const net  = require("net");
const { resolve } = require("path");
const { TelnetSocket } = require("telnet-stream");



module.exports = class TelnetSenderGRBL{

    /*  urlGRBL:  URL für den GCode Empfänger (MicroController, GRBL)
     *  xAxisGrbl: Welche Achse soll ausgelesen werden? Welche Achse ist die GRBL-X-Achse
     *  yAxisGrbl: ...
     *  zAxisGrbl: ... 
     */
    constructor(urlGRBL = "grblesp.local", maxSpeedF = 5000, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z", aAxisGrbl = null, bAxisGrbl = null, cAxisGrbl = null, eAxisGrbl = null){
        var socket = null;
        this.tSocket = null;
        this.receiver = null;

        this.urlGRBLstr = urlGRBL;
        this.xAxisGrbl = xAxisGrbl;
        this.yAxisGrbl = yAxisGrbl;
        this.zAxisGrbl = zAxisGrbl;
        this.aAxisGrbl = aAxisGrbl;
        this.bAxisGrbl = bAxisGrbl;
        this.cAxisGrbl = cAxisGrbl;
        this.eAxisGrbl = eAxisGrbl;
        
        this.maxSpeedF = maxSpeedF; // Speichere für Backward-Kompatibilität
        
        
        if (urlGRBL === "test.test") {
            this.tSocket = { written: "", write(txt){ this.written = txt; } };
            this.isTestMode = true;
            return;
        }


        new Promise((resolve, reject) => {
            socket = net.createConnection({port: 23, host: urlGRBL},() => {
                resolve(socket);
            })
            .on('error', reject);
        }).then( connection => {
            connection.on('data', data => {});
        }, error => {   
            console.log("Telnet Connection Error on " + urlGRBL + ": " + error.toString());
            this.tSocket = null;
        }); 
        

        if(socket != null){
            this.tSocket = new TelnetSocket(socket);
       
            this.tSocket.on("close", function () {
                console.log("Telnet Closed " + urlGRBL);
                this.tSocket = null;
            }); 
        }

        console.log("🤖  TelnetSenderGRBL initialized: " + urlGRBL);
    }
    
    moveTo(mOld, mNew){
        this.execCommand("G1", mOld, mNew)
    }

    execCommand(strCommand = "G1", mOld, mNew ){

        // The Hand-Turn is not 1:1 to the Hand-Lift °     
        var factorTurnLift = 1.2;

        // The Hand-Open is not 1:1 to the Hand-Turn 
        var factorOpenTurn = 1.92;

        // Hand-Open in mm
        var handOpenInMM = 1.0

        var data = strCommand.toString("utf-8"); 

        if(this.xAxisGrbl == "x" && mNew.xMotorChanged && Number.isFinite(mNew.x)){
            data += " x" + (mNew.x).toFixed(2).toString();
        }
        if(this.xAxisGrbl == "y" && mNew.yMotorChanged && Number.isFinite(mNew.y)){
            data += " x" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
        }
        if(this.xAxisGrbl == "z" && mNew.zMotorChanged && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
            data += " x" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
        }
        if(this.xAxisGrbl == "a" && mNew.aMotorChanged && Number.isFinite(mNew.a)){
            // This is the case for the Ellbow, when the Motor is connected to the X-Port of the FluidNC
            data += " x" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
        }
        if(this.xAxisGrbl == "b" && (mNew.bMotorChanged || mNew.cMotorChanged) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
            data += " x" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
        }
        if(this.xAxisGrbl == "c"  && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.b) && Number.isFinite(mNew.c)){
            // Runs correctly, substracts the "b" axis, uses the "c" axis to send to the x-Motor wich is in this case the hand-twist
            data += " x" + ((-1)*mNew.b * 180 / Math.PI + (mNew.c * 180 / Math.PI) ).toFixed(2).toString();
        }
        if(this.xAxisGrbl == "e" && mNew.eMotorChanged && Number.isFinite(mNew.b) && Number.isFinite(mNew.c) && Number.isFinite(mNew.e)){
            //This is the case for the Hand, when the Open-Close Motor is connected to the X-Port of FluidNC
            var handUpDown = mNew.b * 180 * factorTurnLift / Math.PI ;
            var handTurn =   mNew.c*180/Math.PI  ;
            data += " x" + ((-1.0*(-1.0*(handUpDown) + handTurn) + mNew.e*handOpenInMM)).toFixed(2).toString();
        }

        

        if(this.yAxisGrbl == "x" && mNew.xMotorChanged && Number.isFinite(mNew.x)){
            data += " y" + (mNew.x ).toFixed(2).toString();
        }
        if(this.yAxisGrbl == "y" && mNew.yMotorChanged && Number.isFinite(mNew.y)){
            data += " y" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
        }
        if(this.yAxisGrbl == "z" && mNew.zMotorChanged && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
            data += " y" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
        }
        if(this.yAxisGrbl == "a" && mNew.aMotorChanged && Number.isFinite(mNew.a)){
            data += " y" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
        }
        if(this.yAxisGrbl == "b" && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
            data += " y" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
        }
        if(this.yAxisGrbl == "c" && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.b) && Number.isFinite(mNew.c)){
            // This is the case if the hand-rotation-turner is connected to the FluidNC-Y
            var handUpDown = (mNew.b * 180 / Math.PI ) * factorTurnLift;
            var handTurn =  ( mNew.c*180/Math.PI ) ;
            data += " y" + (-1.0*(handUpDown) + handTurn).toFixed(2).toString();
        }
        if(this.yAxisGrbl == "e"  && (mNew.eMotorChanged) && Number.isFinite(mNew.e)){
            data += " y" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
        }


        if(this.zAxisGrbl == "x" && mNew.xMotorChanged && Number.isFinite(mNew.x)){
            data += " z" + (mNew.x).toFixed(2).toString();
        }
        if(this.zAxisGrbl == "y" && mNew.yMotorChanged && Number.isFinite(mNew.y)){
            data += " z" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
        }
        if(this.zAxisGrbl == "z" && mNew.zMotorChanged && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
            data += " z" + ((mNew.z * 180 / Math.PI)  - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
        }
        if(this.zAxisGrbl == "a" && mNew.aMotorChanged && Number.isFinite(mNew.a)){
            data += " z" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
        }
        if(this.zAxisGrbl == "b"  && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.b)){
            // This is the case of the Hand, when the Up-Down-Motor is connected to the FluidNC-Z
            data += " z" +  ( mNew.b * 180 / Math.PI ).toFixed(2).toString();
        }
        if(this.zAxisGrbl == "c"  && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.c) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
            data += " z" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
        }
        if(this.zAxisGrbl == "e" && (mNew.eMotorChanged) && Number.isFinite(mNew.e)){
        
            data += " z" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
        }


             
        if(this.aAxisGrbl == "x" && mNew.xMotorChanged && Number.isFinite(mNew.y)){
            data += " a" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
        }
        if(this.aAxisGrbl == "y" && mNew.yMotorChanged && Number.isFinite(mNew.y)){
            data += " a" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
        }
        if(this.aAxisGrbl == "z" && mNew.zMotorChanged && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
            data += " a" + ((mNew.z * 180 / Math.PI)  - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
        }
        if(this.aAxisGrbl == "a" && mNew.aMotorChanged && Number.isFinite(mNew.a)){
            data += " a" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
        }
        if(this.aAxisGrbl == "b" && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
            data += " a" +  (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
        }
        if(this.aAxisGrbl == "c" && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.c) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
            data += " a" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
        }
        if(this.aAxisGrbl == "e" && mNew.eMotorChanged && Number.isFinite(mNew.e)){
            // ToDo Mai 2024
            data += " a" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
        }
    
        if(this.bAxisGrbl == "x" && mNew.xMotorChanged && Number.isFinite(mNew.x)){
            data += " b" + (mNew.x).toFixed(2).toString();
        }
        if(this.bAxisGrbl == "y" && mNew.yMotorChanged && Number.isFinite(mNew.y)){
            data += " b" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
        }
        if(this.bAxisGrbl == "z" && mNew.zMotorChanged && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
            data += " b" + ((mNew.z * 180 / Math.PI)  - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
        }
        if(this.bAxisGrbl == "a" && mNew.aMotorChanged && Number.isFinite(mNew.a)){
            data += " b" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
        }
        if(this.bAxisGrbl == "b" && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.b)){
            data += " b" + (mNew.b * 180 / Math.PI).toFixed(2).toString();
        }
        if(this.bAxisGrbl == "c" && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.c) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
            data += " b" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
        }
        if(this.bAxisGrbl == "e" && mNew.eMotorChanged && Number.isFinite(mNew.e)){
            data += " b" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
        }
        
        if(this.tSocket && data.length > 3){
            
            if(strCommand == "G1" && mNew){
                const DEFAULT_FEEDRATE = process.env.ROBOT_DEFAULT_FEEDRATE ? 
                    Number(process.env.ROBOT_DEFAULT_FEEDRATE) : this.maxSpeedF;
                const feedrate = mNew.feedrate !== undefined ? mNew.feedrate : DEFAULT_FEEDRATE;
                data += " f"+(feedrate.toFixed(2).toString())

                // ToDo: Aus motorSpeed mit einzelnenen Werten muss noch die feedrate berechnet werden.
                // hier bin ich unsicher, ob das nicht in den Sender rein sollte, da es eventuell
                // abhngig vom FluidNC und dessen speed interpretation ist.
            }

            if(data.indexOf("G90") == -1){
                data = "G90 " + data;
            }
            
            console.log("Driver send to 🤖  " + this.urlGRBLstr + " the message: " + data)
            
            
            this.tSocket.write( data + "\r\n"); 
        }
    } 
}