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

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

export const xyzbcTrtProfile = {
  ...xyzacTrtProfile,
  id: "xyzbc-trt",
  title: "XYZBC table rotary tilting",
  iniPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
  pyvcpXmlPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml",
  generatedHalPath: null,
  toolTablePath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl",
  machineName: "sim-xyzbc-trt-kins (switchkins)",
  display: {
    ...xyzacTrtProfile.display,
    geometry: "XYZB",
    openFile: "./demos/xyzbc_switchkins.ngc",
    pyvcp: "./xyzbc-trt.xml",
  },
  rs274ngc: {
    ...xyzacTrtProfile.rs274ngc,
    parameterFile: "xyzbc.var",
  },
  machineFileStaging: {
    defaultProgramFilename: "xyzbc_switchkins.ngc",
    wasmDir: "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt",
  },
  coordinates: ["X", "Y", "Z", "B", "C"],
  joints: ["joint.0", "joint.1", "joint.2", "joint.3", "joint.4"],
  kinematics: "xyzbc-trt-kins",
  kinematicsModuleId: "xyzbc-trt",
  kinematicsParameters: {
    ...xyzacTrtProfile.kinematicsParameters,
    switchkinsTypes: [
      { value: 0, label: "identity", mdiCommand: "M429", webKinsType: "identity" },
      { value: 1, label: "XYZBC TCP", mdiCommand: "M428", webKinsType: "tcp-xyzbc" },
      { value: 2, label: "USERK", mdiCommand: "M430", webKinsType: "userk" },
    ],
  },
  hal: {
    ...xyzacTrtProfile.hal,
    halcmd: {
      ...xyzacTrtProfile.hal.halcmd,
      loadusr: ["xyzbc-trt-gui"],
      feedbackNets: [
        { signal: "table-x", source: "joint.0.pos-fb", target: "xyzbc-trt-gui.table-x" },
        { signal: "saddle-y", source: "joint.1.pos-fb", target: "xyzbc-trt-gui.saddle-y" },
        { signal: "spindle-z", source: "joint.2.pos-fb", target: "xyzbc-trt-gui.spindle-z" },
        { signal: "tilt-b", source: "joint.3.pos-fb", target: "xyzbc-trt-gui.tilt-b" },
        { signal: "rotate-c", source: "joint.4.pos-fb", target: "xyzbc-trt-gui.rotate-c" },
      ],
      offsetNets: [
        { signal: "tool-offset", source: "motion.tooloffset.z", target: "xyzbc-trt-kins.tool-offset" },
        { signal: "tool-offset", source: "xyzbc-trt-kins.tool-offset", target: "xyzbc-trt-gui.tool-offset" },
        { signal: "x-offset", source: "xyzbc-trt-kins.x-offset", target: "xyzbc-trt-gui.x-offset" },
        { signal: "z-offset", source: "xyzbc-trt-kins.z-offset", target: "xyzbc-trt-gui.z-offset" },
      ],
      initialSets: [
        { pin: "x-offset", value: -20 },
        { pin: "z-offset", value: -15 },
        { pin: "xyzbc-trt-kins.x-rot-point", value: 0 },
        { pin: "xyzbc-trt-kins.y-rot-point", value: 0 },
        { pin: "xyzbc-trt-kins.z-rot-point", value: 0 },
        { pin: "xyzbc-trt-kins.conventional-directions", value: 0 },
      ],
    },
  },
  traj: {
    ...xyzacTrtProfile.traj,
    coordinates: "XYZBC",
  },
  axisLimits: {
    X: xyzacTrtProfile.axisLimits.X,
    Y: xyzacTrtProfile.axisLimits.Y,
    Z: xyzacTrtProfile.axisLimits.Z,
    B: { min: -36000, max: 36000, maxVelocity: 30, maxAcceleration: 300 },
    C: { min: -36000, max: 36000, maxVelocity: 30, maxAcceleration: 300 },
  },
  jointConfig: [
    xyzacTrtProfile.jointConfig[0],
    xyzacTrtProfile.jointConfig[1],
    xyzacTrtProfile.jointConfig[2],
    { id: 3, axis: "B", 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",
    "xyzbc-trt-kins.tool-offset",
    "xyzbc-trt-kins.x-offset",
    "xyzbc-trt-kins.z-offset",
    "xyzbc-trt-kins.x-rot-point",
    "xyzbc-trt-kins.y-rot-point",
    "xyzbc-trt-kins.z-rot-point",
    "xyzbc-trt-kins.conventional-directions",
    "halui.mdi-command-00",
    "halui.mdi-command-01",
    "halui.mdi-command-02",
  ],
  offsets: {
    x: -20,
    z: -15,
    xRotPoint: 0,
    yRotPoint: 0,
    zRotPoint: 0,
    conventionalDirections: 0,
  },
  sourceReferences: sourceReferenceObjects.map((reference) => reference.path),
  sourceReferenceObjects,
  panelSchema: {
    ...xyzacTrtPyvcpPanelSchema,
    id: "xyzbc-trt-switchkins-pyvcp",
    profileId: "xyzbc-trt",
    sourceXmlPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml",
    groups: xyzacTrtPyvcpPanelSchema.groups.map((group) => ({
      ...group,
      controls: group.controls.map((control) => (
        control.id === "kinstype-legends"
          ? {
              ...control,
              legends: ["0:IDENTITY", "1: XYZBC  ", "2: USERK  "],
            }
          : control.id === "type1-button"
            ? {
                ...control,
                text: "TCP:XYZBC",
                webAction: { type: "SET_KINS_TYPE", kinsType: "tcp-xyzbc" },
              }
            : control
      )),
    })),
  },
  samplePrograms: [
    "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc",
    "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc",
  ],
};