# ***************************************************************************
# *   (c) sliptonic (shopinthewoods@gmail.com) 2014                        *
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# *   This file is part of the FreeCAD CAx development system.              *
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from __future__ import print_function

TOOLTIP='''
This is a postprocessor file for the Path workbench. It is used to
take a pseudo-gcode fragment outputted by a Path object, and output
real GCode suitable for a linuxcnc 3 axis mill. This postprocessor, once placed
in the appropriate PathScripts folder, can be used directly from inside
FreeCAD, via the GUI importer or via python scripts with:

import linuxcnc_post
linuxcnc_post.export(object,"/path/to/file.ncc","")
'''

import FreeCAD
from FreeCAD import Units
import Path
import argparse
import datetime
import shlex
from PathScripts import PostUtils
from PathScripts import PathUtils

now = datetime.datetime.now()

parser = argparse.ArgumentParser(prog='linuxcnc', add_help=False)
parser.add_argument('--header', action='store_true', help='output headers (default)')
parser.add_argument('--no-header', action='store_true', help='suppress header output')
parser.add_argument('--comments', action='store_true', help='output comment (default)')
parser.add_argument('--no-comments', action='store_true', help='suppress comment output')
parser.add_argument('--line-numbers', action='store_true', help='prefix with line numbers')
parser.add_argument('--no-line-numbers', action='store_true', help='don\'t prefix with line numbers (default)')
parser.add_argument('--show-editor', action='store_true', help='pop up editor before writing output (default)')
parser.add_argument('--no-show-editor', action='store_true', help='don\'t pop up editor before writing output')
parser.add_argument('--precision', default='3', help='number of digits of precision, default=4')
parser.add_argument('--preamble', help='set commands to be issued before the first command, default="G17\nG90"')
parser.add_argument('--postamble', help='set commands to be issued after the last command, default="M05\nG17 G90\nM2"')
parser.add_argument('--inches', action='store_true', help='Convert output for US imperial mode (G20)')
parser.add_argument('--modal', action='store_true', help='Dont output the Same Gcommand Name USE Modal Mode')
parser.add_argument('--no-doubles', action='store_true', help='Dont output the Same Axis Value Mode')

TOOLTIP_ARGS=parser.format_help()

# These globals set common customization preferences
OUTPUT_COMMENTS = True
OUTPUT_HEADER = True
OUTPUT_LINE_NUMBERS = False
SHOW_EDITOR = True
MODAL = False  # if true commands are suppressed if the same as previous line.
OUTPUT_DOUBLES = True
COMMAND_SPACE = " "
LINENR = 100  # line number starting value

# These globals will be reflected in the Machine configuration of the project
UNITS = "G21"  # G21 for metric, G20 for us standard
UNIT_SPEED_FORMAT = 'mm/min'
UNIT_FORMAT = 'mm'

MACHINE_NAME = "LinuxCNC"
CORNER_MIN = {'x': 0, 'y': 0, 'z': 0}
CORNER_MAX = {'x': 500, 'y': 300, 'z': 300}
PRECISION=3

# Preamble text will appear at the beginning of the GCODE output file.
PREAMBLE = '''G17 G90
'''

# Postamble text will appear following the last operation.
POSTAMBLE = '''M05
G17 G90
M2
'''


# Pre operation text will be inserted before every operation
PRE_OPERATION = ''''''

# Post operation text will be inserted after every operation
POST_OPERATION = ''''''

# Tool Change commands will be inserted before a tool change
TOOL_CHANGE = ''''''


# to distinguish python built-in open function from the one declared below
if open.__module__ == '__builtin__':
    pythonopen = open

def processArguments(argstring):
    global OUTPUT_HEADER
    global OUTPUT_COMMENTS
    global OUTPUT_LINE_NUMBERS
    global SHOW_EDITOR
    global PRECISION
    global PREAMBLE
    global POSTAMBLE
    global UNITS
    global UNIT_SPEED_FORMAT
    global UNIT_FORMAT
    global MODAL
    global OUTPUT_DOUBLES

    try:
        args = parser.parse_args(shlex.split(argstring))
        if args.no_header:
            OUTPUT_HEADER = False
        if args.header:
            OUTPUT_HEADER = True
        if args.no_comments:
            OUTPUT_COMMENTS = False
        if args.comments:
            OUTPUT_COMMENTS = True
        if args.no_line_numbers:
            OUTPUT_LINE_NUMBERS = False
        if args.line_numbers:
            OUTPUT_LINE_NUMBERS = True
        if args.no_show_editor:
            SHOW_EDITOR = False
        if args.show_editor:
            SHOW_EDITOR = True
        print("Show editor = %d" % SHOW_EDITOR)
        PRECISION = args.precision
        if args.preamble is not None:
            PREAMBLE = args.preamble
        if args.postamble is not None:
            POSTAMBLE = args.postamble
        if args.inches:
            UNITS = 'G20'
            UNIT_SPEED_FORMAT = 'in/min'
            UNIT_FORMAT = 'in'
            PRECISION=4
        if args.modal:
            MODAL = True
        if args.no_doubles:
            OUTPUT_DOUBLES = False
            
    except:
        return False

    return True

def export(objectslist, filename, argstring):
    if not processArguments(argstring):
        return None
    global UNITS
    global UNIT_SPEED_FORMAT

    for obj in objectslist:
        if not hasattr(obj, "Path"):
            print("the object " + obj.Name + " is not a path. Please select only path and Compounds.")
            return None

    print("postprocessing...")
    gcode = ""

    # write header
    if OUTPUT_HEADER:
        gcode += linenumber() + "(Exported by FreeCAD)\n"
        gcode += linenumber() + "(Post Processor: " + __name__ + ")\n"
        gcode += linenumber() + "(Output Time:" + str(now) + ")\n"

    # Write the preamble
    if OUTPUT_COMMENTS:
        gcode += linenumber() + "(begin preamble)\n"
    for line in PREAMBLE.splitlines(False):
        gcode += linenumber() + line + "\n"
    gcode += linenumber() + UNITS + "\n"

    for obj in objectslist:

        # fetch machine details
        job = PathUtils.findParentJob(obj)

        myMachine = 'not set'

        if hasattr(job,"MachineName"):
            myMachine = job.MachineName

        if hasattr(job, "MachineUnits"):
            if job.MachineUnits == "Metric":
               UNITS = "G21"
               UNIT_SPEED_FORMAT = 'mm/min'

            else:
               UNITS = "G20"
               UNIT_SPEED_FORMAT = 'in/min'

        # do the pre_op
        if OUTPUT_COMMENTS:
            gcode += linenumber() + "(begin operation: %s)\n" % obj.Label
            gcode += linenumber() + "(machine: %s, %s)\n" % (myMachine, UNIT_SPEED_FORMAT)
        for line in PRE_OPERATION.splitlines(True):
            gcode += linenumber() + line

        gcode += parse(obj)

        # do the post_op
        if OUTPUT_COMMENTS:
            gcode += linenumber() + "(finish operation: %s)\n" % obj.Label
        for line in POST_OPERATION.splitlines(True):
            gcode += linenumber() + line

    # do the post_amble

    if OUTPUT_COMMENTS:
        gcode += "(begin postamble)\n"
    for line in POSTAMBLE.splitlines(True):
        gcode += linenumber() + line

    if FreeCAD.GuiUp and SHOW_EDITOR:
        dia = PostUtils.GCodeEditorDialog()
        dia.editor.setText(gcode)
        result = dia.exec_()
        if result:
            final = dia.editor.toPlainText()
        else:
            final = gcode
    else:
        final = gcode

    print("done postprocessing.")

    if not filename == '-':
        gfile = pythonopen(filename, "wb")
        gfile.write(final)
        gfile.close()

    return final


def linenumber():
    global LINENR
    if OUTPUT_LINE_NUMBERS is True:
        LINENR += 10
        return "N" + str(LINENR) + " "
    return ""

def parse(pathobj):
    global PRECISION
    global MODAL
    global OUTPUT_DOUBLES
    
    out = ""
    lastcommand = None
    precision_string = '.' + str(PRECISION) +'f'

    # params = ['X','Y','Z','A','B','I','J','K','F','S'] #This list control
    # the order of parameters
    # linuxcnc doesn't want K properties on XY plane  Arcs need work.
    params = ['X', 'Y', 'Z', 'A', 'B', 'C', 'I', 'J', 'F', 'S', 'T', 'Q', 'R', 'L', 'H', 'D']
    #keep track for no doubles 
    currLocation = {}
    firstmove = Path.Command("G0", {"X": -1, "Y": -1, "Z": -1, "F": -1})
    currLocation.update(firstmove.Parameters)

    if hasattr(pathobj, "Group"):  # We have a compound or project.
        # if OUTPUT_COMMENTS:
        #     out += linenumber() + "(compound: " + pathobj.Label + ")\n"
        for p in pathobj.Group:
            out += parse(p)
        return out
    else:  # parsing simple path

        # groups might contain non-path things like stock.
        if not hasattr(pathobj, "Path"):
            return out

        # if OUTPUT_COMMENTS:
        #     out += linenumber() + "(" + pathobj.Label + ")\n"

        for c in pathobj.Path.Commands:
            outstring = []
            command = c.Name
            outstring.append(command)
            # if modal: only print the command if it is not the same as the
            # last one
            if MODAL is True:
                if command == lastcommand:
                    outstring.pop(0)

            # Now add the remaining parameters in order
            for param in params:
                if param in c.Parameters:
                    if param == 'F' and (currLocation[param] == c.Parameters[param] and OUTPUT_DOUBLES):
                        if c.Name not in ["G0", "G00"]: #linuxcnc doesn't use rapid speeds
                            speed = Units.Quantity(c.Parameters['F'], FreeCAD.Units.Velocity)
                            outstring.append(
                                param + format(float(speed.getValueAs(UNIT_SPEED_FORMAT)), precision_string) )
                    elif param == 'T' :
                        outstring.append(param + str(int(c.Parameters['T'])))
                    elif param == 'H' :
                        outstring.append(param + str(int(c.Parameters['H'])))
                    elif param == 'D' :
                        outstring.append(param + str(int(c.Parameters['D'])))
                    elif param == 'S' :
                        outstring.append(param + str(int(c.Parameters['S'])))
                    else:
                        if (not OUTPUT_DOUBLES) and (param in currLocation) and (currLocation[param] == c.Parameters[param]):
                            continue
                        else:
                            pos = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length)
                            outstring.append(
                                param + format(float(pos.getValueAs(UNIT_FORMAT)), precision_string) )
                                #param + format(c.Parameters[param], precision_string))

            # store the latest command
            lastcommand = command
            currLocation.update(c.Parameters)

            # Check for Tool Change:
            if command == 'M6':
                # if OUTPUT_COMMENTS:
                #     out += linenumber() + "(begin toolchange)\n"
                for line in TOOL_CHANGE.splitlines(True):
                    out += linenumber() + line

            if command == "message":
                if OUTPUT_COMMENTS is False:
                    out = []
                else:
                    outstring.pop(0)  # remove the command

            # prepend a line number and append a newline
            if len(outstring) >= 1:
                if OUTPUT_LINE_NUMBERS:
                    outstring.insert(0, (linenumber()))

                # append the line to the final output
                for w in outstring:
                    out += w + COMMAND_SPACE
                out = out.strip() + "\n"

        return out


print(__name__ + " gcode postprocessor loaded.")