#!/bin/sh
# the next line restarts using iosh \
exec $EMC2_EMCSH "$0" "$@"

####################################################################
# Description:  Set_Coordinates.tcl
#               This file, ' Set_Coordinates.tcl', is a script that lets
#               the user chose between different coordinate systems
#
# AuthorS: Fred Proctor, Ray Henry
# License: GPL Version 2
#    
# Copyright (c) 2005 All rights reserved.
#
# Last change: 
# $Revision$
# $Author$
# $Date$
####################################################################
# Graphical display of coordinate system offsets
# Writes revised offsets to xxx.var and reloads global variables
####################################################################

# Load the emc.tcl file, which defines variables for various useful paths
source [file join [file dirname [info script]] .. emc.tcl]

wm title . [msgcat::mc "EMC Set Coordinate"]

set top [frame .frame -borderwidth 2 -relief raised]
label $top.l1 -text [msgcat::mc "Coordinate System Control Window"]
pack $top.l1 -side top

set paramfilename [emc_ini "PARAMETER_FILE" "RS274NGC"]
if {[string length $paramfilename] == 0} {
    set paramfilename "emc.var"
}

# Reads the number of axi from ini
set numaxis [emc_ini "AXES" "TRAJ"]

# Reads axi names from ini
set nameaxis [emc_ini "COORDINATES" "TRAJ"]

# put the parm file into an invisible widget
set vartext [text $top.vartext]
$vartext config -state normal
$vartext delete 1.0 end
if {[catch {open $paramfilename} programin]} {
    return
} else {
    $vartext insert end [read $programin]
    catch {close $programin}
}

# Build the coordinates radio buttons.
set sel [frame $top.selectors -borderwidth 2 -relief groove]
radiobutton $sel.r540 -text G54 -variable coordsys -value 5221 -anchor w \
    -command findVarNumbers
radiobutton $sel.r550 -text G55 -variable coordsys -value 5241 -anchor w \
    -command findVarNumbers
radiobutton $sel.r560 -text G56 -variable coordsys -value 5261 -anchor w \
    -command findVarNumbers
radiobutton $sel.r570 -text G57 -variable coordsys -value 5281 -anchor w \
    -command findVarNumbers
radiobutton $sel.r580 -text G58 -variable coordsys -value 5301 -anchor w \
    -command findVarNumbers
radiobutton $sel.r590 -text G59 -variable coordsys -value 5321 -anchor w \
    -command findVarNumbers
radiobutton $sel.r591 -text G59.1 -variable coordsys -value 5341 -anchor w \
    -command findVarNumbers
radiobutton $sel.r592 -text G59.2 -variable coordsys -value 5361 -anchor w \
    -command findVarNumbers
radiobutton $sel.r593 -text G59.3 -variable coordsys -value 5381 -anchor w \
    -command findVarNumbers
pack  $sel.r540 $sel.r550 $sel.r560 $sel.r570 $sel.r580 \
    $sel.r590 $sel.r591 $sel.r592 $sel.r593 -side top -fill x
pack $sel -side left -padx 10 -pady 10

# Build the variable numbers and value entry widgets.
set right [frame $top.col]
set axis [frame $right.coord]
label $axis.name -text [msgcat::mc "Axis "]
label $axis.varnum -text [msgcat::mc "Var # "]
label $axis.varval -text [msgcat::mc "Offset Value "]
label $axis.forceval -text [msgcat::mc "What to Teach"]
grid $axis.name $axis.varnum $axis.varval $axis.forceval -sticky news
for {set i 0} {$i < $numaxis} {incr i} {
    label  $axis.l$i -text [lindex $nameaxis $i ]  -anchor e
    label $axis.l1$i -textvariable "num$i"  -anchor e
    entry $axis.e$i -textvariable val$i -takefocus 1
    entry $axis.fv$i -textvariable forceval$i
    button $axis.b$i -text [msgcat::mc "Teach"] -command "getLocation $i"
    grid $axis.l$i $axis.l1$i $axis.e$i $axis.fv$i $axis.b$i -sticky news
    bind $axis.e$i <Down>  {shiftFocus 1}
    bind $axis.e$i <Up> {shiftFocus -1}
}
focus $axis.e0

# Build the control button widgets.
set buttons [frame $right.buttons]
button $buttons.b -text [msgcat::mc "Set Old"] -width 12 -command {getLast}
button $buttons.b0 -text [msgcat::mc "Set Zero"] -width 12 -command {getZero}
button $buttons.b2 -text [msgcat::mc "Close"] -width 12 -command {closeWindow}
button $buttons.b4 -text [msgcat::mc "Write"] -width 12 -command {setVarValues ; loadVarFile}
grid $buttons.b0 $buttons.b4 -sticky nsew
grid $buttons.b $buttons.b2 -sticky nsew
pack $axis -side top -fill x -expand yes
pack $buttons -side bottom -fill x -expand yes
pack $right -side left -fill both
pack $top

# Initialize values
for {set i 0} {$i < $numaxis} {incr i} {
    set val$i 0.000000
    set forceval$i 0.000000
}

proc findVarNumbers {} {
    global coordsys
    global numaxis num0 num1 num2 num3 num4 num5
    for {set i 0} {$i < $numaxis} {incr i} {
        set num$i [expr $coordsys +$i]
    }
    findVarValues
}

proc findVarValues {} {
    global vartext
    global numaxis val0 val1 val2 val3 val4 val5
    global num0 num1 num2 num3 num4 num5
    global numaxis oval0 oval1 oval2 oval3 oval4 oval5
    set locate "1.0"
    for {set i 0} {$i < $numaxis} {incr i} {
        set oval$i [set val$i]
        set locate [$vartext search [set num$i] 1.0 ]
        set locate [expr int($locate)]
        set valtemp [$vartext get $locate.4 "$locate.end"]
        set val$i [string trim $valtemp]
    }
}

proc getZero {} {
    global numaxis 
    global val0 val1 val2 val3 val4 val5
    global forceval0 forceval1 forceval2 forceval3 forceval4 forceval5
    for {set i 0} {$i < $numaxis} {incr i} {
        set val$i 0.000000
        set forceval$i 0.000000
    }
}

proc getLast {} {
    global numaxis 
    global oval0 oval1 oval2 oval3 oval4 oval5
    global val0 val1 val2 val3 val4 val5 val6
    for {set i 0} {$i < $numaxis} {incr i} {
        set val$i [set oval$i]
    }
}

proc getLocation {axnum} {
    global numaxis 
    global val0 val1 val2 val3 val4 val5
    global forceval0 forceval1 forceval2 forceval3 forceval4 forceval5
    if {$axnum == "all"} {
        for {set i 0} {$i < $numaxis} {incr i} {
            set val$i [expr [emc_abs_act_pos $i] - [set forceval$i]]
        }
    } else {
        set val$axnum [expr [emc_abs_act_pos $axnum] - [set forceval$axnum]]
    }
}

proc setVarValues {} {
    global vartext
    global numaxis val0 val1 val2 val3 val4 val5
    global num0 num1 num2 num3 num4 num5
    for {set i 0} {$i < $numaxis} {incr i} {
        set locate [$vartext search [set num$i] 1.0 ]
        $vartext mark set insert "$locate +5c"
        $vartext delete insert "insert lineend"
        $vartext insert insert [set val$i]
    }
}

proc shiftFocus {whichway} {
    global axis numaxis
    set window [focus]
    set last [string trim [string length $window]]
    set last [expr $last - 1]
    set windowx [string index $window $last]
    set windownext [expr $windowx + $whichway]
    if {$windownext == $numaxis} {
        set windownext 0
    } elseif {$windownext < 0} {
        set windownext [expr $numaxis -1]
    }
    focus [string range $window 0 [expr $last - 1]]$windownext
}

proc saveFile {name} {
    global vartext
    catch {file copy -force $name $name.bak}
    if {[catch {open $name w} fileout]} {
        puts stdout [msgcat::mc "can't save %s" $name]
        return
    }
    puts $fileout [$vartext get 1.0 end]
    catch {close $fileout}
}

proc loadVarFile {} {
    global top paramfilename
    saveFile $paramfilename
    emc_task_plan_init
}

# loads parameter file into interpreter and closes window
proc closeWindow {} {
    loadVarFile
    destroy .
}

proc saveFile {name} {
    global vartext
    catch {file copy -force $name $name.bak}
    if {[catch {open $name w} fileout]} {
        puts stdout [msgcat::mc "can't save %s" $name]
        return
    }
    puts $fileout [$vartext get 1.0 end]
    catch {close $fileout}
}

# set the initial coordinate system and find values.
set coordsys 5221
findVarNumbers