program gcodegenerator_v3;

uses
  SysUtils, StrUtils, Math;

type
  TPoint = record
    X, Y: double;
  end;

type
  TStatorParams = record
    BaseDiameter: Double;
    BaseRadius: Double;
    NumberOfRays: Integer;
    RayShape: string;
    RayDiameter: Double;
    RayWidth: Double;
    RayHeight: Double;
    RayLength: Double;

    RayTopShape: string;
    RayTopDiameter: Double;
    RayTopWidth: Double;
    RayTopHeight: Double;

    RayCenterOffset: Double;
    WireDiameter: Double;
    NeedleDiameter: Double;
    PathClearance: Double;

    WorkSpeed :integer;
  end;

var
  InputFileName, OutputFileName: string;
  StatorParams: TStatorParams;
  InFile, OutFile: TextFile;
  Line: string;
  CoilRadius,CoilWidth,CoilHeight :double;
  CurrentZ: double;
  coords: TPoint;
  normalizecoords: TPoint;
  i, j, k: Integer;
  CoilLength :double;
  CurrentCoilTurns, CoilTurnsSum :Integer;
  AngleBetweenRays :double;
  RequiredSpacing: Double;
  LayerNumber :Integer;
  MaxLayers :Integer;
  angle :double;
  MaxDepth,MaxPath :double;
  MoveForward:boolean;



  function ParseLine(Line: string): Boolean;
    var
      Parts: array of string;
      Value: string;
      TrimmedLine: string;
    begin
      TrimmedLine := Trim(Line);  // Удаляем пробелы в начале и конце строки
      if Length(TrimmedLine) = 0 then
      begin
        exit(true); // Пустая строка - пропускаем
      end
      else if TrimmedLine[1] in [';','#'] then
      begin
        exit(true); // Строка комментария - пропускаем
      end;

      Parts := SplitString(TrimmedLine, '='); // Используем TrimmedLine
      Result := Length(Parts) = 2;
    if Result then
    begin
      Value := LowerCase(Trim(Parts[1])); // Приводим к нижнему регистру
      case Trim(Parts[0]) of
        'base_dia': begin
                      StatorParams.BaseDiameter := StrToFloat(Value);
                      writeln('Base Diameter: ', StatorParams.BaseDiameter:8:2);
                      writeln();
                      StatorParams.BaseRadius := StatorParams.BaseDiameter/2;
                      writeln('Base Radius: ', StatorParams.BaseRadius:8:2);
                      writeln();

                    end;
        'num_rays': begin
                      StatorParams.NumberOfRays := StrToInt(Value);
                      writeln('Number of Rays: ', StatorParams.NumberOfRays);
                      AngleBetweenRays := 360/StatorParams.NumberOfRays;
                      writeln('Angle Between Rays: ', AngleBetweenRays);
                      writeln();
                    end;
        'ray_shape': begin
                      if Pos(Value, 'circle, rect, superellipse') = 0 then
                        raise Exception.Create('Invalid value for ray_shape: ' + Value);
                      StatorParams.RayShape := Value;
                      writeln('Ray Shape: ', StatorParams.RayShape);
                      writeln();
                    end;
        'ray_dia': begin
                      StatorParams.RayDiameter := StrToFloat(Value);
                      writeln('Ray Diameter: ', StatorParams.RayDiameter:8:2);
                      writeln();
                    end;
        'ray_w': begin
                      StatorParams.RayWidth := StrToFloat(Value);
                      writeln('Ray Width: ', StatorParams.RayWidth:8:2);
                      writeln();
                    end;
        'ray_h': begin
                      StatorParams.RayHeight := StrToFloat(Value);
                      writeln('Ray Height: ', StatorParams.RayHeight:8:2);
                      writeln();
                    end;
        'ray_len': begin
                      StatorParams.RayLength := StrToFloat(Value);
                      writeln('Ray Length: ', StatorParams.RayLength:8:2);
                      writeln();
                    end;

        'raytop_shape': begin
                      if Pos(Value, 'circle, rect, superellipse') = 0 then
                        raise Exception.Create('Invalid value for ray_top: ' + Value);
                      StatorParams.RayTopShape := Value;
                      writeln('Ray Top Shape: ', StatorParams.RayTopShape);
                    end;

        'raytop_dia': begin
                      StatorParams.RayTopDiameter := StrToFloat(Value);
                      writeln('Ray Top Diameter: ', StatorParams.RayTopDiameter:8:2);
                      writeln();
                    end;
        'raytop_w': begin
                      StatorParams.RayTopWidth := StrToFloat(Value);
                      writeln('Ray Top Width: ', StatorParams.RayTopWidth:8:2);
                      writeln();
                    end;
        'raytop_h': begin
                      StatorParams.RayTopHeight := StrToFloat(Value);
                      writeln('Ray Top Height: ', StatorParams.RayTopHeight:8:2);
                      writeln();
                    end;

        'ray_offset': begin
                        StatorParams.RayCenterOffset := StrToFloat(Value);
                        writeln('Ray Center Offset: ', StatorParams.RayCenterOffset:8:2);
                        writeln();
                      end;
        'wire_diameter': begin
                        StatorParams.WireDiameter := StrToFloat(Value);
                        writeln('Wire Diameter: ', StatorParams.WireDiameter:8:2);
                        writeln();
                      end;
        'needle_diameter': begin
                        StatorParams.NeedleDiameter := StrToFloat(Value);
                        writeln('Needle Diameter: ', StatorParams.NeedleDiameter:8:2);
                        writeln();
                      end;
        'path_clearance': begin
                        StatorParams.PathClearance := StrToFloat(Value);
                        writeln('Path Clearance: ', StatorParams.PathClearance:8:2);
                        writeln();
                      end;
        'work_speed': begin
                        StatorParams.WorkSpeed := StrToInt(Value);
                        writeln('Work Speed: ', StatorParams.WorkSpeed);
                        writeln();
                      end;


      else
        Result := False;
      end;
      if not Result then
      begin
        writeln('Error: Unknown parameter: ', Parts[0]);
        exit;
      end;
    end;
  end;

  procedure ReadInputFile();
  Begin
    // **Opening the input file**
    AssignFile(InFile, InputFileName);
    try
      Reset(InFile);  // **This line opens the file for reading**
      while not EOF(InFile) do
      begin
        ReadLn(InFile, Line);
        if Length(Line) > 0 then
          if not ParseLine(Line) then
            writeln('Error: Invalid line: ', Line);
      end;
    except
      on E: Exception do
      begin
        writeln('Error opening or reading input file: ', E.Message);
        Halt(1);
      end;
    end;
    CloseFile(InFile);
  end;

  function CircleCoordinates(diameter, angleDegrees: Double): TPoint;
  var
     radius: Double;
     angleRadians: Double;
  begin
       radius := diameter / 2;
//       angleRadians := -1*angleDegrees * PI / 180; // Перевод градусов в радианы
       angleRadians := -1 * DegToRad(angleDegrees);

       Result.X := radius * Cos(angleRadians);
       Result.Y := radius * Sin(angleRadians);
end;

  function CalculateAngle(opposite, adjacent: Double): Double;
  begin
    if adjacent = 0 then
      raise Exception.Create('Adjacent side cannot be zero');
//    CalculateAngle := ArcTan(opposite / adjacent) * 180 / PI;
    CalculateAngle := RadToDeg(ArcTan(opposite / adjacent));
  end;

  function NormalizeZ(radius: Real; thetaDeg: Real): Real;
var
  thetaRad, alphaRad, xKas, yKas, mTang, bTang: Real;
begin
    // 1. Преобразование угла из градусов в радианы.
    thetaRad := DegToRad(thetaDeg);

    // 2. Вычисление координат точки касания на окружности (относительно центра 0,0).
    xKas := radius * Cos(thetaRad);
    yKas := radius * Sin(thetaRad);

    // 3. Вычисление угла, перпендикулярного радиус-вектору (касательной).
    alphaRad := thetaRad + PI / 2;

    // 4. Вычисление углового коэффициента касательной.
    mTang := Tan(alphaRad);

    // 5. Вычисление свободного члена уравнения касательной (y = mTang * x + bTang).
    bTang := yKas - mTang * xKas;

    // 6. Вычисление координаты X точки пересечения касательной с осью X (y = 0).
    //    0 = mTang * x + bTang
    //    x = -bTang / mTang
    if mTang = 0 then
    begin
        // Касательная параллельна оси X - нет точки пересечения. Возвращаем NaN.
        NormalizeZ := NaN;
    end
    else
    begin
      NormalizeZ := -bTang / mTang;
    end;
end;

  function DepthCheck(thickness, lineLength, angleDeg: double): double;
  var
  xIntersection, distanceToIntersection, radius: double;
begin
  xIntersection := (thickness/2 + thickness/2 * cos(DegToRad(angleDeg)))/sin(DegToRad(angleDeg));
  distanceToIntersection := sqrt(sqr(xIntersection) + sqr(1.2));
  radius := lineLength / (2 * tan(DegToRad(angleDeg) / 2));
  DepthCheck := distanceToIntersection + radius;
end;

  function CalculateMaxPath(length, width, angleDegrees: double): double;
  var
  topLeftX, topLeftY, rotatedX, rotatedY, angleRadians, distance: double;
begin
  // Вычисляем координаты верхнего левого угла прямоугольника
  topLeftX := -length;
  topLeftY := width / 2;

  // Преобразуем угол в радианы (с учетом вращения по часовой стрелке)
  angleRadians := degToRad(-angleDegrees);

  // Вычисляем координаты повернутого нижнего левого угла второго прямоугольника
  rotatedX := -length * cos(angleRadians) - (-width / 2) * sin(angleRadians);
  rotatedY := -length * sin(angleRadians) + (-width / 2) * cos(angleRadians);

  // Вычисляем расстояние между точками
  distance := sqrt(sqr(rotatedX - topLeftX) + sqr(rotatedY - topLeftY));

  // Возвращаем результат
  MaxPath := distance;
end;

begin
   // Command line argument handling
  if ParamCount < 2 then
  begin
    Writeln('Usage: GCodeGenerator <input_file.txt> <output_file.gcode>');
    Halt(1);
  end;
  InputFileName := ParamStr(1);
  OutputFileName := ParamStr(2);

  ReadInputFile();

  // G-code generation
  AssignFile(OutFile, OutputFileName);
  try
    Rewrite(OutFile);
    // *** Your G-code generation logic here ***
    writeln(OutFile, '; G-code for stator winding');
    writeln(OutFile, 'G90 ; Absolute coordinate system');
    writeln(OutFile, 'G1 Y-10');
    writeln(OutFile, 'G28 X Y Z');
    writeln(OutFile, 'G1 X0 Y0');
    //writeln(OutFile, 'G28 O');  //Home all "untrusted" axes
    writeln(OutFile);
    // Move to center of ray along Y axis and reset coordinate
    writeln(OutFile, 'G1 X', StatorParams.RayCenterOffset:0:2);
    writeln(OutFile, 'G92 X0');

    //отводим иглу левее и ниже вершины луча
    CoilRadius:=(StatorParams.RayTopHeight/2+StatorParams.NeedleDiameter/2+StatorParams.PathClearance);
    CoilWidth:=(StatorParams.RayTopWidth+StatorParams.NeedleDiameter+StatorParams.PathClearance*2);
    CoilHeight:=(StatorParams.RayTopHeight+StatorParams.NeedleDiameter+StatorParams.PathClearance*2);
    writeln(OutFile, ';CoilRadius = ', CoilRadius:0:3);
    writeln(OutFile, ';CoilWidth = ', CoilWidth:0:3);
    writeln(OutFile, ';CoilHeight = ', CoilHeight:0:3);
    writeln(OutFile, 'G1 X', -1*CoilHeight/2:0:3, ' Y',-1*AngleBetweenRays/2:0:3);

    //приближаемся к основанию статора.
    CurrentZ:=(StatorParams.BaseDiameter/2)+StatorParams.PathClearance;
    writeln(OutFile, 'G1 Z', CurrentZ:0:2, ' F', StatorParams.WorkSpeed);
    //Встаём на паузу для того, чтобы привязать конец проволоки
    writeln(OutFile, 'M0');

    writeln(OutFile, ';Start coil');
    //Начинаем мотать катушку.
    //Считаем, сколько слоёв можем намотать.
    MaxPath:=CalculateMaxPath((StatorParams.RayLength+StatorParams.BaseRadius), StatorParams.RayWidth, AngleBetweenRays);
//    MaxLayers :=trunc(((MaxPath-RequiredSpacing)/2/StatorParams.WireDiameter));
    MaxLayers :=round(((MaxPath-RequiredSpacing)/2/StatorParams.WireDiameter));
    writeln(OutFile, ';MaxLayers ', MaxLayers);
    Inc(LayerNumber);
    //Двигаемся от центра к краю
    MoveForward:=true;
    if (StatorParams.RayShape = 'circle') then
    begin
      for j := 0 to CurrentCoilTurns do
      begin
        for i := 0 to 360 do
        begin
          coords := CircleCoordinates(CoilRadius*2, i+180);
//          writeln(OutFile,'CoilRadius*2= ',CoilRadius*2:0:5,' X=', coords.X:0:3, ' Y=', coords.Y:0:5);
          angle := CalculateAngle(coords.Y, CurrentZ);

//        writeln(OutFile, ';G1 X', coords.X:0:3, ' Y', angle:0:5,' Z', CurrentZ:0:5);
          writeln(OutFile, 'G1 X', coords.X:0:3, ' Y', angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5);
//        writeln(OutFile);

          CurrentZ:=CurrentZ+StatorParams.WireDiameter/360;
        end;
        writeln(OutFile, ';Next coil.');
      end;
      writeln(OutFile, ';Second coil');
      Inc(LayerNumber);
//    RequiredSpacing:=StatorParams.RayWidth+StatorParams.NeedleDiameter+StatorParams.PathClearance*2+LayerNumber*StatorParams.WireDiameter*2;
//  writeln(OutFile, ';RequiredSpacing = ',RequiredSpacing:0:5);
      RequiredSpacing:=StatorParams.RayTopWidth;
      writeln(OutFile, ';RequiredSpacing = ',RequiredSpacing:0:5);
      RequiredSpacing:=RequiredSpacing+StatorParams.NeedleDiameter;
      writeln(OutFile, ';RequiredSpacing = ',RequiredSpacing:0:5);
      RequiredSpacing:=RequiredSpacing+StatorParams.PathClearance*2+LayerNumber*StatorParams.WireDiameter*2;
      writeln(OutFile, ';RequiredSpacing = ',RequiredSpacing:0:5);

      CurrentZ:=RequiredSpacing/(2 * tan(AngleBetweenRays*PI/180/2));
      writeln(OutFile, ';CurrentZ = ',CurrentZ:0:3);
    end
    else if (StatorParams.RayShape = 'rect') then
    begin
//      writeln(OutFile, ';Rect? ');
      while (LayerNumber <= MaxLayers) do
      begin
        //writeln(OutFile, ';Layer ', LayerNumber);
        //Считаем длину катушки и количество витков
        //Для этого считаем необходимое расстояние между лучами. 2 диаметра провода + диаметр иглы + 2 зазора безопасности
        RequiredSpacing:=StatorParams.PathClearance*2+(LayerNumber-1)*StatorParams.WireDiameter*2+StatorParams.NeedleDiameter;
        //Используя необходимое расстояние, рассчитываем на какую, максимальную глубину может погрузиться иголка. (расстояние от центра статора)
        MaxDepth:=DepthCheck(StatorParams.RayWidth, RequiredSpacing, AngleBetweenRays);
        writeln(OutFile, ';RayWidth ', StatorParams.RayWidth:0:5);
        writeln(OutFile, ';RequiredSpacing ', RequiredSpacing:0:5);
        writeln(OutFile, ';AngleBetweenRays ', AngleBetweenRays:0:5);
        writeln(OutFile, ';MaxDepth ', MaxDepth:0:5);
        writeln(OutFile);
        //Если допустимая глубина меньше, чем диаметр основания, тогда длина катушки равна длине луча.
        //Если допустимая глубина больше, чем диаметр + длина луча, прекращаем движ.
        //Иначе длина катушки равна "радиус_основания + длина_луча - глубина)
        If (MaxDepth < (StatorParams.BaseRadius)) then CoilLength:=StatorParams.RayLength else if (MaxDepth > (StatorParams.RayLength+StatorParams.BaseRadius)) then break else
            CoilLength:=StatorParams.RayLength+StatorParams.BaseRadius-MaxDepth;
        writeln(OutFile, ';CoilLength ', CoilLength:0:5);
//        CurrentCoilTurns := ceil(CoilLength/StatorParams.WireDiameter);
        //Исходя из длины катушки считаем количество витков. И складываем сколько всего витков на катушке.
        CurrentCoilTurns := round(CoilLength/StatorParams.WireDiameter);
        writeln(OutFile, ';CurrentCoilTurns ', CurrentCoilTurns);
        CoilTurnsSum := CoilTurnsSum+CurrentCoilTurns;
        writeln(OutFile, ';CoilTurnsSum ', CoilTurnsSum);
        writeln(OutFile);
        //Перед каждым слоем нужно пересчитать координату Z
        write(OutFile,';RecalculateZ. CurrentZ=',CurrentZ:0:5);
        if (MoveForward = false) then CurrentZ:=StatorParams.RayLength+StatorParams.BaseRadius-StatorParams.WireDiameter/2
        else CurrentZ:=StatorParams.RayLength+StatorParams.BaseRadius-StatorParams.WireDiameter*(CurrentCoilTurns-0.5);
        writeln(OutFile,'; NewZ=',CurrentZ:0:5);
        //Начинаем мотать.
        writeln(OutFile, ';We make ',CurrentCoilTurns, ' turns on ', LayerNumber, ' layer.' );
        for j := 0 to CurrentCoilTurns do
        begin
          writeln(OutFile,';Coil№ = ',j);
          writeln(OutFile,'M117 ',j);
          //angle := CalculateAngle(CoilWidth/2, CurrentZ);
          angle := AngleBetweenRays/2;

          //Divide the path into 100 points
          //Move from left-down to left-up
          for k := 1 to 100 do
          begin
            angle := AngleBetweenRays/2;
            angle := ((-1*angle)+2*(angle/100*k));
            writeln(OutFile, 'G1 X', -1*CoilHeight/2:0:3, ' Y', angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5, ' ;CurrentZ= ',CurrentZ:0:5); // Top Left Corner
          end;
          if MoveForward then CurrentZ:=CurrentZ+StatorParams.WireDiameter/4 else CurrentZ:=CurrentZ-StatorParams.WireDiameter/4;

//          writeln(OutFile, 'G1 X', -1*CoilHeight/2:0:3, ' Y', angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5); // Top Left Corner
//          if MoveForward then CurrentZ:=CurrentZ+StatorParams.WireDiameter/4 else CurrentZ:=CurrentZ-StatorParams.WireDiameter/4;
          //writeln(OutFile, 'M0');

  //        angle := CalculateAngle(CoilWidth/2, CurrentZ);
          angle := AngleBetweenRays/2;
          writeln(OutFile, 'G1 X', CoilHeight/2:0:3, ' Y', angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5, ' ;CurrentZ= ',CurrentZ:0:5); // Top Right Corner
          if MoveForward then CurrentZ:=CurrentZ+StatorParams.WireDiameter/4 else CurrentZ:=CurrentZ-StatorParams.WireDiameter/4;
          //writeln(OutFile, 'M0');

          //Divide the path into 100 points
          //Move from left-down to rt-up
          for k := 1 to 100 do
          begin
            angle := AngleBetweenRays/2;
            angle := (angle-(2*(angle/100*k)));
            writeln(OutFile, 'G1 X', CoilHeight/2:0:3, ' Y', angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5, ' ;CurrentZ= ',CurrentZ:0:5); // Bottom Right Corner
          end;
          if MoveForward then CurrentZ:=CurrentZ+StatorParams.WireDiameter/4 else CurrentZ:=CurrentZ-StatorParams.WireDiameter/4;

//          angle := CalculateAngle(-1*CoilWidth/2, CurrentZ);
//          writeln(OutFile, 'G1 X', CoilHeight/2:0:3, ' Y', -angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5); // Bottom Right Corner
//          if MoveForward then CurrentZ:=CurrentZ+StatorParams.WireDiameter/4 else CurrentZ:=CurrentZ-StatorParams.WireDiameter/4;
          //writeln(OutFile, 'M0');

  //        angle := CalculateAngle(CoilWidth/2, CurrentZ);
          angle := AngleBetweenRays/2;
          writeln(OutFile, 'G1 X', -1*CoilHeight/2:0:3, ' Y', -angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5, ' ;CurrentZ= ',CurrentZ:0:5); // Bottom Left Corner
          if MoveForward then CurrentZ:=CurrentZ+StatorParams.WireDiameter/4 else CurrentZ:=CurrentZ-StatorParams.WireDiameter/4;
          //writeln(OutFile, 'M0');
        end;

        writeln(OutFile, 'M0');
//        writeln(OutFile, 'G91');
//        writeln(OutFile, 'G1 Y50');
//        writeln(OutFile, 'G90');
        Inc(LayerNumber);
        CoilWidth:=CoilWidth+StatorParams.WireDiameter*2;
        MoveForward:= not MoveForward;
        writeln(OutFile,';MoveForward: ', MoveForward);
      end;


(*      writeln(OutFile);
      writeln(OutFile, ';Second coil');
      Inc(LayerNumber);
      RequiredSpacing:=StatorParams.PathClearance*2+LayerNumber*StatorParams.WireDiameter*2+StatorParams.NeedleDiameter;
      writeln(OutFile, ';RequiredSpacing = ',RequiredSpacing:0:5);

      For i:=1 to 20 do
      begin
        LayerNumber:=i;
        writeln(OutFile, ';Layer ', i);
        RequiredSpacing:=StatorParams.PathClearance*2+(LayerNumber-1)*StatorParams.WireDiameter*2+StatorParams.NeedleDiameter;
        writeln(OutFile, ';RequiredSpacing ', RequiredSpacing:0:5);

        MaxDepth:=DepthCheck(StatorParams.RayWidth, RequiredSpacing, AngleBetweenRays);
        writeln(OutFile, ';MaxDepth ', MaxDepth:0:5);

        If (MaxDepth < (StatorParams.BaseRadius)) then CoilLength:=StatorParams.RayLength else if (MaxDepth > (StatorParams.RayLength+StatorParams.BaseRadius)) then break else
        CoilLength:=StatorParams.RayLength+StatorParams.BaseRadius-MaxDepth;
        writeln(OutFile, ';CoilLength ', CoilLength:0:5);

//        CurrentCoilTurns := round(CoilLength/StatorParams.WireDiameter);
//        CurrentCoilTurns := ceil(CoilLength/StatorParams.WireDiameter);
        CurrentCoilTurns := floor(CoilLength/StatorParams.WireDiameter);
        writeln(OutFile, ';CurrentCoilTurns ', CurrentCoilTurns);

        CoilTurnsSum := CoilTurnsSum+CurrentCoilTurns;
        writeln(OutFile, ';CoilTurnsSum ', CoilTurnsSum);
        writeln(OutFile);
      end;*)

    end;



    // *** Your G-code generation logic here ***
  except
    on E: Exception do
    begin
      writeln('Error writing to output file: ', E.Message);
      Halt(1);
    end;
  end;
  CloseFile(OutFile);

  writeln('G-code generated to: ', OutputFileName);
  writeln('Press Enter... ');
  Readln;
end.