using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Model;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing.Design;
using System.Linq;

namespace Bro.Device.AuboRobot
{
    [Device("AuboRobot", "奥博机器人", EnumHelper.DeviceAttributeType.InitialConfig)]
    public class AuboRobotInitialConfig : InitialConfigBase
    {
        [Category("机器人设置")]
        [Description("机器人通信IP")]
        public string RobotIP { get; set; } = "0.0.0.0";

        [Category("机器人设置")]
        [Description("机器人通信端口")]
        public int RobotPort { get; set; }

        [Category("通信设置")]
        [Description("反馈超时设置，单位ms")]
        public int ReplyTimeout { get; set; } = 1000;

        [Category("通信设置")]
        [Description("协议文本结束字符")]
        public string EndChar { get; set; } = "#";

        [Category("通信设置")]
        [Description("协议内容分隔字符")]
        public string Seperator { get; set; } = ",";

        [Category("IO监听设置")]
        [Description("IO监听操作配置集合")]
        [TypeConverter(typeof(CollectionCountConvert))]
        [Editor(typeof(ComplexCollectionEditor<MonitorSet>), typeof(UITypeEditor))]
        public List<MonitorSet> MonitorSetCollection { get; set; } = new List<MonitorSet>();

        [Category("IO监听设置")]
        [Description("IO监听间隔，以ms为单位")]
        public int ScanInterval { get; set; } = 100;
    }

    [Device("AuboRobot", "奥博机器人", EnumHelper.DeviceAttributeType.OperationConfig)]
    public class AuboRobotOperationConfig : OperationConfigBase
    {
    }

    public class RobotMsg : IComplexDisplay
    {
        public RobotMsgType Type { get; set; } = RobotMsgType.Send;

        public int ID { get; set; }

        public RobotMsgAction Action { get; set; } = RobotMsgAction.Move;

        public RobotMsgParas Para1 { get; set; } = RobotMsgParas.None;

        public int Para2 { get; set; } = 0;

        /// <summary>
        /// Paras不包含Para1,Para2内容
        /// </summary>
        public List<string> Datas { get; set; } = new List<string>();

        public byte[] GetMsgBytes(string seperator, string endChar)
        {
            List<string> list = new List<string>() { ((int)Type).ToString("D2"), ID.ToString("D2") };

            if (Type == RobotMsgType.Send)
            {
                list.Add(((int)Action).ToString("D2"));

                list.Add(((int)Para1).ToString("D2"));
                list.Add(Para2.ToString("D2"));

                if (Datas == null)
                {
                    Datas = new List<string>();
                }

                while (Datas.Count < 5)
                {
                    Datas.Add("0");
                }

                list.AddRange(Datas.ConvertAll(s =>
                {
                    string res = float.Parse(s).ToString("F7");

                    while (res.Length < 11)
                    {
                        res = "0" + s;
                    }
                    return res;
                }));
            }

            string msg = string.Join(seperator, list);

            return System.Text.Encoding.ASCII.GetBytes(msg + endChar);
        }

        public static RobotMsg GetRobotMsg(string data, string seperator)
        {
            string[] datas = data.Split(new string[] { seperator }, System.StringSplitOptions.RemoveEmptyEntries);

            RobotMsg msg = new RobotMsg();

            msg.Type = (RobotMsgType)int.Parse(datas[0]);
            msg.ID = int.Parse(datas[1]);

            if (msg.Type == RobotMsgType.Send)
            {
                msg.Action = (RobotMsgAction)int.Parse(datas[2]);

                msg.Para1 = (RobotMsgParas)int.Parse(datas[3]);
                msg.Para2 = int.Parse(datas[4]);

                msg.Datas = datas.Skip(5).ToList();
            }

            return msg;
        }

        public string GetDisplayText()
        {
            string msg = $"序号：{ID},{Action.ToString()}_{Para1.ToString()}_{Para2.ToString()}_{(Datas.Count > 0 ? ("_" + string.Join(",", Datas)) : "")}";
            return msg;
        }
    }

    public enum RobotMsgType
    {
        Send = 1,
        Rec = 2,
    }

    public enum RobotMsgAction
    {
        Move = 1,
        Unload = 2,
        Load = 3,
        IO = 6,
        Calibration = 9,
        StandardPoint = 10,
    }

    public enum RobotMsgParas
    {
        None = 0,
        Home = 1,
        LineSnap = 2,
        EmptyTray = 3,
        FullTray = 4,
        UnloadEmptyTraySnap = 5,
        LoadFullTraySnap = 6,
        Query = 7,
    }
}