/***************************************************************************
 *   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_
#endif

#include "TrajectoryDressUpObject.h"
//#include <App/DocumentObjectPy.h>
//#include <Base/Placement.h>
#include <Mod/Part/App/edgecluster.h>
#include <Mod/Part/App/PartFeature.h>
#include <TopoDS.hxx>
#include <TopoDS_Edge.hxx>
#include <TopoDS_Vertex.hxx>
#include <BRep_Tool.hxx>
#include <BRepAdaptor_Curve.hxx>
#include <CPnts_AbscissaPoint.hxx>
#include <TopExp.hxx>
#include "Waypoint.h"
#include "Trajectory.h"

using namespace Robot;
using namespace App;

PROPERTY_SOURCE(Robot::TrajectoryDressUpObject, Robot::TrajectoryObject)

const char* TrajectoryDressUpObject::ContTypeEnums[]= {"DontChange","Continues","Discontinues",nullptr};
const char* TrajectoryDressUpObject::AddTypeEnums[] = {"DontChange","UseOrientation","AddPosition","AddOrintation","AddPositionAndOrientation",nullptr};

TrajectoryDressUpObject::TrajectoryDressUpObject()
{

    ADD_PROPERTY_TYPE( Source,          (nullptr)                 , "TrajectoryDressUp",Prop_None,"Trajectory to dress up");
    ADD_PROPERTY_TYPE( Speed,           (1000)              , "TrajectoryDressUp",Prop_None,"Speed to use");
    ADD_PROPERTY_TYPE( UseSpeed    ,    (0)                 , "TrajectoryDressUp",Prop_None,"Switch the speed usage on");
    ADD_PROPERTY_TYPE( Acceleration,    (1000)              , "TrajectoryDressUp",Prop_None,"Acceleration to use");
    ADD_PROPERTY_TYPE( UseAcceleration, (0)                 , "TrajectoryDressUp",Prop_None,"Switch the acceleration usage on");
    ADD_PROPERTY_TYPE( ContType,        ((long)0)           , "TrajectoryDressUp",Prop_None,"Define the dress up of continuity");
    ContType.setEnums(ContTypeEnums);
    ADD_PROPERTY_TYPE( PosAdd,          (Base::Placement()) , "TrajectoryDressUp",Prop_None,"Position & Orientation to use");
    ADD_PROPERTY_TYPE( AddType,         ((long)0)           , "TrajectoryDressUp",Prop_None,"How to change the Position & Orientation");
    AddType.setEnums(AddTypeEnums);

}

TrajectoryDressUpObject::~TrajectoryDressUpObject()
{
}

App::DocumentObjectExecReturn* TrajectoryDressUpObject::execute(void)
{
    Robot::Trajectory result;

    App::DocumentObject* link = Source.getValue();
    if (!link)
        return new App::DocumentObjectExecReturn("No object linked");
    if (!link->getTypeId().isDerivedFrom(Robot::TrajectoryObject::getClassTypeId()))
        return new App::DocumentObjectExecReturn("Linked object is not a Trajectory object");

    const std::vector<Waypoint*>& wps = static_cast<Robot::TrajectoryObject*>(link)->Trajectory.getValue().getWaypoints();
    for (std::vector<Waypoint*>::const_iterator it = wps.begin(); it != wps.end(); ++it) {
        Waypoint wpt = **it;
        if (UseSpeed.getValue())
            wpt.Velocity = Speed.getValue();
        if (UseAcceleration.getValue())
            wpt.Acceleration = Acceleration.getValue();
        switch (ContType.getValue()) {
        case 0: break;
        case 1: wpt.Cont = true; break;
        case 2: wpt.Cont = false; break;
        default: assert(0); // must not happen!
        }
        switch (AddType.getValue()) {
            // do nothing 
        case 0: break;
            // use orientation  
        case 1:
            wpt.EndPos.setRotation(PosAdd.getValue().getRotation());
            break;
            // add position 
        case 2:
            wpt.EndPos.setPosition(wpt.EndPos.getPosition() + PosAdd.getValue().getPosition());
            break;
            // add orientation 
        case 3:
            wpt.EndPos.setRotation(wpt.EndPos.getRotation() * PosAdd.getValue().getRotation());
            break;
            // add orientation & position 
        case 4:
            wpt.EndPos = wpt.EndPos * PosAdd.getValue();
            break;
        default: assert(0); // must not happen!
        }

        result.addWaypoint(wpt);
    }

    // set the resulting Trajectory to the object
    Trajectory.setValue(result);

    return App::DocumentObject::StdReturn;
}

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