using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Model;
using Bro.Common.Model.Interface;
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 : InitialMonitorConfigBase
    {
        [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("反馈超时重试次数")]
        public int TimeoutRetryTimes { get; set; } = 5;

        [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("动作设置")]
        [Description("动作超时设置，单位min")]
        public float OperationTimeout { get; set; } = 1;

        [Category("通信报警配置")]
        [Description("通信过程中反馈报警代码配置")]
        [TypeConverter(typeof(CollectionCountConvert))]
        [Editor(typeof(ComplexCollectionEditor<RobotReplyWarningCode>), typeof(UITypeEditor))]
        public List<RobotReplyWarningCode> RobotReplyWarnings { get; set; } = new List<RobotReplyWarningCode>();
    }

    public class RobotReplyWarningCode : IComplexDisplay
    {
        [Category("反馈报警配置")]
        [Description("报警代码")]
        public int WarningCode { get; set; }

        [Category("反馈报警配置")]
        [Description("报警代码描述")]
        public string WarningDescription { get; set; }

        public string GetDisplayText()
        {
            return $"{WarningCode}-{WarningDescription}";
        }
    }

    [Device("AuboRobot", "奥博机器人", EnumHelper.DeviceAttributeType.OperationConfig)]
    public class AuboRobotOperationConfig : OperationConfigBase
    {
        [Category("动作指令")]
        [Description("动作指令")]
        public RobotMsgAction Action { get; set; } = RobotMsgAction.Move;

        [Category("参数")]
        [Description("参数1")]
        public int Para1 { get; set; } = 0;

        [Category("参数")]
        [Description("参数2")]
        public int Para2 { get; set; } = 0;

        [Category("运动配置")]
        [Description("机器人运动点位")]
        [TypeConverter(typeof(ComplexObjectConvert))]
        [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
        public RobotPoint Point { get; set; } = new RobotPoint();

        [Category("操作配置")]
        [Description("是否等待完成信号")]
        public bool IsWaitFinished { get; set; } = true;
    }

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

        public int ID { get; set; }

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

        public int Para1 { get; set; }

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

        public RobotPoint Point { get; set; } = new RobotPoint();

        public byte[] GetMsgBytes(string seperator, string endChar, out string msg)
        {
            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(Para1.ToString("D2"));
                list.Add(Para2.ToString("D2"));

                list.Add(GetFormatString(Point.X));
                list.Add(GetFormatString(Point.Y));
                list.Add(GetFormatString(Point.Z));
                list.Add(GetFormatString_Angle(Point.A));
                list.Add(GetFormatString_Angle(Point.B));
                list.Add(GetFormatString_Angle(Point.C));
            }

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

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

        private string GetFormatString(float x)
        {
            string s = x.ToString("f10");

            s = s.TrimEnd(new char[] { '0' });

            bool isNegative = x < 0;

            while (s.Length < 11)
            {
                s = s.Insert(isNegative ? 1 : 0, "0");
            }

            return s;
        }

        /// <summary>
        /// 将角度数值转换为11位字符串，输入角度区间0~360，输出角度区间-180~+180
        /// </summary>
        /// <param name="x"></param>
        /// <returns></returns>
        private string GetFormatString_Angle(float x)
        {
            if (x > 180)
            {
                x = x - 360;
            }

            return GetFormatString(x);
        }

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

                msg.Point = new RobotPoint()
                {
                    X = float.Parse(datas[5]),
                    Y = float.Parse(datas[6]),
                    Z = float.Parse(datas[7]),
                    A = float.Parse(datas[8]) < 0 ? float.Parse(datas[8]) + 360 : float.Parse(datas[8]),
                    B = float.Parse(datas[9]) < 0 ? float.Parse(datas[9]) + 360 : float.Parse(datas[9]),
                    C = float.Parse(datas[10]) < 0 ? float.Parse(datas[10]) + 360 : float.Parse(datas[10]),
                };
            }
            else
            {
                msg.Para1 = int.Parse(datas[2]);
            }

            return msg;
        }

        public string GetDisplayText()
        {
            string msg = $"序号：{ID},{Action.ToString()}_{Para1.ToString()}_{Para2.ToString()}_{Point.GetDisplayText()}";
            return msg;
        }
    }

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

    public enum RobotMsgAction
    {
        Move = 1,
        Unload = 2,
        Load = 3,
        GetPosition = 4,
        /// <summary>
        /// 指定当前点位为基准点
        /// </summary>
        BasePoint = 5,
        IOSet = 6,
        IOQuery = 7,
        Calibration = 9,
        StandardPoint = 10,
    }

    public enum MoveType
    {
        [Description("绝对运动")]
        AbsoluteMove = 1,
        [Description("机器人坐标系相对运动")]
        RobotRelativeMove = 2,
        [Description("相对某个基准点位的相对运动")]
        BasedPointRelativeMove = 3,
        [Description("回原点")]
        Origin = 4,
        [Description("左侧姿势")]
        LeftPose = 6,
        [Description("右侧姿势")]
        RightPose = 5,
        [Description("前侧姿势")]
        FrontPose = 7,
        [Description("相机坐标系相对运动")]
        CameraRelativeMove = 12,
    }

    public enum TrayType
    {
        FullTray = 1,
        EmptyTray = 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,
    //}
}