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

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 <camotics/CommandLineApp.h>

#include <gcode/plan/Planner.h>

#include <gcode/machine/GCodeMachine.h>

#include <gcode/machine/MachinePipeline.h>

#include <gcode/machine/MachineState.h>

#include <cbang/config.h>

#include <cbang/Exception.h>

#include <cbang/ApplicationMain.h>

#include <cbang/json/Writer.h>

#include <cbang/json/Reader.h>

#include <cbang/time/TimeInterval.h>

#include <cbang/log/Logger.h>

#ifdef HAVE_V8

#include <cbang/js/v8/JSImpl.h>

#endif

#include <iostream>

using namespace std;

using namespace cb;

using namespace GCode;

class PlannerApp : public CAMotics::CommandLineApp {

PlannerConfig config;

bool gcode = false;

unsigned precision = 4;

public:

PlannerApp() :

CAMotics::CommandLineApp("CAMotics GCode Path Planner") {

cmdLine.add("json", "JSON configuration or configuration file"

)->setType(Option::TYPE_STRING);

cmdLine.addTarget("gcode", gcode, "Output GCode instead of plan JSON");

cmdLine.addTarget("precision", precision,

"Decimal places in output numbers");

Logger::instance().setScreenStream(cerr);

}

// From Application

int init(int argc, char *argv[]) override {

int ret = CommandLineApp::init(argc, argv);

if (ret == -1) return ret;

if (cmdLine["--json"].hasValue()) {

string s = String::trim(cmdLine["--json"].toString());

if (!s.empty()) {

InputSource source;

if (s[0] == '{') source = InputSource(s);

else source = InputSource::open(s);

auto data = JSON::Reader::parse(source);

config.read(data->hasDict("planner") ? *data->get("planner") : *data);

}

}

return ret;

}

void read(const InputSource &source) override {

MachinePipeline pipeline;

Planner planner;

planner.load(source, config, String::endsWith(source.getName(), ".tpl"));

SmartPointer<JSON::Writer> writer;

if (!gcode) writer = new JSON::Writer(cout, 0, false, 2, precision);

if (writer.isSet()) writer->beginList();

else {

pipeline.add(new GCodeMachine(stream, outputUnits));

pipeline.add(new MachineState);

}

while (!shouldQuit() && planner.hasMore()) {

uint64_t id;

if (writer.isSet()) {

writer->beginAppend();

id = planner.next(*writer);

} else id = planner.next(pipeline);

planner.setActive(id); // Flush planner

}

if (writer.isSet()) writer->endList();

cout << endl;

cerr << "Total time: " << TimeInterval(planner.getTime()) << endl;

cerr << "Total dist: " << planner.getDistance() / 1000 << "m" << endl;

}

};

int main(int argc, char *argv[]) {

#ifdef HAVE_V8

cb::gv8::JSImpl::init(0, 0);

#endif

return doApplication<PlannerApp>(argc, argv);

}