#!/usr/bin/python
#    Copyright 2007 Chris Radek
#    Derived from a work by John Kasunich and Jeff Epler
#
#    This program is free software; you can redistribute it and/or modify
#    it under the terms of the GNU General Public License as published by
#    the Free Software Foundation; either version 2 of the License, or
#    (at your option) any later version.
#
#    This program is distributed in the hope that it will be useful,
#    but WITHOUT ANY WARRANTY; without even the implied warranty of
#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#    GNU General Public License for more details.
#
#    You should have received a copy of the GNU General Public License
#    along with this program; if not, write to the Free Software
#    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.




from vismach import *

import hal

import math

import sys




c = hal.component("5stefgui")

c.newpin("jointx", hal.HAL_FLOAT, hal.HAL_IN)

c.newpin("jointy", hal.HAL_FLOAT, hal.HAL_IN)

c.newpin("jointz", hal.HAL_FLOAT, hal.HAL_IN)

c.newpin("jointa", hal.HAL_FLOAT, hal.HAL_IN)

c.newpin("jointb", hal.HAL_FLOAT, hal.HAL_IN)
c.ready()



work = Capture()

tooltip = Capture()



part1 = CylinderZ(0,10, 100,30)

part2 = Box (-50,-50,100,50,50,400)

combinedpart = Collection ([part1,part2])



part = Collection([tooltip,combinedpart])

part = Color([0.5,0.5,0.5,1],[part])

part = Translate ([part], 0,0,-180)

part = HalRotate([part],c,"jointa",1,0,-1,0)



Zaxis = AsciiSTL(filename="Zaxisassembly.stl")

Zaxis = Color([0.5,0.5,0.5,1],[Zaxis])

Zaxis = Rotate ([Zaxis],180, 0,1,0)

Zaxis = Rotate ([Zaxis],90, 1,0,0)

Zaxis = Translate ([Zaxis],177,-300,-120)

Zaxis = Collection([Zaxis,part])

Zaxis = HalTranslate ([Zaxis],c,"jointz",0,0,1)



Xaxis = AsciiSTL(filename="xaxisassembly.stl")

Xaxis = Color([0.5,0.5,0.5,1],[Xaxis])

Xaxis = Rotate ([Xaxis],90, 1,0,0)

Xaxis = Rotate ([Xaxis],180, 0,1,0)

Xaxis = Translate ([Xaxis],377.5,1085,830)

Xaxis = Collection([Xaxis,Zaxis])

Xaxis = HalTranslate ([Xaxis],c,"jointx",1,0,0)



Yaxis = AsciiSTL(filename="yaxisassembly.stl")

Yaxis = Color([0.5,0.5,0.5,1],[Yaxis])

Yaxis = Rotate ([Yaxis],-90, 0,1,0)

Yaxis = Rotate ([Yaxis],-90, 1,0,0)

Yaxis = Translate ([Yaxis],2250,-191,1014)

Yaxis = Collection([Yaxis,Xaxis])

Yaxis = HalTranslate ([Yaxis],c,"jointy",0,1,0)



Base = AsciiSTL(filename="machinebase.stl")

Base = Color([0.8,0.8,0.8,2],[Base])

Base = Rotate ([Base],-90, 0,1,0)

#Base = Rotate ([Base],-90, 1,0,0)

Base = Translate ([Base],1601.5,200,-1268)

Base = Collection([Base,Yaxis])

#Base = HalTranslate ([Yaxis],c,"jointy",0,1,0)


#tool = Collection([tooltip, CylinderY(-100,75, -10,75)])

#tool = HalTranslate([tool],c,"jointx",1,0,0)




table = Collection([work,Box(0,0,0, 1410,2660,30)])

table = Translate ([table],30,255,-580)



Baxis = AsciiSTL(filename="BAxisForCamworks.STL")

Baxis = Color([0.5,0.5,0.5,1],[Baxis])

Baxis = Rotate ([Baxis],-90, 0,1,0)

Baxis = Translate ([Baxis],1500,0,-1270)

Baxis = Collection([Baxis,Base])



Rotating1 = CylinderY(200,30,350,30)

Rotating2 = Box(-50,350,-50,50,450,50)


RotatingB = Collection ([Rotating1,Rotating2])

RotatingB = HalRotate([RotatingB],c,"jointb",1,0,1,0)

RotatingB = Translate ([RotatingB], 570,300,-390)

RotatingB = Color([1,1,1,1],[RotatingB])

RotatingB = Collection([RotatingB,Baxis])



#model() and main() have a certain structure you always have to use 


model = Collection([tooltip, RotatingB, table, work])

main(model, tooltip, work, 1500)