package org.reprap.devices;

import java.io.IOException;
import org.reprap.utilities.Debug;
import org.reprap.AxisMotor;
import org.reprap.ReprapException;
import org.reprap.comms.IncomingMessage.InvalidPayloadException;
import org.reprap.devices.GenericStepperMotor;
import org.reprap.machines.GCodeRepRap;

public class GCodeStepperMotor extends GenericStepperMotor {
	
	GCodeRepRap printer;
	/**
	 * @param motorId
	 */
	public GCodeStepperMotor(GCodeRepRap p, int motorId) {
		super(null, motorId);
		printer = p;
	}

	/**
	 * Is the comms working?
	 * @return
	 */
	public boolean isAvailable()
	{
		return true;
	}
	
	public boolean wasAvailable()
	{
		return true;
	}
	public void refreshPreferences()
	{
	}


	
	/**
	 * Dispose of this object
	 */
	public void dispose() {
	}
	
	
	/**
	 * 
	 *
	 */
	public void waitTillNotBusy() throws IOException
	{
		return;	
	}	
	
	/**
	 * Add an XY point to the firmware buffer for plotting
	 * Only works for recent firmware.
	 * 
	 * @param endX
	 * @param endY
	 * @param movementSpeed
	 * @return
	 */
	public boolean queuePoint(int endX, int endY, int movementSpeed, int control) throws IOException 
	{
		return false;
	}
	
	/**
	 * Set the motor speed (or turn it off) 
	 * @param speed A value between -255 and 255.
	 * @throws ReprapException
	 * @throws IOException
	 */
	public void setSpeed(int speed) throws IOException {
		Debug.d("GCodeStepperMotor! " + axis + " axis - setting speed: " + speed);
	}

	/**
	 * @throws IOException
	 */
	public void setIdle() throws IOException {
		Debug.d("GCodeStepperMotor! " + axis + " axis - going idle.");
	}
	
	/**
	 * @throws IOException
	 */
	public void stepForward() throws IOException {
		double x, y, z;
		x = printer.getX();
		y = printer.getY();
		z = printer.getZ();
		try
		{
			switch(mid)
			{
			case 1:
				printer.moveTo(x + 1.0/printer.getXStepsPerMM(), y, z, printer.getExtruder().getSlowXYFeedrate(), false, false);
				break;
			case 2:
				printer.moveTo(x, y + 1.0/printer.getYStepsPerMM(), z, printer.getExtruder().getSlowXYFeedrate(), false, false);
				break;
			case 3:
				printer.moveTo(x, y, z + 1.0/printer.getZStepsPerMM(), printer.getFastFeedrateZ(), false, false);
				break;
			default:
				System.err.println("GCodeStepperMotor - stepForward.  Dud motor id: " + mid);
			}
		} catch (Exception ex)
		{}
	}
	
	/**
	 * @throws IOException
	 */
	public void stepBackward() throws IOException {
		double x, y, z;
		x = printer.getX();
		y = printer.getY();
		z = printer.getZ();
		try
		{
			switch(mid)
			{
			case 1:
				printer.moveTo(x - 1.0/printer.getXStepsPerMM(), y, z, printer.getExtruder().getSlowXYFeedrate(), false, false);
				break;
			case 2:
				printer.moveTo(x, y - 1.0/printer.getYStepsPerMM(), z, printer.getExtruder().getSlowXYFeedrate(), false, false);
				break;
			case 3:
				printer.moveTo(x, y, z - 1.0/printer.getZStepsPerMM(), printer.getFastFeedrateZ(), false, false);
				break;
			default:
				System.err.println("GCodeStepperMotor - stepBackward.  Dud motor id: " + mid);
			}
		} catch (Exception ex)
		{}
	}
	
	/**
	 * @throws IOException
	 */
	public void resetPosition() throws IOException {
		setPosition(0);
	}
	
	/**
	 * @param position
	 * @throws IOException
	 */
	public void setPosition(int position) throws IOException {
		Debug.d("GCodeStepperMotor! " + axis + " axis - setting position to: " + position);	
	}
	
	/**
	 * @return current position of the motor
	 * @throws IOException
	 */
	public int getPosition() throws IOException {
		switch(mid)
		{
		case 1:
			return (int)Math.round(printer.getX()*printer.getXStepsPerMM());
			
		case 2:
			return (int)Math.round(printer.getY()*printer.getYStepsPerMM());
			
		case 3:
			return (int)Math.round(printer.getZ()*printer.getZStepsPerMM());
			
		default:
			System.err.println("GCodeStepperMotor - getPosition.  Dud motor id: " + mid);
		}
		return 0;
	}
	
	/**
	 * @param speed
	 * @param position
	 * @throws IOException
	 */
	public void seek(int speed, int position) throws IOException {
		double x, y, z;
		x = printer.getX();
		y = printer.getY();
		z = printer.getZ();
		try
		{
			switch(mid)
			{
			case 1:
				//printer.setFeedrate(printer.getFastFeedrateXY());
				x = (double)position/printer.getXStepsPerMM();
				break;
			case 2:
				//printer.setFeedrate(printer.getFastFeedrateXY());
				y = (double)position/printer.getYStepsPerMM();
				break;
			case 3:
				//printer.setFeedrate(printer.getFastFeedrateZ());
				z = (double)position/printer.getZStepsPerMM();
				break;
			default:
				System.err.println("GCodeStepperMotor - seek.  Dud motor id: " + mid);
			}
			printer.moveTo(x, y, z, printer.getCurrentFeedrate(), false, false);
		} catch (Exception ex)
		{}
	}

	/**
	 * @param speed
	 * @param position
	 * @throws IOException
	 */
	public void seekBlocking(int speed, int position) throws IOException {
		seek(speed, position);
	}

	/**
	 * @param speed
	 * @return range of the motor
	 * @throws IOException
	 * @throws InvalidPayloadException
	 */
	public AxisMotor.Range getRange(int speed) throws IOException, InvalidPayloadException {
		Debug.d(axis + " axis - getting range.");
		return new AxisMotor.Range();
	}
	
	/**
	 * @param speed
	 * @throws IOException
	 * @throws InvalidPayloadException
	 */
	public void homeReset(int speed) throws IOException, InvalidPayloadException {
		try
		{
			switch(mid)
			{
			case 1:
				printer.homeToZeroX();
				break;
			case 2:
				printer.homeToZeroY();
				break;
			case 3:
				printer.homeToZeroZ();
				break;
			default:
				System.err.println("GCodeStepperMotor - homeReset.  Dud motor id: " + mid);
			}
		} catch (Exception ex)
		{}
	}
	
	/**
	 * @param syncType
	 * @throws IOException
	 */
	public void setSync(byte syncType) throws IOException {
		Debug.d("GCodeStepperMotor! " + axis + " axis - setting sync to " + syncType);
	}
	
	/**
	 * @param speed
	 * @param x1
	 * @param deltaY
	 * @throws IOException
	 */
	public void dda(int speed, int x1, int deltaY) throws IOException {
		Debug.d("GCodeStepperMotor! " + axis + " axis - dda at speed " + speed + ". x1 = " + x1 + ", deltaY = " + deltaY);
	}
	

	/**
	 * 
	 * @param maxTorque An integer value 0 to 100 representing the maximum torque percentage
	 * @throws IOException
	 */
	public void setMaxTorque(int maxTorque) throws IOException {
		Debug.d("GCodeStepperMotor! " + axis + " axis - setting maximum torque to: " + maxTorque);
	}
	
}