/***************************************************************************
 *   Copyright (c) 2010 Jürgen Riegel <juergen.riegel@web.de>              *
 *                                                                         *
 *   This file is part of the FreeCAD CAx development system.              *
 *                                                                         *
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Library General Public           *
 *   License as published by the Free Software Foundation; either          *
 *   version 2 of the License, or (at your option) any later version.      *
 *                                                                         *
 *   This library  is distributed in the hope that it will be useful,      *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU Library General Public License for more details.                  *
 *                                                                         *
 *   You should have received a copy of the GNU Library General Public     *
 *   License along with this library; see the file COPYING.LIB. If not,    *
 *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
 *   Suite 330, Boston, MA  02111-1307, USA                                *
 *                                                                         *
 ***************************************************************************/

#include "PreCompiled.h"
#ifndef _PreComp_
#include <BRepAdaptor_Curve.hxx>
#include <CPnts_AbscissaPoint.hxx>
#include <TopoDS.hxx>
#include <TopoDS_Edge.hxx>
#endif

#include <Base/Sequencer.h>
#include <Mod/Part/App/PartFeature.h>
#include <Mod/Part/App/edgecluster.h>

#include "Edge2TracObject.h"
#include "Trajectory.h"
#include "Waypoint.h"


using namespace Robot;
using namespace App;

PROPERTY_SOURCE(Robot::Edge2TracObject, Robot::TrajectoryObject)


Edge2TracObject::Edge2TracObject()
{

    ADD_PROPERTY_TYPE(Source,
                      (nullptr),
                      "Edge2Trac",
                      Prop_None,
                      "Edges to generate the Trajectory");
    ADD_PROPERTY_TYPE(SegValue,
                      (0.5),
                      "Edge2Trac",
                      Prop_None,
                      "Max deviation from original geometry");
    ADD_PROPERTY_TYPE(UseRotation, (0), "Edge2Trac", Prop_None, "use orientation of the edge");
    NbrOfEdges = 0;
    NbrOfCluster = 0;
}

App::DocumentObjectExecReturn* Edge2TracObject::execute()
{
    App::DocumentObject* link = Source.getValue();
    if (!link) {
        return new App::DocumentObjectExecReturn("No object linked");
    }
    if (!link->isDerivedFrom<Part::Feature>()) {
        return new App::DocumentObjectExecReturn("Linked object is not a Part object");
    }
    Part::Feature* base = static_cast<Part::Feature*>(Source.getValue());
    const Part::TopoShape& TopShape = base->Shape.getShape();

    const std::vector<std::string>& SubVals = Source.getSubValuesStartsWith("Edge");
    if (SubVals.empty()) {
        return new App::DocumentObjectExecReturn("No Edges specified");
    }

    // container for all the edges
    std::vector<TopoDS_Edge> edges;

    // run through the edge name and get the real objects from the TopoShape
    for (const auto& SubVal : SubVals) {
        TopoDS_Edge edge = TopoDS::Edge(TopShape.getSubShape(SubVal.c_str()));
        edges.push_back(edge);
    }

    // instantiate an edge cluster sorter and get the result
    Part::Edgecluster acluster(edges);
    Part::tEdgeClusterVector aclusteroutput = acluster.GetClusters();

    if (aclusteroutput.empty()) {
        return new App::DocumentObjectExecReturn("No Edges specified");
    }

    // set the number of cluster and edges
    NbrOfCluster = aclusteroutput.size();
    NbrOfEdges = 0;
    for (const auto& it : aclusteroutput) {
        NbrOfEdges += it.size();
    }

    // trajectory to fill
    Robot::Trajectory trac;
    bool first = true;

    // cycle through the cluster
    for (const auto& it : aclusteroutput) {
        // cycle through the edges of the cluster
        for (const auto& it2 : it) {
            BRepAdaptor_Curve adapt(it2);

            switch (adapt.GetType()) {
                case GeomAbs_Line: {
                    // get start and end point
                    gp_Pnt P1 = adapt.Value(adapt.FirstParameter());
                    gp_Pnt P2 = adapt.Value(adapt.LastParameter());

                    Base::Rotation R1;
                    Base::Rotation R2;

                    // if orientation is used
                    if (UseRotation.getValue()) {
                        // here get the orientation of the start and end point...
                        // R1 = ;
                        // R2 = ;
                    }

                    // if reverse orintation, switch the points
                    if (it2.Orientation() == TopAbs_REVERSED) {
                        // switch the points and orientation
                        gp_Pnt tmpP = P1;
                        Base::Rotation tmpR = R1;
                        P1 = P2;
                        R1 = R2;
                        R2 = tmpR;
                        P2 = tmpP;
                    }
                    if (first) {
                        Waypoint wp("Pt",
                                    Base::Placement(Base::Vector3d(P1.X(), P1.Y(), P1.Z()), R1));
                        trac.addWaypoint(wp);
                        first = false;
                    }
                    Waypoint wp("Pt", Base::Placement(Base::Vector3d(P2.X(), P2.Y(), P2.Z()), R2));
                    trac.addWaypoint(wp);
                    break;
                }
                case GeomAbs_BSplineCurve: {
                    Standard_Real Length = CPnts_AbscissaPoint::Length(adapt);
                    Standard_Real ParLength = adapt.LastParameter() - adapt.FirstParameter();
                    Standard_Real NbrSegments = Round(Length / SegValue.getValue());

                    Standard_Real beg = adapt.FirstParameter();
                    Standard_Real end = adapt.LastParameter();
                    Standard_Real stp = ParLength / NbrSegments;
                    bool reversed = false;
                    if (it2.Orientation() == TopAbs_REVERSED) {
                        std::swap(beg, end);
                        stp = -stp;
                        reversed = true;
                    }

                    if (first) {
                        first = false;
                    }
                    else {
                        beg += stp;
                    }
                    Base::SequencerLauncher seq("Create waypoints",
                                                static_cast<size_t>((end - beg) / stp));
                    if (reversed) {
                        for (; beg > end; beg += stp) {
                            gp_Pnt P = adapt.Value(beg);
                            Base::Rotation R1;
                            // if orientation is used
                            if (UseRotation.getValue()) {
                                // here get the orientation of the start and end point...
                                // R1 = ;
                            }

                            Waypoint wp("Pt",
                                        Base::Placement(Base::Vector3d(P.X(), P.Y(), P.Z()), R1));
                            trac.addWaypoint(wp);
                            seq.next();
                        }
                    }
                    else {
                        for (; beg < end; beg += stp) {
                            gp_Pnt P = adapt.Value(beg);
                            Base::Rotation R1;
                            // if orientation is used
                            if (UseRotation.getValue()) {
                                // here get the orientation of the start and end point...
                                // R1 = ;
                            }
                            Waypoint wp("Pt",
                                        Base::Placement(Base::Vector3d(P.X(), P.Y(), P.Z()), R1));
                            trac.addWaypoint(wp);
                            seq.next();
                        }
                    }

                } break;
                case GeomAbs_Circle: {
                    Standard_Real Length = CPnts_AbscissaPoint::Length(adapt);
                    Standard_Real ParLength = adapt.LastParameter() - adapt.FirstParameter();
                    Standard_Real NbrSegments = Round(Length / SegValue.getValue());
                    Standard_Real SegLength = ParLength / NbrSegments;

                    if (it2.Orientation() == TopAbs_REVERSED) {
                        // Beginning and End switch
                        double i = adapt.LastParameter();
                        if (first) {
                            first = false;
                        }
                        else {
                            i -= SegLength;
                        }
                        for (; i > adapt.FirstParameter(); i -= SegLength) {
                            gp_Pnt P = adapt.Value(i);
                            Base::Rotation R1;
                            // if orientation is used
                            if (UseRotation.getValue()) {
                                // here get the orientation of the start and end point...
                                // R1 = ;
                            }
                            Waypoint wp("Pt",
                                        Base::Placement(Base::Vector3d(P.X(), P.Y(), P.Z()), R1));
                            trac.addWaypoint(wp);
                        }
                    }
                    else {
                        double i = adapt.FirstParameter();
                        if (first) {
                            first = false;
                        }
                        else {
                            i += SegLength;
                        }
                        for (; i < adapt.LastParameter(); i += SegLength) {
                            gp_Pnt P = adapt.Value(i);
                            Base::Rotation R1;
                            // if orientation is used
                            if (UseRotation.getValue()) {
                                // here get the orientation of the start and end point...
                                // R1 = ;
                            }
                            Waypoint wp("Pt",
                                        Base::Placement(Base::Vector3d(P.X(), P.Y(), P.Z()), R1));
                            trac.addWaypoint(wp);
                        }
                    }
                    break;
                }

                default:
                    throw Base::TypeError("Unknown Edge type in Robot::Edge2TracObject::execute()");
            }
        }
    }

    Trajectory.setValue(trac);

    return App::DocumentObject::StdReturn;
}


// short Edge2TracObject::mustExecute(void) const
//{
//     return 0;
// }

void Edge2TracObject::onChanged(const Property* prop)
{
    App::GeoFeature::onChanged(prop);
}
