include <body_config.scad>
include <design.scad>
include <helpers.scad>
include <holes.scad>
include <m12_connectors.scad>
include <m12_lense_holder.scad>
include <m12_lense_holder_adapter.scad>
include <noctua_nf_a4x20.scad>
include <radxa_zero_3e.scad>
include <veye_imx287.scad>

module cam_and_lense_new()
{
    lhs = laser_holder_size();
    
    // screw insert diameter
    id = 4;
    // cam and lense holder mount plate z size (scanner coords)
    //calhmpzs = 20;
    calhmpzs = 8;
    // cam and lense holder mount plate y height (scanner coords)
    //calhmpyh = 13;
    //calhmpyh = 25.714;
    calhmpyh = 20;
    // cam and lense holder mount plate z offset (scanner coords)
    //calhmpzo = 5.07;
    calhmpzo = -0.93;
    //tpw = $m12_lense_holder_size;
    tpw = veye_imx287_pcb_w;

    //color("pink", 0.6)
    difference()
    {
        union()
        {
            //color("green", 0.3)
            difference()
            {
                //color("blue", 0.3)
                hull()
                {
                    translate([0, 0, $lenseYPosMm])
                    rotate([-$opticalAxisAngleDegrees, 0, 0])
                    translate([0, -$lenseSensorDistanceMm, 0])
                    rotate([$sensorLenseAngleDegrees, 0, 0])
                    veye_imx287_mount_plate_outer();

                    translate([0, 0, $lenseYPosMm])
                    rotate([-$opticalAxisAngleDegrees, 0, 0])
                    {
                        //color("blue", 0.3)
                        {
                            
                            m12_lense_holder_base();
                            //color("blue", 0.3)
                            *%m12_lense_holder();
                        }
                    }
                }
                
                hull()
                translate([0, 0, $lenseYPosMm])
                rotate([-$opticalAxisAngleDegrees, 0, 0])
                {
                    m12_lense_circle();
                    translate([0, -$lenseSensorDistanceMm, 0])
                    rotate([$sensorLenseAngleDegrees, 0, 0])
                    veye_imx287_mount_plate_inner();
                }
                
                translate([0, 0, $lenseYPosMm])
                rotate([-$opticalAxisAngleDegrees, 0, 0])
                scale([1, 2, 1])
                m12_lense_holder_screw_holes();
            }
            
            // top part
            hull()
            {
                // lense holder helper
                {
                    //color("red", 0.3)
                    translate([0, 0, $lenseYPosMm])
                    rotate([-$opticalAxisAngleDegrees, 0, 0])
                    //translate([0, -$lenseSensorDistanceMm, 0])
                    //rotate([$sensorLenseAngleDegrees, 0, 0])
                    m12_lense_holder_top();
                }
                
                // cam holder helper
                {
                    pcb_w = veye_imx287_pcb_w;
                    pcb_h = veye_imx287_pcb_h;
                    //color("yellow", 0.5)
                    translate([0, 0, $lenseYPosMm])
                    rotate([-$opticalAxisAngleDegrees, 0, 0])
                    translate([0, -$lenseSensorDistanceMm, 0])
                    rotate([$sensorLenseAngleDegrees, 0, 0])
                    //cube([pcb_w + $tiny_padding * 2, 1, 1]);
                    veye_imx287_mount_plate_outer_top();
                }
                
                // wall near body
                {
                    //color("orange", 0.3)
                    translate([-pcb_w / 2, -$sbfwo, 116])
                    rotate([90, 0, 0])
                    cube([pcb_w, 14, 1]);
                }
            }
        }
                    
            
        translate([0, 0, $lenseYPosMm])
        rotate([-$opticalAxisAngleDegrees, 0, 0])
        translate([0, -$lenseSensorDistanceMm, 0])
        rotate([$sensorLenseAngleDegrees, 0, 0])
        veye_imx287_mount_holes();
    }
}

module cam_and_lense()
{
    lhs = laser_holder_size();
    
    // screw insert diameter
    id = 4;
    // cam and lense holder mount plate z size (scanner coords)
    calhmpzs = 20;
    // cam and lense holder mount plate y height (scanner coords)
    calhmpyh = 13;
    // cam and lense holder mount plate z offset (scanner coords)
    calhmpzo = 5.07;
    //tpw = $m12_lense_holder_size;
    tpw = veye_imx287_pcb_w;
    
    translate([0, 0, $lenseYPosMm])
    %rotate([-$opticalAxisAngleDegrees, 0, 0])
    {
        //color("orange", 0.6)
        m12_lense_holder();
        %m12_lense();
        //color("red", 0.3)
        //%m12_lense_circle();

        translate([0, -$lenseSensorDistanceMm, 0])
        rotate([$sensorLenseAngleDegrees, 0, 0])
        {
            //color("yellow", 0.3)
            veye_imx287_natural();
        }

        color("green", 0.5)
        *difference()
        {
            // outer area
            //color("blue", 0.8)
            //color("blue")
            hull()
            {
                
                m12_lense_holder_base();
                {
                    
                    translate([0, -$lenseSensorDistanceMm, 0])
                    rotate([$sensorLenseAngleDegrees, 0, 0])
                    veye_imx287_mount_plate_outer();
                }
            }
            
            //m12_lense_circle();
            
            // inner area to cut
            //color("red", 0.3)
            hull()
            {
                m12_lense_circle();
                translate([0, -$lenseSensorDistanceMm, 0])
                rotate([$sensorLenseAngleDegrees, 0, 0])
                veye_imx287_mount_plate_inner();
            }
        }
    }
    
    color("green", 0.3)
    *hull()
    {
        translate([0, 0, $lenseYPosMm])
        rotate([-$opticalAxisAngleDegrees, 0, 0])
        {
            color("green", 0.3)
            {
                
                m12_lense_holder_base();
                {
                    
                    translate([0, -$lenseSensorDistanceMm, 0])
                    rotate([$sensorLenseAngleDegrees, 0, 0])
                    veye_imx287_mount_plate_outer();
                }
            }
        }
        
        // cam and lense mount plate
        color("red", 0.5)
        translate([
            0,
            calhmpzo,
            //0,
            -$tiny_padding - lhs[2] / 2 + main_frame_height_y])
        cube([
                //veye_imx287_pcb_h / 2,
                tpw,
                //calhmpzs,
                //tpw / 2,
                $tiny_padding,
                $tiny_padding
            ],
            center = true);
    }
    
    color("green", 0.3)
    *hull()
    {
        color("red", 0.5)
        translate([
            0,
            calhmpzo,
            //0,
            -$tiny_padding - lhs[2] / 2 + main_frame_height_y])
        cube([
                //veye_imx287_pcb_h / 2,
                tpw,
                //calhmpzs,
                //tpw / 2,
                $tiny_padding,
                $tiny_padding
            ],
            center = true);
    }
    
    
    // AAAAAAAAAAAAA
    //union()
    color("blue", 0.3)
    hull()
    {
        translate([0, 0, $lenseYPosMm])
        rotate([-$opticalAxisAngleDegrees, 0, 0])
        translate([0, -$lenseSensorDistanceMm, 0])
        rotate([$sensorLenseAngleDegrees, 0, 0])
        veye_imx287_mount_plate_outer();

        translate([0, 0, $lenseYPosMm])
        rotate([-$opticalAxisAngleDegrees, 0, 0])
        {
            color("blue", 0.3)
            {
                
                m12_lense_holder_base();
            }
        }
        // second top plate height
        stph = 5;
        translate([
            0,
            //-4.917,
            -3.85,
            //0,
            -$tiny_padding - lhs[2] / 2 + main_frame_height_y
            -stph / 2
            ])
        *cube([
                veye_imx287_pcb_h,// - veye_imx287_mount_plate_corner_radius * 2,
                //tpw,
                //calhmpzs,
                //tpw / 2,
                $tiny_padding,
                //$tiny_padding
                stph
            ],
            center = true);
    }
    
    {
        // cam and lense mount plate
        color("orange", 0.5)
        translate([
            0,
            calhmpzo,
            //0,
            -$tiny_padding -
            lhs[2] / 2 +
            main_frame_height_y -
            calhmpyh / 2])
        cube([
                //veye_imx287_pcb_h / 2,
                tpw,
                //calhmpzs,
                //tpw / 2,
                //10, 10
                calhmpzs,
                //$tiny_padding,
                //$tiny_padding
                calhmpyh
            ],
            center = true);

        translate([0, 0, $lenseYPosMm])
        rotate([-$opticalAxisAngleDegrees, 0, 0])
        {
            color("red", 0.3)
            {
                
                m12_lense_holder_base();
            }
        }
    }
    
    // cam and lense holder screw holes
    *union()
    {
        // multipliers are in scanner coords
        for (x_mult = [-1, 1], z = [0, -16])
        {
            /*translate([
                -lhs[0] * 1 / 3 * x_mult,
                //-lhs[1] / 2  * z_mult +- 4,
                z,
                -lhs[2] / 2])
            */
            translate([
                veye_imx287_pcb_h / 3 * x_mult,
                //calhmpzs / 2,
                calhmpzo,
                -lhs[2] / 2 + main_frame_height_y])
            screw_hole(
                m = m2,
                id = id,
                il = hole_insert_height * 2,
                hd = m2_head_diameter,
                hh = m2_head_height,
                hs = hole_side_top);
        }
    }
}

module cam_and_lense_holder()
{
    color("red", 0.3)
    m12_lense_circle();
}

module camera_hole()
{
    // TODO: calc Y (scanner coords) offset instead of
    // hardcoding it
    y_offset = 100;
    translate([0, 0, y_offset])
    // move to the front border of scanner body
    translate([0, $wawt, 0])
    front_glass_hole(gw = 26.6, gh = 19.6, gt = 2, gcr = 1);
}

module laser_glass_hole()
{
    // TODO: calc Y (scanner coords) offset instead of
    // hardcoding it
    y_offset = 0;
    translate([0, 0, y_offset])
    // move to the front border of scanner body
    translate([0, $wawt, 0])
    front_glass_hole(gw = 14, gh = 6, gt = 2, gcr = 1);
}

module laser_holder_screw_holes()
{
    lzo = -$laserZOffsetMm;
    ll = $laserBodyLengthMm;
    lhs = laser_holder_size();
    id = 4;
    
    // multipliers are in scanner coords
    for (x_mult = [-1, 1], z = [0, -16])
    {
        translate([
            -lhs[0] * 1 / 3 * x_mult,
            //-lhs[1] / 2  * z_mult +- 4,
            z,
            -lhs[2] / 2])
        screw_hole(
            m = m2,
            id = id,
            il = hole_insert_height * 2,
            hd = m2_head_diameter,
            hh = m2_head_height,
            hs = hole_side_bottom);
    }
}

module cam_lense_holder_screw_holes()
{
    id = 4;
    // scanner coords
    x_offset = 10;
    y_center = 123;
    y_offset = 3;
    
    for (x = [x_offset, -x_offset], yo = [y_offset, -y_offset])
    {
        translate([x, -wzo, y_center + yo])
        screw_hole(
            m = m2,
            id = id,
            il = hole_insert_height,
            hd = m2_head_diameter,
            hh = m2_head_height,
            hs = hole_side_front);
    }
}

module visualize_yz_range()
{
    lenseY = $lenseYPosMm;
    zBase = $actualZBaseMm + $wawt;
    farZ = zBase + $actualZRangeMm;
    
    color("red", 0.3)
    rotate([0, -90, 0])
    %polygon([
        [lenseY, 0],
        [0, zBase],
        [0, farZ],
    ]);
}

module visualize_xz_range()
{
    zBase = $actualZBaseMm + $wawt;
    farZ = zBase + $actualZRangeMm;
    
    color("red", 0.3)
    %polygon(
        [[$actualXStartMm / 2, zBase],
        [-$actualXStartMm / 2, zBase],
        [-$actualXEndMm / 2, farZ],
        [$actualXEndMm / 2, farZ],]);
}

module visualize_range()
{
    lenseY = $lenseYPosMm;
    zBase = $actualZBaseMm + $wawt;
    // TODO: use `zEnd` name instead of `farZ`?
    farZ = zBase + $actualZRangeMm;
    xs = $actualXStartMm;
    xe = $actualXEndMm;
    
    // lense center 
    lc = [0, 0, lenseY];
    // x start left
    xsl = [-xs / 2, zBase, 0];
    xsr = [xs / 2, zBase, 0];
    xel = [-xe / 2, farZ, 0];
    xer = [xe / 2, farZ, 0];
    //        0   1    2    3    4
    points = [lc, xsl, xsr, xel, xer];
    
    // front (top?) face
    // ff = [lc, xel, xer];
    ff = [0, 3, 4];
    // right face
    // rf = [xer, lc, xsr];
    rf = [4, 0, 2];
    // back (ass) face
    // bkf = [xsr, lc, xsl];
    bkf = [2, 0, 1];
    // left face
    // lf = [xsl, lc, xel];
    lf = [1, 0, 3];
    // bottom face
    // bmf = [xel, xer, xsr, xsl];
    bmf = [3, 4, 2, 1];
    
    faces = [ff, rf, bkf, lf, bmf];
    //faces = [ff];
    
    //polyhedron(points, faces);
    
    
    color("red", 0.4)
    polyhedron(
        [lc, xsl, xsr, xel, xer],
        //[ff, rf, bkf]
        faces
    );
}


// main frame
module scanner_main_frame()
{
    lhs = laser_holder_size();
    
    // inner height, width, depth and radius
    ih = main_frame_height_y;
    iw = main_frame_width_x;
    id = main_frame_depth_z;
    ir = wt;
    
    // now try to cut body with rounded corners to simplify
    // cnc manufacturing
    // TODO: move this shit to a module
    difference()
    {
        hull()
        {
            // outer cylinders
            union()
            {
                for (yd = [0, -id], zd = [0, ih])
                {
                    translate([0, -wzo + yd, -lhs[2] / 2 + zd])
                    rotate([0, 90, 0])
                    cylinder($fn = dToFn(ir * 2), r = ir, h = iw, center = true);
                }
            }
        }
        // inner cylinders
        hull()
        {
            union()
            {
                for (yd = [0 - ir, -id + ir], zd = [0 + ir, ih - ir])
                {
                    translate([0, -wzo + yd, -lhs[2] / 2 + zd])
                    rotate([0, 90, 0])
                    // scale by x a bit to fully cut
                    cylinder($fn = dToFn(ir * 2), r = ir, h = iw * 1.1, center = true);
                }
            }
        }
    }
    
    // back wall, bottom
    translate([0, bwo, 10])
    hole_holder_hot_inserts(hs = hole_side_back);
    
    // back wall, top
    translate([0, bwo, 120])
    hole_holder_hot_inserts(hs = hole_side_back);
    
    // top wall
    translate([0, 0, two])
    hole_holder_hot_inserts(hs = hole_side_top);
    
    // front wall, bottom
    translate([0, fwo, 12])
    hole_holder_hot_inserts(hs = hole_side_front);
    
    // front wall, top
    translate([0, fwo, 83])
    hole_holder_hot_inserts(hs = hole_side_front);
    
    // TODO: and now add some stands for screwing left/right covers
    // TODO: simplify inner cut cube after implementing this:
    // rounded corners won't be needed anymore

    // chinese fan
    //translate([0, -$scannerBodyFrontWallOffsetMm, 40])
    *translate([0, bwo, fan_y_offset])
    ld3007ms();
}

// s - scale
module m12_connectors(s = [1, 1, 1])
{
    // inner height, width, depth and radius (scanner coords)
    ih = main_frame_height_y;
    iw = main_frame_width_x;
    id = main_frame_depth_z;
    ir = wt;
    
    // scanner coords
    bottom_connector_y = 28;
    bcy = bottom_connector_y;
    
    m12tpd = m12_male_conn_body_thick_part_d;
    
    {
        // add outer m12 connectors
        //scale([1.05, 1, 1.05])
        //     scale([1.1, 1, 1.1])
        translate([0, bwo + $tiny_padding, bcy + m12tpd + 5])
        scale(s)
        m12_female_connector();
        
        translate([0, bwo + $tiny_padding, bcy])
        scale(s)
        m12_male_connector();
    }
}

module m12_connectors_to_cut()
{
    //translate([0, $tiny_padding * 50, 0])
    
    m12_connectors([1.05, 1, 1.05]);
}

module laser_with_holder()
{
    translate([0, -$laserZOffsetMm, 0])
    {
        %laser_body();
        laser_holder();
    }
}

module body_fan_holes()
{
    id = main_frame_depth_z;
    translate([0, fwo, fan_y_offset])
    ld3007ms_holes();
}

module radxa()
{
    translate([0, 0, 20])
    translate([0, fwo - 13, radxa_zero_3e_pcb_h - 5])
    rotate([90, 0, 0])
    //radxa_zero_3e_with_protoboard();
    {
        radxa_zero_3e_with_protoboard_and_connectors();
        %radxa_zero_3e_mount_plate_with_holes();
    }
}

module radxa_body_cutter()
{
    translate([0, 0, 20])
    translate([0, fwo - 13, radxa_zero_3e_pcb_h - 5])
    rotate([90, 0, 0])
    radxa_zero_3e_mount_plate_holes();
    
    translate([0, 0, 20])
    translate([0, fwo, radxa_zero_3e_pcb_h - 5])
    rotate([90, 0, 0])
    radxa_zero_3e_mount_plate_outer_holes();
}

module other()
{
    //cam_and_lense();
    difference()
    {
        cam_and_lense_new();
        //translate([-$tiny_padding*100, 0, 0])
        translate([0, $tiny_padding, 0])
        cam_lense_holder_screw_holes();
    }

    //visualize_yz_range();
    //visualize_xz_range();
    visualize_range();

    laser_with_holder();
    %radxa();
}

// visual block

// visualize camera
*union()
{
    translate([0, 0, $lenseYPosMm])
    %rotate([-$opticalAxisAngleDegrees, 0, 0])
    {
        //color("orange", 0.6)
        m12_lense_holder();
        %m12_lense();
        //color("red", 0.3)
        //%m12_lense_circle();

        translate([0, -$lenseSensorDistanceMm, 0])
        rotate([$sensorLenseAngleDegrees, 0, 0])
        {
            //color("yellow", 0.3)
            veye_imx287_natural();
        }
    }
}

union()
{
    other();

    *cam_lense_holder_screw_holes();

    color("green", 0.1)
    difference()
    {
        scanner_main_frame();
        camera_hole();
        laser_glass_hole();
        laser_holder_screw_holes();
        m12_connectors_to_cut();
        //m12_connectors_to_cut();
        cam_lense_holder_screw_holes();
        //body_fan_holes();
        radxa_body_cutter();
    }
    %m12_connectors();
    //m12_connectors_to_cut();
}

// printing cam/lense holder
*union()
{
    difference()
    {
        cam_and_lense_new();
        //translate([-$tiny_padding*100, 0, 0])
        translate([0, $tiny_padding, 0])
        cam_lense_holder_screw_holes();
    }
}

// printing body
*difference()
{
    scanner_main_frame();
    camera_hole();
    laser_glass_hole();
    laser_holder_screw_holes();
    //m12_connectors();
    m12_connectors_to_cut();
    //body_fan_holes();
    radxa_body_cutter();
}

*translate([0, -$laserZOffsetMm, 0])
{
    %laser_body();
    laser_holder();
}

//m12_connectors();
//m12_connectors_to_cut();
//radxa_body_cutter();