use strict;
use Win32::SerialPort;

# user control
######
#  STILL TO DO
#####
# PROMPT USER FOR INPUT

#   Z axis is Velmex Bislide E01
#   E01 -  1 step = 0.00025"
#   X, Y axis is Velmex Bislide E04
#   E04 - 1 step = 0.001"

#  need to be 4 cm higher 
#  4 cm = 1.57480315" devided by 0.00025 (inches per step)
#  = 6299.213  steps
my $y_adjust = 5300 - 6250;#jg changed from 6000 to 6250 nov07,2005

####
#  STILL TO DO
####
# files of positions and offsets
# these are hardwired at the moment
my $filter_definition_file = "filters.in";

# ideally I would like to read these in
my @x_filter_offset_positions = (0, 53, 106, 27, 80, 133, 0, 53, 106, 27, 80, 133);
my @y_filter_offset_positions = (0, 0, 0, 39, 39, 39, 79, 79, 79, 118, 118, 118);

my @x_wash_positions = (0,0,0,0);
my @y_wash_positions = (1500,5250,9000,12750);
my @x_plate_positions = (6000, 6030, 6004, 6004, 12010, 12000);
my @y_plate_positions = (20, 3997, 8015, 12015, 5, 3990);
my @x_filter_positions = (18000, 18000, 18000, 18000, 23000, 23000, 23000, 23000, 28000, 28000, 28000, 28000, 33000, 33000, 33000, 33000, 38000, 38000, 38000, 38000, 43000, 43000, 43000, 43000, 48000, 48000, 48000, 48000);
my @y_filter_positions = (0, 3850, 7700, 11550, 0, 3850, 7700, 11550, 0, 3850, 7700, 11550, 0, 3850, 7700, 11550, 0, 3850, 7700, 11550, 0, 3850, 7700, 11550, 0, 3850, 7700, 11550);

# speeds and heights
my $x_speed = 3000;
my $y_speed = 3000;
my $z_speed = 2000;
my $time_of_pause = 30;
$time_of_pause = $time_of_pause*10;

# heights
my $z_safe_up = 9921 - $y_adjust;
my $z_filter_down = 15000 - $y_adjust;
my $z_plate_down = 14200 - $y_adjust;
my $z_wash_down = 13780 - $y_adjust;
my $z_plate_and_filter_up = 11750 - $y_adjust;             #safe for plates and filters BUT NOT WASH
my $z_plate_change_speed = 12800 - $y_adjust;              #change speed pulling out of plates
my $z_filter_change_speed = 14200 - $y_adjust;            #change speed pulling out of filters

# mapping of motors
# changing these would be VERY VERY BAD
# do not ever change these unless you REALLY REALLY know what you are doing
my $x_motor = 1;
my $y_motor = 3;
my $z_motor = 2;

########################
#  MAIN PROGRAM STARTS HERE
########################

my $wait_for_it = '';

# start talking to COM
my $ob = Win32::SerialPort->new ('COM1') || die;
$ob->user_msg(1); 	# misc. warnings
$ob->error_msg(1); 	# hardware and data errors
#initialize COM1
$ob->baudrate(9600);
$ob->parity("none");
#   $ob->parity_enable(1); 	  # for any parity except "none"
$ob->databits(8);
$ob->stopbits(1);
$ob->handshake('none');
#write settings
$ob->write_settings;
$ob->save("tpj4.cfg");
print "wrote configuration file tpj4.cfg\n";

#open port for talking
$ob -> write("F");
home_machine();

my $filter_number=1;
my $plate_number=1;
my $plate_or_filter=1;
my $ready_to_go = 0;
my $go_again = 1;
while ($go_again == 1){
	print "INPUT:  Check Filter (1) or plate (2)??\n";
	$plate_or_filter = <STDIN>;
	chomp $plate_or_filter;
	if($plate_or_filter == 1){
		$filter_number = 40;
		while($filter_number > 28){
			print "INPUT:  Check Filter Number??\n";
			$filter_number = <STDIN>;
			chomp $filter_number;
			print "It appears that you want to check filter number $filter_number\n";
			print "Is the above information all correct (1=yes, 0=no)???\n";
			$ready_to_go = <STDIN>;
                        if($filter_number > 28) {print "ONLY 28 FILTERS MAX!\n";}
			}
		$filter_number = $filter_number - 1;
		check_filter($filter_number,0);
		$ready_to_go = 0;
		print "Check OFFSET?? (1=yes, 0=no)???\n";
		$ready_to_go = <STDIN>;
		check_filter($filter_number,11);
		$go_again = 0;
		}

	if($plate_or_filter == 2){
		$plate_number = 10;
		while($plate_number > 6){
			print "INPUT:  Check Plate Number??\n";
			$plate_number = <STDIN>;
			chomp $plate_number;
			print "It appears that you want to check plate number $plate_number\n";
			print "Is the above information all correct (1=yes, 0=no)???\n";
			$ready_to_go = <STDIN>;
                        if($plate_number > 6) {print "ONLY 6 PLATES MAX!\n";}
			}
		$plate_number = $plate_number - 1;
                check_plate($plate_number);
		$go_again = 0;
		}
	print "Do you want to check another filter or plate (1=yes, 0=no)???\n";
	$go_again = <STDIN>;		
	}

send_to_velmex( "C,(IA".$z_motor."M500, R");
send_to_velmex( "C,(IA".$y_motor."M500,IA".$x_motor."M500,)R");
$ob -> write("Q");
undef $ob;

exit;

############functions#########


###################
#  check filter
###################
sub check_filter{
	my ($filter_number,$offset_number) = @_;

	# filternumber + offset
	my $true_x = $x_filter_positions[$filter_number] + $x_filter_offset_positions[$offset_number];
	my $true_y = $y_filter_positions[$filter_number] + $y_filter_offset_positions[$offset_number];
	#  position xy, z = speed change, slow, z = bottom, z = speed change, fast, z = filter&plate height
	send_to_velmex( "C,(IA".$y_motor."M".$true_y.",IA".$x_motor."M".$true_x.",)R");
#	send_to_velmex( "C, IA".$z_motor."M".$z_filter_change_speed.", R");
#	send_to_velmex( "C, S".$z_motor."M200, R");
	send_to_velmex( "C, IA".$z_motor."M".$z_filter_down.", R");
	print "PRESS RETURN TO CONTINUE\n";
	my $sweet_nothing = <STDIN>;
#	send_to_velmex( "C, IA".$z_motor."M".$z_filter_change_speed.", R");
#	send_to_velmex( "C, S".$z_motor."M".$z_speed.", R");
	send_to_velmex( "C, IA".$z_motor."M".$z_plate_and_filter_up.", R");
	return;
	}

###################
#  check plate
###################

sub check_plate{
        my ($plate_number) = @_;

        #  position xy, z = speed change, slow, z = bottom, z = speed change, fast, z = filter&plate height
        send_to_velmex( "C,(IA".$y_motor."M".$y_plate_positions[$plate_number].",IA".$x_motor."M".$x_plate_positions[$plate_number].",)R");
#        send_to_velmex( "C, IA".$z_motor."M".$z_plate_change_speed.", R");
#        send_to_velmex( "C, S".$z_motor."M".$z_speed_liquid.", R");
        send_to_velmex( "C, IA".$z_motor."M".$z_plate_down.", R");
		my $platewait = '';
		print "After checking position press return to continue\n";
		$platewait = <STDIN>;
#        send_to_velmex( "C, IA".$z_motor."M".$z_plate_change_speed.", R");
#        send_to_velmex( "C, S".$z_motor."M".$z_speed.", R");
        send_to_velmex( "C, IA".$z_motor."M".$z_plate_and_filter_up.", R");
        return;
        }


###########
#  home all 3 axis
#  go to safe height
###########
sub home_machine{

        # slow speed
		send_to_velmex( "C, S2M200, R");
        send_to_velmex( "C, S1M200, R");
        send_to_velmex( "C, S3M200, R");
        # home
        send_to_velmex( "C, I2M-0, I2M200, IA2M-0,R");
        send_to_velmex( "C, I1M-0, I1M200, IA1M-0,R");
        send_to_velmex( "C, I3M-0, I3M200, IA3M-0,R");
        # return to fast speeds
        send_to_velmex( "C, S".$z_motor."M".$z_speed.", R");
        send_to_velmex( "C, S".$x_motor."M".$x_speed.", R");
        send_to_velmex( "C, S".$y_motor."M".$y_speed.", R");
        # go to safe height
        send_to_velmex( "C, IA".$z_motor."M".$z_safe_up.", R");
        return;
        }
        
################
#   send commands to the arrayer
################
sub send_to_velmex{
    my ($print_command) = @_;
    
	#  print "Here is the command to send to Velmex   ".$print_command."\n";
	$ob -> write($print_command);
	my $result = '';
	do{
		$result = $ob->input;
		} until ($result eq '^');
	#  print "Command Has Now Run, Press Return to Continue\n";
	#  $wait_for_it = <STDIN>;
	return;       
    }