import { getSourceReferencesForProfile } from "./source-reference-map.js";
import { xyzacTrtPyvcpPanelSchema } from "../panel-schema/xyzac-trt-pyvcp.js";

const sourceReferenceObjects = getSourceReferencesForProfile("xyzac-trt");

export const xyzacTrtProfile = {
  id: "xyzac-trt",
  title: "XYZAC table rotary tilting",
  iniPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
  pyvcpXmlPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml",
  postguiHalPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal",
  generatedHalPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt_cmds.hal",
  toolTablePath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl",
  machineName: "sim-xyzac-trt-kins (switchkins)",
  display: {
    geometry: "XYZ-A",
    display: "axis",
    jogAxes: ["X", "Y", "Z", "C"],
    pyvcp: "./xyzac-trt.xml",
    openFile: "./demos/xyzac_switchkins.ngc",
    programPrefix: "../../nc_files",
    positionOffset: "RELATIVE",
    positionFeedback: "ACTUAL",
    maxFeedOverride: 2,
  },
  rs274ngc: {
    subroutinePath: "./remap_subs",
    halPinVars: true,
    parameterFile: "xyzac.var",
  },
  coordinates: ["X", "Y", "Z", "A", "C"],
  joints: ["joint.0", "joint.1", "joint.2", "joint.3", "joint.4"],
  kinematics: "xyzac-trt-kins",
  kinematicsParameters: {
    sparm: "identityfirst",
    defaultSwitchkinsType: 0,
    switchkinsTypes: [
      { value: 0, label: "identity", mdiCommand: "M429", webKinsType: "identity" },
      { value: 1, label: "XYZAC TCP", mdiCommand: "M428", webKinsType: "tcp-xyzac" },
      { value: 2, label: "USERK", mdiCommand: "M430", webKinsType: "userk" },
    ],
  },
  remaps: [
    {
      code: "M428",
      modalGroup: 10,
      ngc: "428remap",
      path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc",
      switchkinsType: 1,
      analogOutputIndex: 3,
      syncInputIndex: 0,
      requiresHalPinVars: true,
    },
    {
      code: "M429",
      modalGroup: 10,
      ngc: "429remap",
      path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc",
      switchkinsType: 0,
      analogOutputIndex: 3,
      syncInputIndex: 0,
      requiresHalPinVars: true,
    },
    {
      code: "M430",
      modalGroup: 10,
      ngc: "430remap",
      path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc",
      switchkinsType: 2,
      analogOutputIndex: 3,
      syncInputIndex: 0,
      requiresHalPinVars: true,
    },
  ],
  hal: {
    halui: true,
    halFiles: ["LIB:basic_sim.tcl"],
    postguiHalFiles: ["switchkins_postgui.hal"],
    halcmd: {
      switchkinsSelectNet: {
        signal: "kinstype-select",
        source: "motion.analog-out-03",
        target: "motion.switchkins-type",
      },
      loadusr: ["xyzac-trt-gui"],
      feedbackNets: [
        { signal: "table-x", source: "joint.0.pos-fb", target: "xyzac-trt-gui.table-x" },
        { signal: "saddle-y", source: "joint.1.pos-fb", target: "xyzac-trt-gui.saddle-y" },
        { signal: "spindle-z", source: "joint.2.pos-fb", target: "xyzac-trt-gui.spindle-z" },
        { signal: "tilt-a", source: "joint.3.pos-fb", target: "xyzac-trt-gui.tilt-a" },
        { signal: "rotate-c", source: "joint.4.pos-fb", target: "xyzac-trt-gui.rotate-c" },
      ],
      offsetNets: [
        { signal: "tool-offset", source: "motion.tooloffset.z", target: "xyzac-trt-kins.tool-offset" },
        { signal: "tool-offset", source: "xyzac-trt-kins.tool-offset", target: "xyzac-trt-gui.tool-offset" },
        { signal: "y-offset", source: "xyzac-trt-kins.y-offset", target: "xyzac-trt-gui.y-offset" },
        { signal: "z-offset", source: "xyzac-trt-kins.z-offset", target: "xyzac-trt-gui.z-offset" },
      ],
      initialSets: [
        { pin: "y-offset", value: 20 },
        { pin: "z-offset", value: 10 },
        { pin: "xyzac-trt-kins.x-rot-point", value: 0 },
        { pin: "xyzac-trt-kins.y-rot-point", value: 0 },
        { pin: "xyzac-trt-kins.z-rot-point", value: 0 },
        { pin: "xyzac-trt-kins.conventional-directions", value: 0 },
      ],
    },
  },
  halui: {
    mdiCommands: ["M429", "M428", "M430"],
  },
  traj: {
    coordinates: "XYZAC",
    linearUnits: "mm",
    angularUnits: "deg",
    defaultLinearVelocity: 20,
    maxLinearVelocity: 35,
    defaultLinearAcceleration: 300,
    maxLinearAcceleration: 400,
  },
  axisLimits: {
    X: { min: -200, max: 200, maxVelocity: 20, maxAcceleration: 300 },
    Y: { min: -100, max: 100, maxVelocity: 20, maxAcceleration: 300 },
    Z: { min: -120, max: 120, maxVelocity: 20, maxAcceleration: 300 },
    A: { min: -100, max: 50, maxVelocity: 30, maxAcceleration: 300 },
    C: { min: -36000, max: 36000, maxVelocity: 30, maxAcceleration: 300 },
  },
  jointConfig: [
    { id: 0, axis: "X", type: "LINEAR", home: 0, min: -200, max: 200, maxVelocity: 20, maxAcceleration: 300 },
    { id: 1, axis: "Y", type: "LINEAR", home: 0, min: -100, max: 100, maxVelocity: 20, maxAcceleration: 300 },
    { id: 2, axis: "Z", type: "LINEAR", home: 0, min: -120, max: 120, maxVelocity: 20, maxAcceleration: 300 },
    { id: 3, axis: "A", type: "ANGULAR", home: 0, min: -100, max: 50, maxVelocity: 30, maxAcceleration: 300 },
    { id: 4, axis: "C", type: "ANGULAR", home: 0, min: -36000, max: 36000, maxVelocity: 30, maxAcceleration: 300 },
  ],
  halPins: [
    "motion.switchkins-type",
    "motion.analog-out-03",
    "motion.tooloffset.z",
    "xyzac-trt-kins.tool-offset",
    "xyzac-trt-kins.y-offset",
    "xyzac-trt-kins.z-offset",
    "xyzac-trt-kins.x-rot-point",
    "xyzac-trt-kins.y-rot-point",
    "xyzac-trt-kins.z-rot-point",
    "xyzac-trt-kins.conventional-directions",
    "halui.mdi-command-00",
    "halui.mdi-command-01",
    "halui.mdi-command-02",
  ],
  offsets: {
    y: 20,
    z: 10,
    xRotPoint: 0,
    yRotPoint: 0,
    zRotPoint: 0,
    conventionalDirections: 0,
  },
  sourceReferences: sourceReferenceObjects.map((reference) => reference.path),
  sourceReferenceObjects,
  panelSchema: xyzacTrtPyvcpPanelSchema,
  toolTable: {
    toolCount: 10,
    tools: [
      { tool: 1, pocket: 1, zOffset: 0, diameter: 1, comment: "end mill" },
      { tool: 2, pocket: 2, zOffset: 15, diameter: 8, comment: "end mill" },
      { tool: 3, pocket: 3, zOffset: 0, diameter: 4.2, comment: "#7 tap drill" },
      { tool: 4, pocket: 4, zOffset: 0, diameter: 10, comment: null },
      { tool: 5, pocket: 5, zOffset: 30, diameter: 10, comment: null },
      { tool: 6, pocket: 6, zOffset: 30, diameter: 10, comment: null },
      { tool: 7, pocket: 7, zOffset: 30, diameter: 10, comment: null },
      { tool: 8, pocket: 8, zOffset: 30, diameter: 10, comment: null },
      { tool: 9, pocket: 9, zOffset: 30, diameter: 10, comment: null },
      { tool: 10, pocket: 10, zOffset: 0, diameter: 0.5, comment: null },
    ],
  },
  samplePrograms: [
    "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc",
    "linuxcnc/nc_files/3D_Chips.ngc",
  ],
  semanticBoundary: "profile_source_map_only_not_runtime_proof",
  linuxCncKinematicsReady: false,
  promotionAllowed: false,
};