    if (Number.isFinite(params.F)) { robot.feedrate = params.F; }
                } else {
                    if (Number.isFinite(params.X)) { robot.x = params.X; robot.xMotorChanged = true; }
                    if (Number.isFinite(params.Y)) { robot.y = params.Y; robot.yMotorChanged = true; }
                    if (Number.isFinite(params.Z)) { robot.z = params.Z; robot.zMotorChanged = true; }
                    if (Number.isFinite(params.A)) { robot.phi = params.A; robot.aMotorChanged = true; }
                    if (Number.isFinite(params.B)) { robot.theta = params.B; robot.bMotorChanged = true; }
                    if (Number.isFinite(params.C)) { robot.psi = params.C; robot.cMotorChanged = true; }
                    if (Number.isFinite(params.E)) { robot.e = params.E; robot.eMotorChanged = true; }
                    if (Number.isFinite(params.F)) { robot.feedrate = params.F; }
                }

                robot.calculateAngles3D();
                robot.sendCommand();
                return;
            }

            if (cmd === 'M1') {
                if (robot.moveRelative) {
                    if (Number.isFinite(params.X)) { robot.xMotor += params.X; robot.xMotorChanged = true; }
                    if (Number.isFinite(params.Y)) { robot.alpha += params.Y; robot.yMotorChanged = true; }
                    if (Number.isFinite(params.Z)) { robot.beta += params.Z; robot.zMotorChanged = true; }
                    if (Number.isFinite(params.A)) { robot.a += params.A; robot.aMotorChanged = true; }
                    if (Number.isFinite(params.B)) { robot.b += params.B; robot.bMotorChanged = true; }
                    if (Number.isFinite(params.C)) { robot.c += params.C; robot.cMotorChanged = true; }
                    if (Number.isFinite(params.E)) { robot.e += params.E; robot.eMotorChanged = true; }
                } else {
                    if (Number.isFinite(params.X)) { robot.xMotor = params.X; robot.xMotorChanged = true; }
                    if (Number.isFinite(params.Y)) { robot.alpha = params.Y; robot.yMotorChanged = true; }
                    if (Number.isFinite(params.Z)) { robot.beta = params.Z; robot.zMotorChanged = true; }
                    if (Number.isFinite(params.A)) { robot.a = params.A; robot.aMotorChanged = true; }
                    if (Number.isFinite(params.B)) { robot.b = params.B; robot.bMotorChanged = true; }
                    if (Number.isFinite(params.C)) { robot.c = params.C; robot.cMotorChanged = true; }
                    if (Number.isFinite(params.E)) { robot.e = params.E; robot.eMotorChanged = true; }
                }

                robot.calculatePositionFromMotorAngles();
                robot.sendCommand();
                return;
            }

            if (cmd === 'M92') {
                robot.createMotorPosition();
                if (Number.isFinite(params.X)) { robot.xMotor = params.X; robot.xMotorChanged = true; }
                if (Number.isFinite(params.Y)) { robot.alpha = params.Y; robot.yMotorChanged = true; }
                if (Number.isFinite(params.Z)) { robot.beta = params.Z; robot.zMotorChanged = true; }
                if (Number.isFinite(params.A)) { robot.a = params.A; robot.aMotorChanged = true; }
                if (Number.isFinite(params.B)) { robot.b = params.B; robot.bMotorChanged = true; }
                if (Number.isFinite(params.C)) { robot.c = params.C; robot.cMotorChanged = true; }
                if (Number.isFinite(params.E)) { robot.e = params.E; robot.eMotorChanged = true; }

                robot.calculatePositionFromMotorAngles();
                robot.sendCommand('G92');
                return;
            }
        });
    }

    //////////////////////////////////////////////////////////////////////////////////////////////////////////////77
    // Commands for Files

    static removeStringFromFile(fileName, stringToRemove) {
        try {
            const data = fs.readFileSync(fileName, 'utf8');
            const modifiedData = data.replace(new RegExp(stringToRemove, 'g'), '');
            fs.writeFileSync(fileName, modifiedData, 'utf8');
        } catch (err) {
            console.error('Error:', err);
        }
    }

    static ContainsFilesCommand(message){
        if(message.indexOf('FPoint') !== -1){return true;}  // Writes new Point (at end of file)
        if(message.indexOf('FPlus') !== -1){return true;}   // go to Next Position in Log File
        if(message.indexOf('FMinus') !== -1){return true;}  // go to Previous Position
        if(message.indexOf('FFirst') !== -1){return true;}  // set Cursour to First Position of Log File
        if(message.indexOf('FLast') !== -1){return true;}   // set Cursour to Last Position of Log File


        if(message.indexOf('FShow') !== -1){return true;}   // Shows/Sends GCode-File
        if(message.indexOf('FList') !== -1){return true;}   // Lists GCode-Files
        if(message.indexOf('FLoad ') !== -1){return true;}  // Loads File into Log
        if(message.indexOf('FSave ') !== -1){return true;}  // Saves Log to GCode-File
        if(message.indexOf('FClear') !== -1){return true;}  // Clears default Log File

        if(message.indexOf('M20') !== -1){return true;} // M20 - List SD Card-Contents // https://marlinfw.org/docs/gcode/M020.html
        if(message.indexOf('M23') !== -1){return true;} // M23 - Select SD file
        if(message.indexOf('M28') !== -1){return true;} // M28 - Start SD write // M28 [B1] filename
        if(message.indexOf('M29') !== -1){return true;} // M29 - Stop SD write


        return false;
    }

    static receiveFC(robot, message){

        if(message.indexOf('FShow') !== -1){
            try {
                const data = fs.readFileSync(this.fileName, 'utf8');
                const reply = "XYZ__FShow__XYZ" + data; // prepend header
                return reply.replaceAll("G91 ","").replaceAll("G90 ","").replace(/\s?\bt\d+\b\s?/g, '').trim();

            } catch (err) {
                console.error('Error:', err);
            }
        }

        if(message.indexOf('FPoint') !== -1){
            
            const secondsSinceEpoch = 10*Math.floor(Date.now() / 100);

            var strGCode = String(`G90 G1 x${robot.x} y${robot.y} z${robot.z} a${(robot.phi*180/Math.PI).toFixed(2)} b${(robot.theta*180/Math.PI).toFixed(2)} c${(robot.psi*180/Math.PI).toFixed(2)} e${(robot.e*180/Math.PI).toFixed(2)} t${secondsSinceEpoch}  f1000` )
            this.removeStringFromFile(this.fileName, ';!')
            fs.appendFileSync(this.fileName, strGCode+ ';!'+ '\r\n', 'utf8');
        }

        if(message.indexOf('FMinus') !== -1 || message.indexOf('FPlus') !== -1){
            let lines = fs.readFileSync(this.fileName, 'utf8').split('\r\n');

            let lineChange = -1;

            // Process lines
            for (let i = 0; i < lines.length; i++) {
                if (lines[i].indexOf(';!') !== -1) {
                    if(message.indexOf('FMinus') !== -1 && i > 0){
                        lines[i - 1] += ';!';
                        lines[i] = lines[i].split(';!')[0];
                        var gCodePi = this.toPiMultiple(lines[i-1]);
                        this.receiveGCode(robot, gCodePi);
                    }
                    if(message.indexOf('FPlus') !== -1 && i < (lines.length-2) && lineChange == -1){
                        lines[i + 1] += ';!';                        
                        lines[i] = lines[i].split(';!')[0];
                        lineChange = i+1;
                        var gCodePi = this.toPiMultiple(lines[i+1]);
                        this.receiveGCode(robot, gCodePi);
                    }
                }
            }

            // Write the updated content back
            fs.writeFileSync(this.fileName, lines.join('\r\n'), 'utf8');

        }
        
        return GCode.getM114(robot);
    }
}

module.exports = GCode