using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading.Tasks;

namespace DownLoadProgram
{
    public class DownLoadRobotProgram
    {

        public string pathName { get; set; } = "";//CraftName

        public string robotId { get; set; } = "";//ModelCode
        public string robotName { get; set; } = "";//ModelName
        public string robotType { get; set; } = "IRB6640";

        public string rcsVersion { get; set; } = "IRC5";

        public List<PathTag> tags { get; set; } = new List<PathTag>() { new PathTag(), new PathTag() };

    }



    public class PathTag
    {
        public string tagName { get; set; } = "";

        public string tagId { get; set; } = "";
        public string moveType { get; set; } = "MoveJ";
        public string storageType { get; set; } = "PERS";

        public TagLocationConf location { get; set; } = new TagLocationConf();

        public TagJoint joint { get; set; } = new TagJoint();
        public TagTool tool { get; set; } = new TagTool();

        public TagSpeed speed { get; set; } = new TagSpeed();
        public TagZone zone { get; set; } = new TagZone();
        public Wobj wobj { get; set; } = new Wobj();
        public List<String> olpCommand { get; set; } = new List<String>() { "WaitDI DI1,1", "SetDO DO1,1" };



    }



    public class TagLocationConf
    {
        public TagPosition position { get; set; } = new TagPosition();
        public TagQuaternion quaternion { get; set; } = new TagQuaternion();
        public List<String> robotConf { get; set; } = new List<String>() { "0", "0", "0", "0" };


    }

    public class TagLocation
    {
        public TagPosition position { get; set; } = new TagPosition();
        public TagQuaternion quaternion { get; set; } = new TagQuaternion();

    }


    public class TagPosition
    {
        public string x { get; set; } = "0";
        public string y { get; set; } = "0";
        public string z { get; set; } = "0";
    }
    public class TagQuaternion
    {
        public string x { get; set; } = "0";
        public string y { get; set; } = "0";
        public string z { get; set; } = "0";
        public string w { get; set; } = "1";
    }

    public class TagJoint
    {
        public List<String> robotJoint { get; set; } = new List<String>() { "0", "0", "0", "0", "0", "0" };
        public List<String> externalJoint { get; set; } = new List<String>() { "9000000000", "9000000000", "9000000000", "9000000000", "9000000000", "9000000000" };

    }

    public class TagTool
    {

        public string toolId { get; set; } = Guid.NewGuid().ToString().ToUpper();

        public string toolName { get; set; } = "t1";

        public string robotHold { get; set; } = "1";
        public string storageType { get; set; } = "PERS";

        public TagLocation toolFrame { get; set; } = new TagLocation();
        public TagLocation centerOfGravity { get; set; } = new TagLocation();
        public LoadParameter loadParameter { get; set; } = new LoadParameter();


    }

    public class LoadParameter
    {
        public string mass { get; set; } = "0.001";
        public string inertiaX { get; set; } = "0";
        public string inertiaY { get; set; } = "0";
        public string inertiaZ { get; set; } = "0";
    }


    public class TagSpeed
    {
        public string speedId { get; set; } = Guid.NewGuid().ToString().ToUpper();
        public string speedName { get; set; } = "s1";
        public string storageType { get; set; } = "CONST";
        public string tcpSpeed { get; set; } = "5";
        public string orientation { get; set; } = "500";
        public string linearExternalAxis { get; set; } = "5000";
        public string rotationalExternalAxis { get; set; } = "1000";
    }

    public class TagZone
    {
        public string zoneId { get; set; } = "";
        public string zoneName { get; set; } = "z1";
        public string storageType { get; set; } = "CONST";
        public string finePoint { get; set; } = "0";

        public TcpMovement tcpMovement { get; set; } = new TcpMovement();
        public NoTcpMovement noTcpMovement { get; set; } = new NoTcpMovement();

    }
    public class TcpMovement
    {
        public string tcpPath { get; set; } = "50";
        public string orientation { get; set; } = "75";
        public string externalAxis { get; set; } = "75";
    }
    public class NoTcpMovement
    {
        public string orientation { get; set; } = "7.5";
        public string linearExternalAxis { get; set; } = "75";
        public string rotationalExternalAxis { get; set; } = "7.5";
    }

    public class Wobj
    {
        public string wobjId { get; set; } = "";
        public string wobjName { get; set; } = "w1";
        public string robotHold { get; set; } = "0";
        public string userFrameProg { get; set; } = "1";
        public string mechanicalUnit { get; set; } = "";
        public string storageType { get; set; } = "PERS";
        public TagLocation userFrame { get; set; } = new TagLocation();
        public TagLocation objectFrame { get; set; } = new TagLocation();
    }




}