#include "sscancode.h"

SScanCode::SScanCode()
{

}



void SScanCode::setXWorkRange(double value)
{
    xWorkRange = value;
}

void SScanCode::setYWorkRange(double value)
{
    yWorkRange = value;
}

void SScanCode::setXSampInterval(double value)
{
    xSampInterval = value;
}

void SScanCode::setYSampInterval(double value)
{
     ySampInterval = value;
}

int SScanCode::getSampTotalNum()
{
    int xLineSegmentCounts,yLineSegmentCounts;
    // y线段数比x线段数多1
    xLineSegmentCounts = int(xWorkRange/xSampInterval);
    yLineSegmentCounts = xLineSegmentCounts+1;
    int xSampCounts,ySampCounts;
    ySampCounts = (accDecSampCount+int(yWorkRange*yNumberOfUnitSamples))*yLineSegmentCounts;
    xSampCounts = int(xWorkRange*xNumberOfUnitSamples)+xNumberOfLineSegmentSamples*(xLineSegmentCounts-1);
    return ySampCounts + xSampCounts;

}

QString SScanCode::getCode()
{

    QString code = QString("GLOBAL REAL scanData(2)(%1),rangeData(%1),yPosData(%1),yWorkRange\n").arg(getSampTotalNum());
    code +="REAL xPos,yPos\n"+
    QString("REAL xInterval = %1\n").arg(xSampInterval)+
    "ENABLE (X,Y)\n"
    // 停止buffer0运行
    "STOP 0\n"
    "START 0,1\n"+
    // 初始化数组
    QString("FILL(%1,scanData,0,0,0,%2); FILL(0, scanData,1,1,0,%2)\n").arg(rangeInitValue).arg(getSampTotalNum()-1)+
    "ACC(X)=8000;DEC(X)=8000;KDEC(X)=120000;JERK(X)=120000; ACC(Y)=8000;DEC(Y)=8000;KDEC(Y)=120000;JERK(Y)=120000;\n "
    // 设置X、Y轴到位精度,会对INPOS什么时候变为1有影响
    "TARGRAD(X) = 0.0001; TARGRAD(Y) = 0.0001\n"
    "WAIT 200\n"+
    // 设置X,Y轴起始位置。Y轴的起始位置把加减速段考虑进去
    QString("xPos = FPOS(X);yPos = FPOS(Y)-%1\n").arg(AccDecDist)+
    // X、Y轴走到起始位置，速度为60mm/s
    "PTP/EV (X,Y),xPos,yPos,60\n"+
    // Y轴的工作范围等于设置的工作范围+加速距离+减速距离
    QString("yWorkRange = %1\n").arg(yWorkRange+2*AccDecDist)+
    // 定义同步采集，采集测距传感器值、Y轴坐标，采集间隔为0.1ms,采集总数为sampTotalNum
    QString("DC/s Y,scanData,%1,1,RangeV,FPOS(Y)\n").arg(getSampTotalNum())+
    // 定义分段运动，起始位置为xStart,yStart,结束速度为vel
    QString("XSEG/vy (X,Y),xPos,yPos,%1\n").arg(yAxisVel)+
    // 循环次数等于Y线段数
    QString("LOOP %1\n").arg(xWorkRange/xSampInterval+1)+
    // X轴位置不变，Y轴移动工作范围距离
    // 第1段运动，Y轴向正方向移动（测距头向Y负方向移动）
    "yPos = yPos+yWorkRange\n"+
    QString("LINE/v (X,Y),xPos,yPos,%1\n").arg(yAxisVel)+
    // Y轴位置不变，X轴向正向移动一个步距
    "xPos = xPos+xInterval\n"+
    // /v参数定义当前和后续线段的速度，/f 定义当前线段结束时的速度
    // 意思就是说X轴运动时速度为20，Y轴运动时速度为100
    QString("LINE/vf (X,Y),xPos,yPos,%1,%2\n").arg(xAxisVel).arg(yAxisVel)+
    // Y轴移动工作距离范围取反
    "yWorkRange=(-1)*yWorkRange\n"
    "END\n"
    "ENDS (X,Y)\n"
    // 阻塞，等待多段运动结束
    "TILL ^AST(Y).5 & ^AST(X).5 & GSEG(X) = -1\n"
    // 停止采集
    "STOPDC/s Y\n"
    "INT validDataEndIndex\n"+
    // 在0~(sampTotalNum-1)范围内找到第一个最大值并返回其索引（最大值为数组初始化值，索引为采集的测距值最后一个的索引+1）
    QString("validDataEndIndex=MAXI(scanData,0,0,0,%1)\n").arg(getSampTotalNum()-1)+
    // 把采集的测距值拷贝到 rangeData数组中，把采集的Y轴的坐标放到yPosData数组中
    "COPY(scanData,rangeData,0,0,0,validDataEndIndex,0,validDataEndIndex); COPY(scanData,yPosData,1,1,0,validDataEndIndex,0,validDataEndIndex)\n"
    "runF = 1\n"
    "STOP";
    return code;
}