package at.acdp.urweb.sclient.data;

import at.acdp.urweb.CountDataInputStream;

import java.io.DataInputStream;
import java.io.IOException;
import java.util.Arrays;

public class ConfigurationData implements IRead {

    double[] jointMinLimit=new double[6];
    double[] jointMaxLimit=new double[6];
    double[] jointMaxSpeed=new double[6];
    double[] jointMaxAcceleration= new double[6];
    double vJointDefault;
    double aJointDefault;
    double vToolDefault;
    double aToolDefault;
    double eqRadius;
    double[] dha=new double[6];
    double[] dhd=new double[6];;
    double[] dhAlpha=new double[6];;
    double[] dhTheta=new double[6];;
    int masterboardVersion;
    int controllerBoxType;
    int robotType;
    int robotSubType;

    public void read(CountDataInputStream di, int size) throws IOException {
        for(int i=0; i<jointMinLimit.length; i++)
            jointMinLimit[i] = di.readDouble();
        for(int i=0; i<jointMaxAcceleration.length; i++)
            jointMaxAcceleration[i] = di.readDouble();
        for(int i=0; i<jointMaxSpeed.length; i++)
            jointMaxSpeed[i] = di.readDouble();
        for(int i=0; i<jointMaxAcceleration.length; i++)
            jointMaxAcceleration[i] = di.readDouble();
        vJointDefault = di.readDouble();
        aJointDefault = di.readDouble();
        vToolDefault = di.readDouble();
        aToolDefault = di.readDouble();
        eqRadius = di.readDouble();
        for(int i=0;i<dha.length;i++)
            dha[i] = di.readDouble();
        for(int i=0;i<dhd.length;i++)
            dhd[i] = di.readDouble();
        for(int i=0;i<dhAlpha.length;i++)
            dhAlpha[i] = di.readDouble();
        for(int i=0;i<dhTheta.length;i++)
            dhTheta[i] = di.readDouble();
        masterboardVersion = di.readInt();
        controllerBoxType = di.readInt();
        robotType = di.readInt();
        robotSubType = di.readInt();
    }

    @Override
    public String toString() {
        return "ConfigurationData{" +
                "jointMinLimit=" + Arrays.toString(jointMinLimit) +
                ", jointMaxLimit=" + Arrays.toString(jointMaxLimit) +
                ", jointMaxSpeed=" + Arrays.toString(jointMaxSpeed) +
                ", jointMaxAcceleration=" + Arrays.toString(jointMaxAcceleration) +
                ", vJointDefault=" + vJointDefault +
                ", aJointDefault=" + aJointDefault +
                ", vToolDefault=" + vToolDefault +
                ", aToolDefault=" + aToolDefault +
                ", eqRadius=" + eqRadius +
                ", dha=" + Arrays.toString(dha) +
                ", dhd=" + Arrays.toString(dhd) +
                ", dhAlpha=" + Arrays.toString(dhAlpha) +
                ", dhTheta=" + Arrays.toString(dhTheta) +
                ", masterboardVersion=" + masterboardVersion +
                ", controllerBoxType=" + controllerBoxType +
                ", robotType=" + robotType +
                ", robotSubType=" + robotSubType +
                '}';
    }
}