using System;
using System.Collections.Generic;

/// <summary>
/// CurrPostion
/// 2021.1.~
/// </summary>
[Serializable]
public class CurrPostion
{
    ///// <summary>
    ///// 帧
    ///// </summary>
    //public int Index
    //{
    //    get;
    //    set;
    //}
    public string CraftCode
    {
        get;
        set;
    }
    /// <summary>
    /// 模型名
    /// </summary>
    public string ModelCode
    {
        get;
        set;
    }
    /// <summary>
    /// 模型名
    /// </summary>
    public string ModelName
    {
        get;
        set;
    }

    /// <summary>
    /// X
    /// </summary>
    public double X
    {
        get;
        set;
    }
    /// <summary>
    /// Y
    /// </summary>
    public double Y
    {
        get;
        set;
    }
    /// <summary>
    /// Z
    /// </summary>
    public double Z
    {
        get;
        set;
    }
    /// <summary>
    /// RX
    /// </summary>
    public double RX
    {
        get;
        set;
    }
    /// <summary>
    /// RY
    /// </summary>
    public double RY
    {
        get;
        set;
    }
    /// <summary>
    /// RZ
    /// </summary>
    public double RZ
    {
        get;
        set;
    }
    /// <summary>
    /// QX
    /// </summary>
    public double QX
    {
        get;
        set;
    }
    /// <summary>
    /// QY
    /// </summary>
    public double QY
    {
        get;
        set;
    }
    /// <summary>
    /// QZ
    /// </summary>
    public double QZ
    {
        get;
        set;
    }
    /// <summary>
    /// QW
    /// </summary>
    public double QW
    {
        get;
        set;
    }

    /// <summary>
    /// X_Base
    /// </summary>
    public double X_Base
    {
        get;
        set;
    }
    /// <summary>
    /// Y_Base
    /// </summary>
    public double Y_Base
    {
        get;
        set;
    }
    /// <summary>
    /// Z_Base
    /// </summary>
    public double Z_Base
    {
        get;
        set;
    }
    /// <summary>
    /// RX_Base
    /// </summary>
    public double RX_Base
    {
        get;
        set;
    }
    /// <summary>
    /// RY_Base
    /// </summary>
    public double RY_Base
    {
        get;
        set;
    }
    /// <summary>
    /// RZ_Base
    /// </summary>
    public double RZ_Base
    {
        get;
        set;
    }
    /// <summary>
    /// QX_Base
    /// </summary>
    public double QX_Base
    {
        get;
        set;
    }
    /// <summary>
    /// QY_Base
    /// </summary>
    public double QY_Base
    {
        get;
        set;
    }
    /// <summary>
    /// QZ_Base
    /// </summary>
    public double QZ_Base
    {
        get;
        set;
    }
    /// <summary>
    /// QW_Base
    /// </summary>
    public double QW_Base
    {
        get;
        set;
    }


    /// <summary>
    /// X_Tool
    /// </summary>
    public double X_Tool
    {
        get;
        set;
    }
    /// <summary>
    /// Y_Tool
    /// </summary>
    public double Y_Tool
    {
        get;
        set;
    }
    /// <summary>
    /// Z_Tool
    /// </summary>
    public double Z_Tool
    {
        get;
        set;
    }
    /// <summary>
    /// RX_Tool
    /// </summary>
    public double RX_Tool
    {
        get;
        set;
    }
    /// <summary>
    /// RY_Tool
    /// </summary>
    public double RY_Tool
    {
        get;
        set;
    }
    /// <summary>
    /// RZ_Tool
    /// </summary>
    public double RZ_Tool
    {
        get;
        set;
    }
    /// <summary>
    /// QX_Tool
    /// </summary>
    public double QX_Tool
    {
        get;
        set;
    }
    /// <summary>
    /// QY_Tool
    /// </summary>
    public double QY_Tool
    {
        get;
        set;
    }
    /// <summary>
    /// QZ_Tool
    /// </summary>
    public double QZ_Tool
    {
        get;
        set;
    }
    /// <summary>
    /// QW_Tool
    /// </summary>
    public double QW_Tool
    {
        get;
        set;
    }


    public string CurrJoint { get; set; }
    public string MoveType { get; set; }
    public double J1 { get; set; }
    public double J2 { get; set; }
    public double J3 { get; set; }
    public double J4 { get; set; }
    public double J5 { get; set; }
    public double J6 { get; set; }

    public string ProcessCode { get; set; }
    public int SequenceNo { get; set; }
    public string ProcessName { get; set; }
    public int UseTime { get; set; }


    public List<JointData> currentJoint = null;


    public void SetCurrJoint()
    {
        this.CurrJoint =
            "["
            + J1.ToString("f5") + ","
            + J2.ToString("f5") + ","
            + J3.ToString("f5") + ","
            + J4.ToString("f5") + ","
            + J5.ToString("f5") + ","
            + J6.ToString("f5")
            + "]";
    }
    public void SetTcpQ(double[] tcpQ)
    {
        X = tcpQ[0];
        Y = tcpQ[1];
        Z = tcpQ[2];
        QX = tcpQ[3];
        QY = tcpQ[4];
        QZ = tcpQ[5];
        QW = tcpQ[6];
    }
    public void SetTcpRpy(double[] tcpRpy)
    {
        X = tcpRpy[0];
        Y = tcpRpy[1];
        Z = tcpRpy[2];
        RX = tcpRpy[3];
        RY = tcpRpy[4];
        RZ = tcpRpy[5];
    }
    public void SetJ(double[] p_JList)
    {
        J1 = p_JList[0];
        J2 = p_JList[1];
        J3 = p_JList[2];
        J4 = p_JList[3];
        J5 = p_JList[4];
        J6 = p_JList[5];
        SetCurrJoint();
    }
    public double[] GetJ()
    {
        return new double[] { J1, J2, J3, J4, J5, J6 };
    }
    public double[] GetTcpQ()
    {
        return new double[] { X, Y, Z, QX, QY, QZ, QW };
    }
    public double[] GetTcpRpy()
    {
        return new double[] { X, Y, Z, RX, RY, RZ };
    }
    public double[] GetTen()
    {
        return new double[] { X, Y, Z, QX, QY, QZ, QW, RX, RY, RZ };
    }
    public double[] GetBaseTen()
    {
        return new double[] { X_Base, Y_Base, Z_Base, QX_Base, QY_Base, QZ_Base, QW_Base, RX_Base, RY_Base, RZ_Base };
    }
    public double[] GetBaseQ()
    {
        return new double[] { X_Base, Y_Base, Z_Base, QX_Base, QY_Base, QZ_Base, QW_Base };
    }
    public double[] GetBaseRpy()
    {
        return new double[] { X_Base, Y_Base, Z_Base, RX_Base, RY_Base, RZ_Base };
    }
    public double[] GetToolTen()
    {
        return new double[] { X_Tool, Y_Tool, Z_Tool, QX_Tool, QY_Tool, QZ_Tool, QW_Tool, RX_Tool, RY_Tool, RZ_Tool };
    }
    public double[] GetToolQ()
    {
        return new double[] { X_Tool, Y_Tool, Z_Tool, QX_Tool, QY_Tool, QZ_Tool, QW_Tool };
    }
    public double[] GetToolRpy()
    {
        return new double[] { X_Tool, Y_Tool, Z_Tool, RX_Tool, RY_Tool, RZ_Tool };
    }
}

[Serializable]
public class JointData
{
    public string id;
    public string name;
    public string value;
    public string type;
}


/////// <summary>
/////// 带 currentJoint 信息
/////// </summary>
////[Serializable]
////public class CurrJoint : CurrPostion
////{
////    public List<JointData> currentJoint = null;
////}

///// <summary>
///// 带 currentJoint 信息
///// </summary>
//[Serializable]
//public class CurrJoint_J : CurrJoint
//{
   

    
//}
public class CurrJointName
{
    
    public const string CraftCode = "CraftCode";
    public const string ProcessCode = "ProcessCode";
    public const string SequenceNo = "SequenceNo";
    public const string ProcessName = "ProcessName";
    public const string UseTime = "UseTime";
    public const string X = "X";
    public const string Y = "Y";
    public const string Z = "Z";
    public const string RX = "RX";
    public const string RY = "RY";
    public const string RZ = "RZ";
    public const string X_Base = "X_Base";
    public const string Y_Base = "Y_Base";
    public const string Z_Base = "Z_Base";
    public const string RX_Base = "RX_Base";
    public const string RY_Base = "RY_Base";
    public const string RZ_Base = "RZ_Base";
    public const string X_Tool = "X_Tool";
    public const string Y_Tool = "Y_Tool";
    public const string Z_Tool = "Z_Tool";
    public const string RX_Tool = "RX_Tool";
    public const string RY_Tool = "RY_Tool";
    public const string RZ_Tool = "RZ_Tool";
    public const string QX = "QX";
    public const string QY = "QY";
    public const string QZ = "QZ";
    public const string QW = "QW";
    public const string QX_Base = "QX_Base";
    public const string QY_Base = "QY_Base";
    public const string QZ_Base = "QZ_Base";
    public const string QW_Base = "QW_Base";
    public const string QX_Tool = "QX_Tool";
    public const string QY_Tool = "QY_Tool";
    public const string QZ_Tool = "QZ_Tool";
    public const string QW_Tool = "QW_Tool";

    public const string ModelCode = "ModelCode";
    public const string ModelName = "ModelName";
    public const string Reverse = "Reverse";

    public const string CurrJoint = "CurrJoint";
    public const string MoveType = "MoveType";
    public const string J1 = "J1";
    public const string J2 = "J2";
    public const string J3 = "J3";
    public const string J4 = "J4"; 
    public const string J5 = "J5";
    public const string J6 = "J6";
}