/******************************************************************************\

CAMotics is an Open-Source simulation and CAM software.

Copyright (C) 2011-2019 Joseph Coffland <joseph@cauldrondevelopment.com>

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 2 of the License, or

(at your option) any later version.

This program 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 General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program. If not, see <http://www.gnu.org/licenses/>.

\******************************************************************************/

#include "Axes.h"

#include <limits>

#include <cmath>

using namespace std;

using namespace cb;

using namespace GCode;

const char *Axes::AXES = "XYZABCUVW";

void Axes::setFrom(const Axes &o) {

for (unsigned i = 0; i < 9; i++)

if (!isnan(o.data[i])) data[i] = o.data[i];

}

void Axes::applyXYZMatrix(const Matrix4x4D &m) {

Vector4D v(m * Vector4D(getX(), getY(), getZ(), 1));

setXYZ(v[0], v[1], v[2]);

}

void Axes::applyABCMatrix(const Matrix4x4D &m) {

Vector4D v(m * Vector4D(getA(), getB(), getC(), 1));

setABC(v[0], v[1], v[2]);

}

void Axes::applyUVWMatrix(const Matrix4x4D &m) {

Vector4D v(m * Vector4D(getU(), getV(), getW(), 1));

setUVW(v[0], v[1], v[2]);

}

void Axes::read(const JSON::Value &value) {

for (unsigned i = 0; i < 9; i++)

if (value.has(toAxisName(i)))

data[i] = value.getNumber(toAxisName(i));

else if (value.has(toAxisName(i, true)))

data[i] = value.getNumber(toAxisName(i, true));

}

void Axes::write(JSON::Sink &sink) const {

sink.beginDict(true);

for (unsigned i = 0; i < 9; i++)

if (!isnan(data[i]))

sink.insert(string(1, AXES[i]), data[i]);

sink.endDict();

}