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


class GCode{

    static containsMCode(s){
        return s === 'M1' || s.startsWith('M1 ');
    }

    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('M114') === 0){return true;} // M114 R - Hardware-Sync (MPos lesen, ToDo_9 Paket 4)
        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":'+ (robot.e ?? 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();
    };

    /**
     * Verarbeitet eine rohe G-Code-Nachricht. Parsing + Steuerlogik liegen jetzt im
     * GCodeParser bzw. RobotController (ToDo_6); diese Methode bleibt als Fassade
     * erhalten, damit bestehende Aufrufer (InputWS, Datei-Befehle) unverändert
     * funktionieren.
     */
    static receiveGCode(robot, g){
        // Rückgabe durchreichen: synchron `undefined` wie bisher, oder ein Promise,
        // falls ein asynchroner Befehl (Hardware-Sync, ToDo_9 Paket 4) enthalten war.
        return RobotController.receive(robot, g);
    }

}

module.exports = GCode