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package robo

import (
	"fmt"
	"strings"
	"time"
)

type Robo struct {
	dev Device
}

func NewRobo() (Robo, error) {
	dev, err := Open()
	if err != nil {
		return Robo{}, err
	}
	return Robo{dev}, nil
}

func (r Robo) Close() error {
	return r.dev.Close()
}

type Plotter interface {
	Plot() []byte
}

func (r Robo) Wait4Ready() {
	t := time.NewTicker(time.Second)
	defer t.Stop()
	for range t.C {
		if r.Ready() {
			return
		}
	}
}

func (r Robo) Step(d Direction) { r.dev.Command([]byte{0, byte(d)}) }
func (r Robo) BootUpgrade()     { r.dev.Command([]byte{1}) }
func (r Robo) Init()            { r.dev.Command([]byte{4}) }

func (r Robo) Ready() bool {
	r.dev.Command([]byte{5})
	resp, _ := r.dev.ReadString()
	return resp == "0"
}

func (r Robo) Printf(f string, a ...interface{}) {
	s := fmt.Sprintf(f, a...)
	r.dev.WriteString(s)
}

func (r Robo) Scanf(f string, a ...interface{}) string {
	s := fmt.Sprintf(f, a...)
	r.dev.WriteString(s)
	resp, _ := r.dev.ReadString()
	return strings.TrimSpace(resp)
}

func (r Robo) Version() string         { return r.Scanf("FG") }
func (r Robo) UnknownFQ(u Unit) string { return r.Scanf("FQ%v", u) }

func (r Robo) GoHome()                         { r.Printf("TT") }
func (r Robo) Home()                           { r.Printf("H") }
func (r Robo) Origin()                         { r.Printf("FJ") }
func (r Robo) Calibrate()                      { r.Printf("TB70") }
func (r Robo) Calibration(p Point)             { r.Printf("TB72,%v", p) }
func (r Robo) TestCut()                        { r.Printf("FH") }
func (r Robo) TestLoop()                       { r.Printf("FI") }
func (r Robo) Factor(x, y, z Unit)             { r.Printf("&%v", Triple{x, y, z}) }
func (r Robo) Offset(p Point)                  { r.Printf("^%v", p) }
func (r Robo) LowerLeft(p Point)               { r.Printf("\\%v", p) }
func (r Robo) UpperRight(p Point)              { r.Printf("Z%v", p) }
func (r Robo) CuttingArea(p Point)             { r.Printf("FU%v", p) }
func (r Robo) Move(p Point)                    { r.Printf("M%v", p) }
func (r Robo) MoveRelative(p Point)            { r.Printf("O%v", p) }
func (r Robo) Draw(p ...Point)                 { r.Printf("D%v", Path(p)) }
func (r Robo) DrawRelative(p Point)            { r.Printf("E%v", p) }
func (r Robo) Bezier(a, b, c, d Point)         { r.Printf("BZ1,%v", Path{a, b, c, d}) }
func (r Robo) Bezierf(x int, a, b, c, d Point) { r.Printf("BZ%v,%v", x, Path{a, b, c, d}) }
func (r Robo) Line(p ...Point) {
	if len(p) > 1 {
		r.Move(p[0])
		r.Draw(p[1:]...)
	}
}

func (r Robo) SetOrigin(u Unit)          { r.Printf("SO%v", u) }
func (r Robo) LineScale(u Unit)          { r.Printf("B%v", u) }
func (r Robo) Media(u Unit)              { r.Printf("FW%v", u) }
func (r Robo) Speed(u Unit)              { r.Printf("!%v", u) }
func (r Robo) Force(u Unit)              { r.Printf("FX%v", u) }
func (r Robo) Overcut(u Unit)            { r.Printf("FC%v", u) }
func (r Robo) UnknownFE(u Unit)          { r.Printf("FE%v", u) }
func (r Robo) DistanceCorrection(u Unit) { r.Printf("FB%v,0", u) }
func (r Robo) TrackEnhancing(u Unit)     { r.Printf("FY%v", u) }
func (r Robo) RegMarkLen(u Unit)         { r.Printf("TB51,%v", u) }

func (r Robo) Orientation(o Orientation) { r.Printf("FN%d", o) }
func (r Robo) Curve(a int, p ...Point)   { r.Printf("Y%d,%v", a, Path(p)) }

func (r Robo) Initialize(m Media, o Orientation) {
	r.Init()
	if !r.Ready() {
		fmt.Println("not ready")
	}
	r.GoHome()

	// Print version
	// fmt.Println("Craft ROBO Ver.", r.Version())

	r.SetMedia(m)
	r.TrackEnhancing(Unit(0))
	r.UnknownFE(Unit(0))

	// Print calibration
	// Print distance correction

	r.RegMarkLen(Unit(400))
	r.Orientation(o)
}