#include "maxisabsmovecode.h"

MAxisABSMoveCode::MAxisABSMoveCode()
{

}
QString MAxisABSMoveCode::getCode_L()
{
    QString code("\n");
    code =

    getSurCode_L()+

    "runF = 1\n"
    "STOP";
    return code;
}
QString MAxisABSMoveCode::getCode()
{
    QString code("\n");
    code = 

    getSurCode()+

    "runF = 1\n"
    "STOP";
    return code;
}
QString MAxisABSMoveCode::getLaserMarkCode()
{
    QString code("\n");
    code =

    getAutoToLaserMarkCode()+

    "runF = 1\n"
    "STOP";
    return code;
}
QString MAxisABSMoveCode::getToCameraCode()
{
    QString code("\n");
    code =

    getAutoToCameraCode()+

    "runF = 1\n"
    "STOP";
    return code;
}


void MAxisABSMoveCode::setXAxisTGPos(double value)
{
    XTargetPos = value;
}
void MAxisABSMoveCode::setYAxisTGPos(double value)
{
    YTargetPos = value;
}
void MAxisABSMoveCode::setZAxisTGPos(double value)
{
    ZTargetPos = value;
}
void MAxisABSMoveCode::setZAAxisTGPos(double value)
{
    ZATargetPos = value;
}
void MAxisABSMoveCode::setZ2AxisTGPos(double value)
{
    Z2TargetPos = value;
}
void MAxisABSMoveCode::setZ0AxisTGPos(double value)
{
    Z0TargetPos = value;
}

void MAxisABSMoveCode::setZAAxisSafePos(double value)
{
    ZASafePos = value;
}

void MAxisABSMoveCode::setZAAxisToSafePosVel(double value)
{
    ZAAxisToSafePosVel = value;
}

void MAxisABSMoveCode::setXAxisVel(double value)
{
    XAxisVel = value;
}
void MAxisABSMoveCode::setYAxisVel(double value)
{
    YAxisVel = value;
}
void MAxisABSMoveCode::setZAAxisVel(double value)
{
    ZAAxisVel = value;
}
void MAxisABSMoveCode::setZ2AxisVel(double value)
{
    Z2AxisVel = value;
}
void MAxisABSMoveCode::setZ0AxisVel(double value)
{
    Z0AxisVel = value;
}
void MAxisABSMoveCode::setZAxisVel(double value)
{
    ZAxisVel = value;
}

void MAxisABSMoveCode::setXAxisIsMove(bool value)
{
    XAxisIsMove = value;
}
void MAxisABSMoveCode::setYAxisIsMove(bool value)
{
    YAxisIsMove = value;
}
void MAxisABSMoveCode::setZAxisIsMove(bool value)
{
    ZAxisIsMove = value;
}
void MAxisABSMoveCode::setZAAxisIsMove(bool value)
{
    ZAAxisIsMove = value;
}
void MAxisABSMoveCode::setZ2AxisIsMove(bool value)
{
    Z2AxisIsMove = value;
}
void MAxisABSMoveCode::setZ0AxisIsMove(bool value)
{
    Z0AxisIsMove = value;
}
void MAxisABSMoveCode::disableZAAxisToSafePos(bool value)
{
    disabelZAToSafePos = value;
}

void MAxisABSMoveCode::setCMRSwitch(bool value)
{
    CMRHSwitch = value;
}
/***************************************************************
 * 修改码：1008610010
 * 日期：
 *      2024.3.4
 * 功能：
 *      添加新接口，先移动Z0
 **************************************************************/
QString MAxisABSMoveCode::getSurCode_L()
{
    QString moveAxis;
    if(XAxisIsMove)
        moveAxis+="X";
    if(YAxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="Y";
        else
            moveAxis+=",Y";
    }
    if(ZAxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="Z";
        else
            moveAxis+=",Z";
    }
    if(ZAAxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="ZA";
        else
            moveAxis+=",ZA";
    }
    if(Z2AxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="Z2";
        else
            moveAxis+=",Z2";
    }
    if(Z0AxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="Z0";
        else
            moveAxis+=",Z0";
    }


    surCode+=
        QString("ENABLE (%1)\n").arg(moveAxis);
//            "REAL ZAFPos\n"
//            "ZAFPos = FPOS(ZA)\n";
    if(Z0AxisIsMove)
    {
        surCode +=
        QString("VEL(Z0) = %1\n").arg(Z0AxisVel)+
        QString("ACC(Z0) = %1\n").arg(Z0AxisVel*10)+
        QString("DEC(Z0) = %1\n").arg(Z0AxisVel*10)+
        QString("JERK(Z0) = %1\n").arg(Z0AxisVel*100)+
        QString("KDEC(Z0) = %1\n").arg(Z0AxisVel*100)+
        QString("PTP/e Z0,%1\n").arg(Z0TargetPos,0,'f',4);
        Z0AxisIsMove = false;
    }
    if(!disabelZAToSafePos)
    {
        surCode+=
        QString("VEL(ZA) = %1\n").arg(ZAAxisToSafePosVel)+
        QString("ACC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
        QString("DEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
        QString("JERK(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
        QString("KDEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
        QString("PTP/e ZA,%1\n").arg(ZASafePos,0,'f',4);
    }

    if(XAxisIsMove&&YAxisIsMove)
    {
        surCode +=
        QString("VEL(X) = %1\n").arg(XAxisVel)+
        QString("ACC(X) = %1\n").arg(XAxisVel*10)+
        QString("DEC(X) = %1\n").arg(XAxisVel*10)+
        QString("JERK(X) = %1\n").arg(XAxisVel*100)+
        QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
        QString("VEL(Y) = %1\n").arg(YAxisVel)+
        QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
        QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
        QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
        QString("KDEC(Y) = %1\n").arg(YAxisVel*100);
        if(CMRHSwitch)
        {
         surCode += QString("PTP/re (X,Y),%1,%2\n").arg(XTargetPos,0,'f',4).arg(YTargetPos,0,'f',4);
        }
        else
        {
         surCode += QString("PTP/e (X,Y),%1,%2\n").arg(XTargetPos,0,'f',4).arg(YTargetPos,0,'f',4);
        }


    }
    else
    {
        if(XAxisIsMove)
        {
            surCode+=
            QString("VEL(X) = %1\n").arg(XAxisVel)+
            QString("ACC(X) = %1\n").arg(XAxisVel*10)+
            QString("DEC(X) = %1\n").arg(XAxisVel*10)+
            QString("JERK(X) = %1\n").arg(XAxisVel*100)+
            QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
            QString("PTP/e (X),%1\n").arg(XTargetPos,0,'f',4);
        }
        if(YAxisIsMove)
        {
            surCode+=
            QString("VEL(Y) = %1\n").arg(YAxisVel)+
            QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
            QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
            QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
            QString("KDEC(Y) = %1\n").arg(YAxisVel*100)+
            QString("PTP/e (Y),%1\n").arg(YTargetPos,0,'f',4);
        }
    }

    if(ZAAxisIsMove&&ZAxisIsMove)
    {
        surCode +=
        QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
        QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
        QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
        QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
        QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
        QString("VEL(Z) = %1\n").arg(ZAxisVel)+
        QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
        QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
        QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
        QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
        QString("PTP/e (ZA,Z),%1,%2\n").arg(ZATargetPos,0,'f',4).arg(ZTargetPos,0,'f',4);
    }
    else
    {
        if(ZAxisIsMove)
        {
            surCode +=
            QString("VEL(Z) = %1\n").arg(ZAxisVel)+
            QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
            QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
            QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
            QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
            QString("PTP/e Z,%1\n").arg(ZTargetPos,0,'f',4);
        }

        if(ZAAxisIsMove)
        {
            surCode +=
            QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
            QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
            QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
            QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
            QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
            QString("PTP/e ZA,%1\n").arg(ZATargetPos,0,'f',4);
        }
//        else
//        {
//            surCode +=
//            QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
//            QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
//            QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
//            QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
//            QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+

//            //ZA回到原来位置
//            "PTP/e ZA,ZAFPos\n";
//        }

    }
    if(Z2AxisIsMove)
    {
        surCode +=
        QString("VEL(Z2) = %1\n").arg(Z2AxisVel)+
        QString("ACC(Z2) = %1\n").arg(Z2AxisVel*10)+
        QString("DEC(Z2) = %1\n").arg(Z2AxisVel*10)+
        QString("JERK(Z2) = %1\n").arg(Z2AxisVel*100)+
        QString("KDEC(Z2) = %1\n").arg(Z2AxisVel*100)+
        QString("PTP/e Z2,%1\n").arg(Z2TargetPos,0,'f',4);
        Z2AxisIsMove = false;
    }

    return surCode;
}
QString MAxisABSMoveCode::getSurCode()
{
    QString moveAxis;
    if(XAxisIsMove)
        moveAxis+="X";
    if(YAxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="Y";
        else
            moveAxis+=",Y";
    }
    if(ZAxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="Z";
        else
            moveAxis+=",Z";
    }
    if(ZAAxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="ZA";
        else
            moveAxis+=",ZA";
    }
    if(Z2AxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="Z2";
        else
            moveAxis+=",Z2";
    }


    surCode+=
        QString("ENABLE (%1)\n").arg(moveAxis);
//            "REAL ZAFPos\n"
//            "ZAFPos = FPOS(ZA)\n";
    if(!disabelZAToSafePos)
    {
        surCode+=
        QString("VEL(ZA) = %1\n").arg(ZAAxisToSafePosVel)+
        QString("ACC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
        QString("DEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
        QString("JERK(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
        QString("KDEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
        QString("PTP/e ZA,%1\n").arg(ZASafePos,0,'f',4);
    }

    if(XAxisIsMove&&YAxisIsMove)
    {
        surCode +=
        QString("VEL(X) = %1\n").arg(XAxisVel)+
        QString("ACC(X) = %1\n").arg(XAxisVel*10)+
        QString("DEC(X) = %1\n").arg(XAxisVel*10)+
        QString("JERK(X) = %1\n").arg(XAxisVel*100)+
        QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
        QString("VEL(Y) = %1\n").arg(YAxisVel)+
        QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
        QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
        QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
        QString("KDEC(Y) = %1\n").arg(YAxisVel*100);
        if(CMRHSwitch)
        {
         surCode += QString("PTP/re (X,Y),%1,%2\n").arg(XTargetPos,0,'f',4).arg(YTargetPos,0,'f',4);
        }
        else
        {
         surCode += QString("PTP/e (X,Y),%1,%2\n").arg(XTargetPos,0,'f',4).arg(YTargetPos,0,'f',4);
        }


    }
    else
    {
        if(XAxisIsMove)
        {
            surCode+=
            QString("VEL(X) = %1\n").arg(XAxisVel)+
            QString("ACC(X) = %1\n").arg(XAxisVel*10)+
            QString("DEC(X) = %1\n").arg(XAxisVel*10)+
            QString("JERK(X) = %1\n").arg(XAxisVel*100)+
            QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
            QString("PTP/e (X),%1\n").arg(XTargetPos,0,'f',4);
        }
        if(YAxisIsMove)
        {
            surCode+=
            QString("VEL(Y) = %1\n").arg(YAxisVel)+
            QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
            QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
            QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
            QString("KDEC(Y) = %1\n").arg(YAxisVel*100)+
            QString("PTP/e (Y),%1\n").arg(YTargetPos,0,'f',4);
        }
    }

    if(ZAAxisIsMove&&ZAxisIsMove)
    {
        surCode +=
        QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
        QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
        QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
        QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
        QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
        QString("VEL(Z) = %1\n").arg(ZAxisVel)+
        QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
        QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
        QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
        QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
        QString("PTP/e (ZA,Z),%1,%2\n").arg(ZATargetPos,0,'f',4).arg(ZTargetPos,0,'f',4);
    }
    else
    {
        if(ZAxisIsMove)
        {
            surCode +=
            QString("VEL(Z) = %1\n").arg(ZAxisVel)+
            QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
            QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
            QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
            QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
            QString("PTP/e Z,%1\n").arg(ZTargetPos,0,'f',4);
        }

        if(ZAAxisIsMove)
        {
            surCode +=
            QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
            QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
            QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
            QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
            QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
            QString("PTP/e ZA,%1\n").arg(ZATargetPos,0,'f',4);
        }
//        else
//        {
//            surCode +=
//            QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
//            QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
//            QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
//            QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
//            QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+

//            //ZA回到原来位置
//            "PTP/e ZA,ZAFPos\n";
//        }

    }
    if(Z2AxisIsMove)
    {
        surCode +=
        QString("VEL(Z2) = %1\n").arg(Z2AxisVel)+
        QString("ACC(Z2) = %1\n").arg(Z2AxisVel*10)+
        QString("DEC(Z2) = %1\n").arg(Z2AxisVel*10)+
        QString("JERK(Z2) = %1\n").arg(Z2AxisVel*100)+
        QString("KDEC(Z2) = %1\n").arg(Z2AxisVel*100)+
        QString("PTP/e Z2,%1\n").arg(Z2TargetPos,0,'f',4);
        Z2AxisIsMove = false;
    }
    if(Z0AxisIsMove)
    {
        surCode +=
        QString("VEL(Z0) = %1\n").arg(Z0AxisVel)+
        QString("ACC(Z0) = %1\n").arg(Z0AxisVel*10)+
        QString("DEC(Z0) = %1\n").arg(Z0AxisVel*10)+
        QString("JERK(Z0) = %1\n").arg(Z0AxisVel*100)+
        QString("KDEC(Z0) = %1\n").arg(Z0AxisVel*100)+
        QString("PTP/e Z0,%1\n").arg(Z0TargetPos,0,'f',4);
        Z0AxisIsMove = false;
    }
    return surCode;
}


QString MAxisABSMoveCode::getAutoToCameraCode()
{
    QString moveAxis;
    if(XAxisIsMove)
        moveAxis+="X";
    if(YAxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="Y";
        else
            moveAxis+=",Y";
    }
    if(ZAxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="Z";
        else
            moveAxis+=",Z";
    }
    if(ZAAxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="ZA";
        else
            moveAxis+=",ZA";
    }
    if(Z2AxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="Z2";
        else
            moveAxis+=",Z2";
    }


    surCode+=
        QString("ENABLE (%1)\n").arg(moveAxis);
//            "REAL ZAFPos\n"
//            "ZAFPos = FPOS(ZA)\n";


    if(XAxisIsMove&&YAxisIsMove)
    {
        surCode +=
        QString("VEL(X) = %1\n").arg(XAxisVel)+
        QString("ACC(X) = %1\n").arg(XAxisVel*10)+
        QString("DEC(X) = %1\n").arg(XAxisVel*10)+
        QString("JERK(X) = %1\n").arg(XAxisVel*100)+
        QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
        QString("VEL(Y) = %1\n").arg(YAxisVel)+
        QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
        QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
        QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
        QString("KDEC(Y) = %1\n").arg(YAxisVel*100);

    }


    {


        if(ZAAxisIsMove)
        {
            surCode +=
            QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
            QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
            QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
            QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
            QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100);
        }
        surCode += QString("PTP/e (X,Y,ZA),%1,%2,%3\n").arg(XTargetPos).arg(YTargetPos).arg(ZATargetPos);

    }

    return surCode;
}


QString MAxisABSMoveCode::getAutoToLaserMarkCode()
{
    QString moveAxis;
    if(XAxisIsMove)
        moveAxis+="X";
    if(YAxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="Y";
        else
            moveAxis+=",Y";
    }
    if(ZAxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="Z";
        else
            moveAxis+=",Z";
    }
    if(ZAAxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="ZA";
        else
            moveAxis+=",ZA";
    }
    if(Z2AxisIsMove)
    {
        if(moveAxis.isEmpty())
            moveAxis+="Z2";
        else
            moveAxis+=",Z2";
    }


    surCode+=
        QString("ENABLE (%1)\n").arg(moveAxis);
//            "REAL ZAFPos\n"
//            "ZAFPos = FPOS(ZA)\n";
    //if(!disabelZAToSafePos)
    {
        surCode+=
        QString("VEL(ZA) = %1\n").arg(ZAAxisToSafePosVel)+
        QString("ACC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
        QString("DEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
        QString("JERK(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
        QString("KDEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
        QString("PTP/e ZA,%1\n").arg(ZASafePos);
    }

    //if(XAxisIsMove&&YAxisIsMove)
    {
        surCode +=
        QString("VEL(X) = %1\n").arg(XAxisVel)+
        QString("ACC(X) = %1\n").arg(XAxisVel*10)+
        QString("DEC(X) = %1\n").arg(XAxisVel*10)+
        QString("JERK(X) = %1\n").arg(XAxisVel*100)+
        QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
        QString("VEL(Y) = %1\n").arg(YAxisVel)+
        QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
        QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
        QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
        QString("KDEC(Y) = %1\n").arg(YAxisVel*100);


    }

    {
        surCode +=
        QString("VEL(Z2) = %1\n").arg(Z2AxisVel)+
        QString("ACC(Z2) = %1\n").arg(Z2AxisVel*10)+
        QString("DEC(Z2) = %1\n").arg(Z2AxisVel*10)+
        QString("JERK(Z2) = %1\n").arg(Z2AxisVel*100)+
        QString("KDEC(Z2) = %1\n").arg(Z2AxisVel*100)+

        QString("PTP/e (X,Y,Z2),%1,%2,%3\n").arg(XTargetPos).arg(YTargetPos).arg(Z2TargetPos);

    }
    return surCode;
}