/***
 * RobotController — Steuerlogik (ToDo_6).
 *
 * Verarbeitet bereits geparste G-Code-/Befehlsobjekte (aus GCodeParser) und wendet
 * sie auf das Robotermodell an: Bewegungsmodus, Kinematik, sendCommand().
 *
 * Bewusst getrennt vom Parsing (GCodeParser) und vom Datei-Handling (GCode):
 * der Controller kennt nur strukturierte Befehle, keine rohen Textstrings.
 */
const GCodeParser = require('./GCodeParser');

class RobotController {

    /**
     * Parst eine rohe Nachricht und wendet alle enthaltenen Befehle der Reihe nach an.
     * @param {object} robot   Robotermodell
     * @param {string|Buffer} message  rohe G-Code-Nachricht
     */
    static receive(robot, message) {
        const commands = GCodeParser.parse(message);
        if (!commands.length) return;
        commands.forEach(parsed => this.applyCommand(robot, parsed));
    }

    /**
     * Wendet einen einzelnen, bereits geparsten Befehl auf das Robotermodell an.
     * @param {object} robot
     * @param {{command: string, params: object}} parsed
     */
    static applyCommand(robot, 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;
        }
    }
}

module.exports = RobotController;