using Bro.Common.Helper;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing.Design;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static Bro.Common.Helper.EnumHelper;

namespace Bro.Common.Model
{
    /// <summary>
    /// 轴配置
    /// </summary>
    public class AxisSetting : IComplexDisplay
    {
        [Category("轴配置")]
        [DisplayName("轴号索引")]
        [Description("AxisIndex：轴号索引")]
        public int AxisIndex { get; set; }

        [Category("轴配置")]
        [DisplayName("轴名称")]
        [Description("AxisName：轴名称")]
        public string AxisName { get; set; }

        [Category("轴配置")]
        [DisplayName("轴是否启用")]
        [Description("IsAxisEnabled：轴是否启用")]
        public bool IsAxisEnabled { get; set; } = false;

        [Category("换算配置")]
        [DisplayName("脉冲数换算比例")]
        [Description("脉冲数和其他计量单位的换算比例，例如设置为1000，表示1000个脉冲等于1uint")]
        public int AxisRatio { get; set; } = 1;

        //[Category("速度配置")]
        //[DisplayName("默认速度参数")]
        //[Description("VelocityPara：默认速度参数")]
        //[TypeConverter(typeof(ComplexObjectConvert))]
        //[Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
        //public VelocityPara VelocityPara { get; set; } = new VelocityPara();

        //[Category("回原点设置")]
        //[DisplayName("回原点模式")]
        //[Description("HomeMode：回原点模式。0：一般模式 1：极限限位模式 2：外部触发模式")]
        //public int HomeMode { get; set; } = 0;

        //[Category("回原点设置")]
        //[DisplayName("回原点方向")]
        //[Description("IsHomePositive：回原点方向。 true：正方向开始  false：负方向开始")]
        //public bool IsHomePositive { get; set; } = true;

        //[Category("回原点设置")]
        //[DisplayName("是否自动回原点")]
        //[Description("IsAutoGoHome：是否自动回原点。 true：是  false：否")]
        //public bool IsAutoGoHome { get; set; } = false;

        //[Category("超时设置")]
        //[DisplayName("回原点超时")]
        //[Description("TimeOutHome：回原点超时，单位毫秒")]
        //public int TimeOutHome { get; set; } = 30000;

        //[Category("超时设置")]
        //[DisplayName("运动超时")]
        //[Description("TimeOutMove：运动超时，单位毫秒")]
        //public int TimeOutMove { get; set; } = 10000;

        //[Category("开闭环设置")]
        //[DisplayName("是否使用Cmmd回馈")]
        //[Description("IsUseCmmdPosition：是否使用Cmmd回馈")]
        //public bool IsUseCmmdPosition { get; set; } = false;

        //[Category("开闭环设置")]
        //[DisplayName("是否使用板卡反馈停止信号")]
        //[Description("IsUseMDNStopSignal：是否使用板卡反馈停止信号")]
        //public bool IsUseMDNStopSignal { get; set; } = false;

        //[Category("开闭环设置")]
        //[DisplayName("是否启用报警")]
        //[Description("IsUseWarning：是否启用报警")]
        //public bool IsUseWarning { get; set; } = false;

        //[Category("暂停配置")]
        //[DisplayName("是否启用立即暂停")]
        //[Description("IsImmediatePause：是否启用立即暂停")]
        //public bool IsImmediatePause { get; set; } = false;

        //[Category("暂停配置")]
        //[DisplayName("轴位置处于区间内时适用的暂停操作")]
        //[Description("ImmediatePauseSections：当轴位置处于区间内时适用的暂停操作")]
        //[TypeConverter(typeof(CollectionCountConvert))]
        //[Editor(typeof(ComplexCollectionEditor<Section>), typeof(UITypeEditor))]
        //public List<Section> ImmediatePauseSections { get; set; } = new List<Section>();

        public string GetDisplayText()
        {
            return AxisIndex + "-" + AxisName + "-" + (IsAxisEnabled ? "启用" : "禁用");
        }
    }

    /// <summary>
    /// 位置对象
    /// </summary>
    public class Section : IComplexDisplay
    {
        [Category("暂停区间")]
        [DisplayName("起始位置")]
        [Description("StartPosition：起始位置")]
        public int StartPosition { get; set; }

        [Category("暂停区间")]
        [DisplayName("结束位置")]
        [Description("EndPosition：结束位置")]
        public int EndPosition { get; set; }

        public string GetDisplayText()
        {
            return $"{StartPosition}--{EndPosition}";
        }
    }

    /// <summary>
    /// 速度参数对象
    /// </summary>
    public class VelocityPara
    {
        [Category("速度配置")]
        [DisplayName("速度")]
        [Description("Velocity：速度,为0时表示不修改当前设置")]
        public double Velocity { get; set; } = 0;

        [Category("速度配置")]
        [DisplayName("加速度")]
        [Description("Acc：加速度,为0时表示不修改当前设置")]
        public double Acc { get; set; } = 1;

        [Category("速度配置")]
        [DisplayName("减速度")]
        [Description("减速度,为0时表示不修改当前设置")]
        public double Dec { get; set; } = 1;
    }

    /// <summary>
    /// 回原点参数对象
    /// </summary>
    public class GoHomePara
    {
        [Category("回原点参数")]
        [DisplayName("回原点方式")]
        [Description("HomeMode：回原点方式 （HOME_MODE_LIMIT = 10; HOME_MODE_LIMIT_HOME = 11; HOME_MODE_LIMIT_INDEX = 12; HOME_MODE_LIMIT_HOME_INDEX = 13;HOME_MODE_HOME = 20;HOME_MODE_HOME_INDEX = 22;HOME_MODE_INDEX = 30;")]
        public short HomeMode { get; set; } = 11;

        [Category("回原点参数")]
        [DisplayName("回原点方向")]
        [Description("HomeDir：1 正向，-1 负向")]
        public short HomeDir { get; set; } = 1;

        [Category("回原点参数")]
        [DisplayName("回原点方向")]
        [Description("HomeDir：1 正向，-1 负向")]
        public short Edge { get; set; } = 0;

        [Category("回原点参数")]
        [DisplayName("回原点最低速度")]
        [Description("LowVelocity：速度,为0时表示不修改当前设置")]
        public double LowVelocity { get; set; } = 50;


        [Category("回原点参数")]
        [DisplayName("回原点最高速度")]
        [Description("HighVelocity：速度,为0时表示不修改当前设置")]
        public double HighVelocity { get; set; } = 50;

        [Category("回原点参数")]
        [DisplayName("搜搜距离")]
        [Description("SearchHomeDistance：搜搜距离")]
        public int SearchHomeDistance { get; set; } = 9999999;

        [Category("回原点参数")]
        [DisplayName("偏移距离")]
        [Description("HomeOffset：偏移距离")]
        public int HomeOffset { get; set; } = 0;

        [Category("回原点参数")]
        [DisplayName("跳过步长")]
        [Description("EscapeStep：跳过步长")]
        public int EscapeStep { get; set; } = 1000;

    }

    /// <summary>
    /// 运动对象
    /// </summary>
    public class MovingOption : INotifyPropertyChanged, IComplexDisplay
    {
        private int axisIndex = 0;
        [Category("运动配置")]
        [DisplayName("运动轴索引")]
        [Description("AxisIndex：运动轴索引")]
        [TypeConverter(typeof(AxisIndexConvert))]
        public int AxisIndex
        {
            get => axisIndex;
            set
            {
                if (axisIndex != value)
                {
                    axisIndex = value;
                    PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("AxisIndex"));
                }
                axisIndex = value;
            }
        }

        private MotorMoveMode moveMode = MotorMoveMode.Normal;
        [Category("运动配置")]
        [DisplayName("运动模式")]
        [Description("MoveMode：运动模式")]
        public MotorMoveMode MoveMode
        {
            get => moveMode;
            set
            {
                if (moveMode != value)
                {
                    moveMode = value;
                    PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("MoveMode"));
                }

                moveMode = value;
            }
        }

        private bool isAbsolute = true;
        [Category("运动配置")]
        [DisplayName("是否绝对运动")]
        [Description("IsAbsolute：是否绝对运动")]
        public bool IsAbsolute
        {
            get => isAbsolute;
            set
            {
                if (isAbsolute != value)
                {
                    isAbsolute = value;
                    PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("IsAbsolute"));
                }

                isAbsolute = value;
            }
        }

        private int destination = 0;
        [Category("运动配置")]
        [DisplayName("目的地")]
        [Description("Destination：目的地")]
        public int Destination
        {
            get => destination;
            set
            {
                if (destination != value)
                {
                    destination = value;
                    PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("Destination"));
                }

                destination = value;
            }
        }

        private VelocityPara velocityPara = new VelocityPara();
        [Category("运动配置")]
        [DisplayName("速度参数")]
        [Description("VelocityPara：速度参数")]
        [TypeConverter(typeof(ComplexObjectConvert))]
        [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
        public VelocityPara VelocityPara
        {
            get => velocityPara;
            set
            {
                velocityPara = value;
                PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("VelocityPara"));
            }
        }

        private GoHomePara goHomePara = new GoHomePara();
        [Category("运动配置")]
        [DisplayName("回原点参数")]
        [Description("GoHomePara：速度参数")]
        [TypeConverter(typeof(ComplexObjectConvert))]
        [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
        public GoHomePara GoHomePara
        {
            get => goHomePara;
            set
            {
                goHomePara = value;
                PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("GoHomePara"));
            }
        }

        [Category("板卡运动配置")]
        [Description("超时设置，单位：ms")]
        [DisplayName("运动超时")]
        public int MovingTimeout { get; set; } = 0;

        internal List<AxisSetting> _axisSettingList = new List<AxisSetting>();
        public void SetAxisSetting(List<AxisSetting> settings)
        {
            if (settings != null)
                _axisSettingList = settings;
        }

        public string GetDisplayText()
        {
            string axisName = AxisIndex.ToString();
            var axisSet = _axisSettingList.FirstOrDefault(a => a.AxisIndex == AxisIndex);
            if (axisSet != null)
            {
                axisName += ("-" + axisSet.AxisName);
            }
            return axisName + "," + MoveMode.ToString() + "," + (IsAbsolute ? "Abs" : "Rel") + "," + Destination;
        }
        public event PropertyChangedEventHandler PropertyChanged;
    }

    public class AxisIndexConvert : TypeConverter
    {
        Dictionary<int, string> _indexNameDict = new Dictionary<int, string>();

        public override bool GetStandardValuesSupported(ITypeDescriptorContext context)
        {
            return true;
        }

        public override StandardValuesCollection GetStandardValues(ITypeDescriptorContext context)
        {
            MovingOption mo = context.Instance as MovingOption;

            _indexNameDict = mo._axisSettingList.ToDictionary(a => a.AxisIndex, a => a.AxisIndex + "-" + a.AxisName);

            return new StandardValuesCollection(_indexNameDict.Keys);
        }

        public override bool CanConvertFrom(ITypeDescriptorContext context, Type sourceType)
        {
            if (sourceType == typeof(string))
            {
                return true;
            }
            return base.CanConvertFrom(context, sourceType);
        }

        public override object ConvertFrom(ITypeDescriptorContext context, System.Globalization.CultureInfo culture, object v)
        {
            if (v is string)
            {
                foreach (var indexName in _indexNameDict)
                {
                    if (indexName.Value == v.ToString())
                    {
                        return indexName.Key;
                    }
                }
                return Convert.ToInt32(v);
            }
            return base.ConvertFrom(context, culture, v);
        }

        public override object ConvertTo(ITypeDescriptorContext context, System.Globalization.CultureInfo culture, object v, Type destinationType)
        {
            if (destinationType == typeof(string))
            {
                if (_indexNameDict.ContainsKey(Convert.ToInt32(v)))
                {
                    return _indexNameDict[Convert.ToInt32(v)];
                }
            }
            return base.ConvertTo(context, culture, v, destinationType);
        }

        public override bool GetStandardValuesExclusive(ITypeDescriptorContext context)
        {
            return false;
        }
    }

    public class AxisConflictSet : IComplexDisplay
    {
        [Category("1.轴冲突条件")]
        [Description("轴冲突条件，满足全部条件时轴运动需要检查冲突")]
        [TypeConverter(typeof(CollectionCountConvert))]
        [Editor(typeof(ComplexCollectionEditor<AxisLimit>), typeof(UITypeEditor))]
        public List<AxisLimit> AxisOptions { get; set; } = new List<AxisLimit>();

        [Category("1.轴冲突条件")]
        [Description("IO冲突条件，满足全部条件时轴运动需要检查冲突")]
        [TypeConverter(typeof(CollectionCountConvert))]
        [Editor(typeof(ComplexCollectionEditor<IOLimit>), typeof(UITypeEditor))]
        public List<IOLimit> IOOptions { get; set; } = new List<IOLimit>();

        [Category("2.轴冲突限制")]
        [Description("轴冲突限制，轴运动允许区间")]
        [TypeConverter(typeof(CollectionCountConvert))]
        [Editor(typeof(ComplexCollectionEditor<AxisLimit>), typeof(UITypeEditor))]
        public List<AxisLimit> AxisLimits { get; set; } = new List<AxisLimit>();

        [Category("2.轴冲突限制")]
        [Description("IO允许条件，允许输出的IO")]
        [TypeConverter(typeof(CollectionCountConvert))]
        [Editor(typeof(ComplexCollectionEditor<IOLimit>), typeof(UITypeEditor))]
        public List<IOLimit> IOOutputs { get; set; } = new List<IOLimit>();

        [Category("3.轴冲突启用")]
        [Description("true：启用轴冲突限制 false：不启用轴冲突限制")]
        public bool IsEnabled { get; set; } = true;

        public string GetDisplayText()
        {
            string optionStr = "Options:" + String.Join(";", AxisOptions.Select(a => a.GetDisplayText()));
            string limitStr = "Limits:" + String.Join(";", AxisLimits.Select(a => a.GetDisplayText()));

            return optionStr + "|" + limitStr;
        }
    }

    public class AxisLimit : IComplexDisplay
    {
        [Category("1.轴号")]
        [Description("1.轴号")]
        public int AxisIndex { get; set; }

        [Category("2.轴最小限制")]
        [Description("2.轴最小限制")]
        public int LimitMin { get; set; }

        [Category("3.轴最大限制")]
        [Description("3.轴最大限制")]
        public int LimitMax { get; set; }

        private int currentPosition = 0;
        [Browsable(false)]
        [JsonIgnore]
        public int CurrentPosition
        {
            get => currentPosition;
            set
            {
                if (currentPosition != value)
                {
                    if (value >= LimitMin && value <= LimitMax)
                    {
                        IsInLimit = true;
                    }
                    else
                    {
                        IsInLimit = false;
                    }
                }

                currentPosition = value;
            }
        }

        [Browsable(false)]
        [JsonIgnore]
        public bool IsInLimit { get; set; }

        public string GetDisplayText()
        {
            return String.Format("Index:{0},{1}->{2}", AxisIndex, LimitMin, LimitMax);
        }
    }

    public class IOLimit : IComplexDisplay
    {
        [Category("1.IO限制")]
        [Description("IO索引")]
        public int IOIndex { get; set; }

        [Category("1.IO限制")]
        [Description("IO限制值。输入判断时该值作为启用判断值，输出判断时该值作为允许输出值")]
        public bool IOSignal { get; set; }

        public string GetDisplayText()
        {
            return IOIndex + "--" + IOSignal.ToString();
        }
    }

    public class AxisMovingStay
    {
        public int Position { get; set; }

        public int Velocity { get; set; }

        public AutoResetEvent MoveHandle { get; set; } = new AutoResetEvent(false);

        public AutoResetEvent MoveSendHandle { get; set; } = new AutoResetEvent(false);
    }
}