import FreeCAD as App
import FreeCADGui as Gui
import Part
import os
import re
import copy

from .program import LaserProgram, ViewProviderLaserProgram
from .pad import LaserPad, ViewProviderLaserPad
from .kuka import Kuka_Prog, Kuka_Pose, get_list_of_poses


class LCCreateProgram():
    def Activated(self):
        # Here your write what your ScriptCmd does...
       App.Console.PrintMessage('Create Lasser Cladding Program')
       a=App.ActiveDocument.addObject("App::FeaturePython","LaserProgram")
       LaserProgram(a)
       ViewProviderLaserProgram(a.ViewObject)

    def GetResources(self):
        return {'Pixmap' : ":icons/LaserCreateProg.svg", 'MenuText': 'Create Laser Program', 'ToolTip': 'Add a Laser Program to your Document'}


class LCSelectBaseReference():
    def Activated(self):
        # Here your write what your ScriptCmd does...
        App.Console.PrintMessage('Select Base reference!')
        if not Gui.Selection.hasSelection():
            App.Console.PrintMessage('Select a Vertex')
            return
        # check length
        selection = Gui.Selection.getSelectionEx()
        # find first vertex
        for s in selection:
            if s.HasSubObjects:
                for obj in s.SubObjects:
                    if isinstance(obj, Part.Vertex):
                        vertex = obj.copy()
                        laserjob_entry = App.ActiveDocument.getObject('LaserProgram')
                        if laserjob_entry is None:
                            App.Console.PrintMessage('Create a LaserJob first')
                            return
                        laserjob_entry.base_reference = App.Vector((vertex.X, vertex.Y, vertex.Z))
        App.ActiveDocument.recompute()


    def GetResources(self):
        return {'Pixmap' : ":icons/LaserSelectBaseRef.svg",
                'MenuText': 'Select Base reference',
                'ToolTip': 'Add a Job to your Document'}


class LCCreatePad():

    def _create_laserpad(self, ref_to_face):
        laserprogram = App.ActiveDocument.getObject('LaserProgram')
        if laserprogram is None:
            App.Console.PrintMessage('Create a LaserProgram first')
            return
        pad_obj = laserprogram.newObject("App::FeaturePython","LaserPad")
        LaserPad(pad_obj, ref_to_face)
        ViewProviderLaserPad(pad_obj.ViewObject)
        return pad_obj



    def Activated(self):
        # Here your write what your ScriptCmd does...
        App.Console.PrintMessage('Select some Face as reference')
        if not Gui.Selection.hasSelection():
            App.Console.PrintMessage('Select a Face')
            return
        # check length
        ref_face = (Gui.Selection.getSelection()[0],
                    Gui.Selection.getSelectionEx()[0].SubElementNames[0])
        #selection = Gui.Selection.getSelectionEx()
        # find first vertex
        #for s in selection:
        #    if s.HasSubObjects:
        #        for obj in s.SubObjects:
        #            if isinstance(obj, Part.Face):
        #                face = obj.copy()
        self._create_laserpad(ref_face)
        App.ActiveDocument.recompute()


    def GetResources(self):
        return {'Pixmap' : ":icons/LaserCreatePad.svg", 'MenuText': 'Create Pad', 'ToolTip': 'Create a Pad on selected face'}



class LCRecompute():

    def Activated(self):
        # Here your write what your ScriptCmd does...
        App.Console.PrintMessage('Recomputer Pads')
        if not Gui.Selection.hasSelection():
            App.Console.PrintMessage('Select a Pad')
            return

        if Gui.Selection.hasSelection():
            laser_path_obj = Gui.Selection.getSelection()[0]
            if len(laser_path_obj.Group):
                laser_path_obj.removeObjectsFromDocument()
                laser_path_obj.Proxy._create_path(laser_path_obj)
        App.ActiveDocument.recompute()


    def GetResources(self):
        return {'Pixmap' : ":icons/LaserRecomputePad.svg",
                'MenuText': 'Recompute',
                'ToolTip': 'Recompute selected Pads'}


class LCSaveProg():

    def Activated(self):
        # Here your write what your ScriptCmd does...
        App.Console.PrintMessage('Saving to KRL')
        c = App.ActiveDocument.getObject("LaserProgram")
        pads = c.Group
        prog = Kuka_Prog()
        prog.set_baseorigin(c.base_reference)
        prog.set_tool(c.rob_tool)
        prog.set_base(c.rob_base)
        prog.set_velocity(c.laser_feedrate, c.laser_speed)
        prog.set_laser_power(c.laser_power)
        prog.set_laser_out(c.laser_real_out)
        prog.set_simulation(c.simulation)

        for pad in pads:
            # one pad with contours and hatchlines
            for progpart in pad.Group:
                ## jedes Contour oder Hatchline Feature
                if re.match('Contour*', progpart.Name):
                    # do Conoutes
                    face = pad.ref_body.getSubObject(pad.ref_surface)
                    edges = Part.__sortEdges__(progpart.Shape.Edges)
                    vlist = []
                    for edge in edges:
                        vlist.extend([v.Point for v in edge.Vertexes])
                    poly = Part.makePolygon(vlist)
                    #Part.show(poly, "ContourPath")
                    poses = get_list_of_poses(face, poly.Edges)
                    prog.append_contour(poses, progpart.pathtype)
                elif re.match('Hatch*', progpart.Name):
                    face = pad.ref_body.getSubObject(pad.ref_surface)
                    edges = progpart.Shape.Edges
                    for edge in edges:
                        p0 = edge.Vertexes[0].Point
                        p1 = edge.Vertexes[1].Point
                        line = []
                        for p in [p0, p1]:
                            uv = face.Surface.parameter(p)
                            normal = face.normalAt(uv[0], uv[1])
                            pose = Kuka_Pose.from_point_and_normal(p, normal)
                            line.append(pose)
                        prog.append_hatchline(line, progpart.pathtype)

        prog.save_prog(c.progpath)
        App.ActiveDocument.recompute()


    def GetResources(self):
        return {'Pixmap' : ":icons/LaserSaveProg.svg",
                'MenuText': 'Save Program',
                'ToolTip': 'Save the Program as KRL'}



Gui.addCommand('LCCreateProgram', LCCreateProgram())
Gui.addCommand('LCSelectBaseReference', LCSelectBaseReference())
Gui.addCommand('LCCreatePad', LCCreatePad())
Gui.addCommand('LCRecompute', LCRecompute())
Gui.addCommand('LCSaveProg', LCSaveProg())