//----------------------------------------------------------------------------
//  EgalTech 2015-2015
//----------------------------------------------------------------------------
// File : Machine.h           Data : 06.05.15          Versione : 1.6e3
// Contenuto : Dichiarazione della classe Machine.
//
//
//
// Modifiche : 06.05.15 DS Creazione modulo.
//
//
//----------------------------------------------------------------------------

#pragma once

#include "/EgtDev/Include/EGkGeomDB.h"
#include "/EgtDev/Include/EGnLuaMgr.h"
#include <unordered_map>

class MachMgr ;

//----------------------------------------------------------------------------
union STROKE {
   struct {
      double Min ;
      double Max ;
   } ;
   double v[2] ; 
} ; 

//----------------------------------------------------------------------------
struct MuExit {
   Point3d  ptPos ;
   Vector3d vtTDir ;
   MuExit( const Point3d& ptP, const Vector3d& vtTD)
      : ptPos( ptP), vtTDir( vtTD) {}
} ;
typedef std::vector<MuExit>  MUEXITVECTOR ;

//----------------------------------------------------------------------------
struct KinAxis {
   int         nGrpId ;
   bool        bLinear ;
   bool        bHead ;
   Point3d     ptPos ;
   Vector3d    vtDir ;
   STROKE      stroke ;
};
typedef std::vector<KinAxis>  KINAXISVECTOR ;

//----------------------------------------------------------------------------
class Machine
{
   public :
      Machine( void) ;
      ~Machine( void) ;
      bool Init( const std::string& sMachineName, MachMgr* pMchMgr) ;
      int GetMGeoId( void)
             { return m_nGroupId ; }
      const std::string& GetMachineName( void)
             { return m_sName ; }
      bool LoadTool( const std::string& sHead, int nExit, const std::string& sTool) ;
      bool ResetHeadSet( const std::string& sHead) ;
      bool SetAxisPos( const std::string& sAxis, double dVal) ;
      bool GetAxisPos( const std::string& sAxis, double& dVal) ;
      bool GetAxisHomePos( const std::string& sAxis, double& dHomeVal) ;
      bool ResetAxisPos( const std::string& sAxis) ;
      bool SetCurrTable( const std::string& sTable) ;
      bool SetCurrTool( const std::string& sTool, const std::string& sHead, int nExit) ;
      bool GetAngles( const Vector3d& vtDirT,
                      int& nStat, double& dAngA1, double& dAngB1, double& dAngA2, double& dAngB2) ;
      bool GetPositions( const Point3d& ptP, double dA, double dB,
                         int& nStat, double& dX, double& dY, double& dZ) ;
      bool VerifyOutOfStroke( double dX, double dY, double dZ, double dAngA, double dAngB, int& nStat) ;

   private :
      void Clear( void) ;
      bool LoadMachineGeometry( const std::string& sMGeoName, const Vector3d& vtOffset) ;
      bool LoadMachineBase( const std::string& sName, const std::string& sGeo) ;
      bool LoadMachineTable( const std::string& sName, const std::string& sParent, int nType, const std::string& sGeo) ;
      bool LoadMachineAxis( const std::string& sName, const std::string& sParent, int nType,
                            const Point3d& ptPos, const Vector3d& vtDir,
                            const STROKE& Stroke, const std::string& sGeo, double dVal) ;
      bool AddAxisVector( int nLay, const Point3d& ptPos, const Vector3d& vtDir, const std::string& sName) ;
      bool LoadMachineStdHead( const std::string& sName, const std::string& sParent, const std::string& sHSet,
                               const Point3d& ptPos, const Vector3d& vtTDir,
                               const Vector3d& vtADir, const std::string& sGeo) ;
      bool LoadMachineMultiHead( const std::string& sName, const std::string& sParent, const std::string& sHSet,
                                 const MUEXITVECTOR& vMuExit,
                                 const Vector3d& vtADir, const std::string& sGeo) ;
      int  GetGroup( const std::string& sGroup) ;
      bool IsAxisGroup( int nGroup) ;
      bool IsTableGroup( int nGroup) ;
      bool IsHeadGroup( int nGroup) ;
      bool AddHeadToSet( const std::string& sHSet, const std::string& sName) ;
      bool GetHSet( const std::string& sHead, STRVECTOR& vsHSet) ;
      bool EnableHeadInSet( const std::string& sHead) ;
      bool CreateExitGroups( int nLay, const MUEXITVECTOR& vMuExit) ;
      bool CalculateKinematicChain( void) ;
      bool AddKinematicAxis( bool bOnHead, int nId) ;

      bool LuaInit( const std::string& sMachineName) ;
      bool LuaExit( void) ;
      bool LuaExecFile( const std::string& sFile) ;

   private :
      typedef std::unordered_map< std::string, int> STRINT_UMAP ;

   private :
      MachMgr*      m_pMchMgr ;              // puntatore al gestore di tutte le lavorazioni
      LuaMgr        m_LuaMgr ;               // interprete lua della macchina
      std::string   m_sName ;                // nome della macchina
      std::string   m_sMachineDir ;          // direttorio della macchina
      int           m_nGroupId ;             // Id del gruppo della macchina
      int           m_nTempGroupId ;         // Id del gruppo temporaneo macchina per carico
      STRINT_UMAP   m_mapGroups ;            // dizionario dei gruppi della macchina
      int           m_nCalcTabId ;           // tavola corrente per calcoli
      int           m_nCalcHeadId ;          // testa corrente per calcoli
      int           m_nCalcExitId ;          // uscita corrente per calcoli
      int           m_nCalcToolId ;          // utensile corrente per calcoli
      Point3d       m_ptCalcPos ;            // posizione utensile a riposo per calcoli
      Vector3d      m_vtCalcDir ;            // direzione utensile a riposo per calcoli
      double        m_dCalcTLen ;            // lunghezza utensile corrente per calcoli
      KINAXISVECTOR m_vCalcLinAx ;           // vettore assi lineari attivi per calcoli
      KINAXISVECTOR m_vCalcRotAx ;           // vettore assi rotanti attivi per calcoli

  // Static per interprete Lua di macchina
   private :
      static Machine* m_pMchLua ;

   private :
      static int LuaEmtGeneral( lua_State* L) ;
      static int LuaEmtBase( lua_State* L) ;
      static int LuaEmtTable( lua_State* L) ;
      static int LuaEmtAxis( lua_State* L) ;
      static int LuaEmtHead( lua_State* L) ;
      static int LuaEmtStdHead( lua_State* L) ;
      static int LuaEmtMultiHead( lua_State* L) ;
} ;