using Aitex.Core.RT.DataCenter;
using Caliburn.Micro.Core;
using MECF.Framework.Common.Device.LinMot;
using MECF.Framework.Common.OperationCenter;
using MECF.Framework.Common.Persistent.SRD;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Linq;
using System.Reflection;
using System.Runtime.CompilerServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;

namespace CyberX8_Themes.UserControls
{
    /// <summary>
    /// LinMotOtherControl.xaml 的交互逻辑
    /// </summary>
    public partial class LinMotOtherControl : UserControl
    {
        #region 属性
        public static readonly DependencyProperty ModuleNameProperty = DependencyProperty.Register("ModuleName", typeof(string), typeof(LinMotOtherControl),
          new FrameworkPropertyMetadata("", FrameworkPropertyMetadataOptions.AffectsRender));
        /// <summary>
        /// 模块名称
        /// </summary>
        public string ModuleName
        {
            get
            {
                return (string)this.GetValue(ModuleNameProperty);
            }
            set
            {
                this.SetValue(ModuleNameProperty, value);
            }
        }
        public static readonly DependencyProperty ModuleTitleProperty = DependencyProperty.Register("ModuleTitle", typeof(string), typeof(LinMotOtherControl),
            new FrameworkPropertyMetadata("", FrameworkPropertyMetadataOptions.AffectsRender));
        /// <summary>
        /// 标题
        /// </summary>
        public string ModuleTitle
        {
            get
            {
                return (string)this.GetValue(ModuleTitleProperty);
            }
            set
            {
                this.SetValue(ModuleTitleProperty, value);
            }
        }

        public static readonly DependencyProperty ParentModuleProperty = DependencyProperty.Register("ParentModule", typeof(string), typeof(LinMotOtherControl),
          new FrameworkPropertyMetadata("", FrameworkPropertyMetadataOptions.AffectsRender));

        /// <summary>
        /// ParentModule
        /// </summary>
        public string ParentModule
        {
            get
            {
                return (string)this.GetValue(ParentModuleProperty);
            }
            set
            {
                this.SetValue(ParentModuleProperty, value);
            }
        }
        public static readonly DependencyProperty IsConnectedProperty = DependencyProperty.Register("IsConnected", typeof(bool), typeof(LinMotOtherControl),
           new FrameworkPropertyMetadata(false, FrameworkPropertyMetadataOptions.AffectsRender));
        /// <summary>
        /// 连接状态
        /// </summary>
        public bool IsConnected
        {
            get
            {
                return (bool)this.GetValue(IsConnectedProperty);
            }
            set
            {
                this.SetValue(IsConnectedProperty, value);
            }
        }
        public static readonly DependencyProperty StatusWordProperty = DependencyProperty.Register("StatusWord", typeof(short), typeof(LinMotOtherControl),
         new FrameworkPropertyMetadata((short)0, new PropertyChangedCallback(StatusWordPropertyChangedCallBack)));
        /// <summary>
        /// 状态字
        /// </summary>
        public short StatusWord
        {
            get { return (short)this.GetValue(StatusWordProperty); }
            set
            {
                this.SetValue(StatusWordProperty, value);
            }
        }
        private static void StatusWordPropertyChangedCallBack(DependencyObject d, DependencyPropertyChangedEventArgs e)
        {
            short statusWord = (short)e.NewValue;
            d.SetValue(ReadyProperty, (statusWord & 0x01) == 1);
            d.SetValue(DisableProperty, (statusWord & 0b0100) >> 2 == 0);
            d.SetValue(ErrorProperty, ((statusWord & 0b01000) >> 3 == 1) || ((statusWord & 0b01000000000000) >> 12 == 1));
            d.SetValue(InitProperty, (statusWord & 0b0100000000000) >> 11 == 1);
            d.SetValue(RunProperty, (statusWord & 0b010000000000000) >> 13 == 1);
        }

        public static readonly DependencyProperty ReadyProperty = DependencyProperty.Register("Ready", typeof(bool), typeof(LinMotOtherControl),
        new FrameworkPropertyMetadata(false, FrameworkPropertyMetadataOptions.AffectsRender));
        public bool Ready
        {
            get { return (bool)this.GetValue(ReadyProperty); }
            set { SetValue(ReadyProperty, value); }
        }
        public static readonly DependencyProperty DisableProperty = DependencyProperty.Register("Disable", typeof(bool), typeof(LinMotOtherControl),
        new FrameworkPropertyMetadata(false, FrameworkPropertyMetadataOptions.AffectsRender));
        public bool Disable
        {
            get { return (bool)this.GetValue(DisableProperty); }
            set { SetValue(DisableProperty, value); }
        }
        public static readonly DependencyProperty RunProperty = DependencyProperty.Register("Run", typeof(bool), typeof(LinMotOtherControl),
        new FrameworkPropertyMetadata(false, FrameworkPropertyMetadataOptions.AffectsRender));
        public bool Run
        {
            get { return (bool)this.GetValue(RunProperty); }
            set { SetValue(RunProperty, value); }
        }
        public static readonly DependencyProperty ErrorProperty = DependencyProperty.Register("Error", typeof(bool), typeof(LinMotOtherControl),
        new FrameworkPropertyMetadata(false, FrameworkPropertyMetadataOptions.AffectsRender));
        public bool Error
        {
            get { return (bool)this.GetValue(ErrorProperty); }
            set { SetValue(ErrorProperty, value); }
        }
        public static readonly DependencyProperty InitProperty = DependencyProperty.Register("Init", typeof(bool), typeof(LinMotOtherControl),
        new FrameworkPropertyMetadata(false, FrameworkPropertyMetadataOptions.AffectsRender));
        public bool Init
        {
            get { return (bool)this.GetValue(InitProperty); }
            set { SetValue(InitProperty, value); }
        }

        public static readonly DependencyProperty DirectionProperty = DependencyProperty.Register("Direction", typeof(string), typeof(LinMotOtherControl),
       new FrameworkPropertyMetadata("",new PropertyChangedCallback(DirectionChangedCallBack)));
        public string Direction
        {
            get { return (string)this.GetValue(DirectionProperty); }
            set { SetValue(DirectionProperty, value); }
        }

        public static readonly DependencyProperty LinMotDeviceDataProperty = DependencyProperty.Register("LinMotDeviceData", typeof(LinMotDeviceData), typeof(LinMotOtherControl)
            ,new FrameworkPropertyMetadata(null, FrameworkPropertyMetadataOptions.AffectsRender));
        public LinMotDeviceData LinMotDeviceData
        {
            get { return (LinMotDeviceData)this.GetValue(LinMotDeviceDataProperty); }
            set { SetValue(LinMotDeviceDataProperty, value); }
        }
        public static readonly DependencyProperty PositionProperty = DependencyProperty.Register("Position", typeof(double), typeof(LinMotOtherControl));
        public double Position
        {
            get { return (double)this.GetValue(PositionProperty); }
            set { SetValue(PositionProperty, value); }
        }

        public static readonly DependencyProperty CycleProperty = DependencyProperty.Register("Cycle", typeof(int), typeof(LinMotOtherControl), 
            new FrameworkPropertyMetadata(10));
        public int Cycle
        {
            get { return (int)this.GetValue(CycleProperty); }
            set { SetValue(CycleProperty, value); }
        }

        public static readonly DependencyProperty CurrentScanProperty = DependencyProperty.Register("CurrentScan", typeof(int), typeof(LinMotOtherControl),
            new FrameworkPropertyMetadata(0));
        public int CurrentScan
        {
            get { return (int)this.GetValue(CurrentScanProperty); }
            set { SetValue(CurrentScanProperty, value); }
        }

        public static readonly DependencyProperty AccelProperty = DependencyProperty.Register("Accel", typeof(string), typeof(LinMotOtherControl)
            , new FrameworkPropertyMetadata("", FrameworkPropertyMetadataOptions.AffectsRender));
        public string Accel
        {
            get { return (string)this.GetValue(AccelProperty); }
            set { SetValue(AccelProperty, value); }
        }

        public static readonly DependencyProperty DecelProperty = DependencyProperty.Register("Decel", typeof(string), typeof(LinMotOtherControl)
            , new FrameworkPropertyMetadata("", FrameworkPropertyMetadataOptions.AffectsRender));
        public string Decel
        {
            get { return (string)this.GetValue(DecelProperty); }
            set { SetValue(DecelProperty, value); }
        }

        public static readonly DependencyProperty SpeedProperty = DependencyProperty.Register("Speed", typeof(string), typeof(LinMotOtherControl)
            , new FrameworkPropertyMetadata("", FrameworkPropertyMetadataOptions.AffectsRender));
        public string Speed
        {
            get { return (string)this.GetValue(SpeedProperty); }
            set { SetValue(SpeedProperty, value); }
        }

        public static readonly DependencyProperty InputSpeedProperty = DependencyProperty.Register("InputSpeed", typeof(double), typeof(LinMotOtherControl)
            , new FrameworkPropertyMetadata(0.00, FrameworkPropertyMetadataOptions.AffectsRender));
        public double InputSpeed
        {
            get { return (double)this.GetValue(InputSpeedProperty); }
            set { SetValue(InputSpeedProperty, value); }
        }
        public static readonly DependencyProperty InputDecelProperty = DependencyProperty.Register("InputDecel", typeof(double), typeof(LinMotOtherControl)
            , new FrameworkPropertyMetadata(0.00, FrameworkPropertyMetadataOptions.AffectsRender));
        public double InputDecel
        {
            get { return (double)this.GetValue(InputDecelProperty); }
            set { SetValue(InputDecelProperty, value); }
        }
        public static readonly DependencyProperty InputAccelProperty = DependencyProperty.Register("InputAccel", typeof(double), typeof(LinMotOtherControl)
            , new FrameworkPropertyMetadata(0.00, FrameworkPropertyMetadataOptions.AffectsRender));
        public double InputAccel
        {
            get { return (double)this.GetValue(InputAccelProperty); }
            set { SetValue(InputAccelProperty, value); }
        }

        public static readonly DependencyProperty SelectDirectionItemSourceProperty = DependencyProperty.Register("SelectDirectionItem", typeof(List<string>), typeof(LinMotOtherControl)
            , new FrameworkPropertyMetadata(new List<string>() { "up", "down" }, FrameworkPropertyMetadataOptions.AffectsRender));
        public List<string> SelectDirectionItemSource
        {
            get { return (List<string>)this.GetValue(SelectDirectionItemSourceProperty); }
            set { SetValue(SelectDirectionItemSourceProperty, value); }
        }
        public static readonly DependencyProperty DirectionSelectedItemProperty = DependencyProperty.Register("DirectionSelectedItem", typeof(string), typeof(LinMotOtherControl)
            , new FrameworkPropertyMetadata("", new PropertyChangedCallback(OnItemsSourceChanged)));
        /// <summary>
        /// DirectionSelectedItem
        /// </summary>
        public string DirectionSelectedItem
        {
            get {  return (string)this.GetValue(DirectionSelectedItemProperty); }
            set {  this.SetValue(DirectionSelectedItemProperty, value);}
        }
        private static void OnItemsSourceChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
        {
            if (e.NewValue != null)
            {
                LinMotDevice data = (LinMotDevice)d.GetValue(DataContextProperty);
                
                string direction = (string)e.NewValue;
                if ("up".Equals(direction))
                {
                    d.SetValue(InputSpeedProperty, data.LinMotDeviceData.UpMaxSpeed);
                    d.SetValue(InputAccelProperty, (double)data.LinMotDeviceData.UpMaxAcceleration);
                    d.SetValue(InputDecelProperty, (double)data.LinMotDeviceData.UpMaxDeceleration);
                }
                else if ("down".Equals(direction))
                {
                    d.SetValue(InputSpeedProperty, data.LinMotDeviceData.DownMaxSpeed);
                    d.SetValue(InputAccelProperty, (double)data.LinMotDeviceData.DownMaxAcceleration);
                    d.SetValue(InputDecelProperty, (double)data.LinMotDeviceData.DownMaxDeceleration);
                }
                else
                {
                    d.SetValue(InputSpeedProperty, 0.00);
                    d.SetValue(InputAccelProperty, 0.00);
                    d.SetValue(InputDecelProperty, 0.00);
                }
            }
        }
        public static readonly DependencyProperty IsEditEnableProperty = DependencyProperty.Register("IsEditEnable", typeof(bool), typeof(LinMotOtherControl));
        public bool IsEditEnable
        {
            get { return (bool)this.GetValue(IsEditEnableProperty); }
            set { SetValue(IsEditEnableProperty, value); }
        }

        /// <summary>
        /// 方向改变后的回调函数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private static void DirectionChangedCallBack(DependencyObject sender, DependencyPropertyChangedEventArgs e)
        {
            if(e.NewValue!=null)
            {
                string newValue = e.NewValue.ToString();
                LinMotDevice data = (LinMotDevice)sender.GetValue(DataContextProperty);
                LinMotDeviceData linMotDeviceData = data.LinMotDeviceData;
                if (linMotDeviceData != null)
                {
                    if (newValue == "up")
                    {
                        sender.SetValue(SpeedProperty, linMotDeviceData.UpMaxSpeed.ToString());
                        sender.SetValue(AccelProperty, linMotDeviceData.UpMaxAcceleration.ToString());
                        sender.SetValue(DecelProperty, linMotDeviceData.UpMaxDeceleration.ToString());
                    }
                    else if(newValue=="down")
                    {
                        sender.SetValue(SpeedProperty, linMotDeviceData.DownMaxSpeed.ToString());
                        sender.SetValue(AccelProperty, linMotDeviceData.DownMaxAcceleration.ToString());
                        sender.SetValue(DecelProperty, linMotDeviceData.DownMaxDeceleration.ToString());
                    }
                    else
                    {
                        sender.SetValue(SpeedProperty, "");
                        sender.SetValue(AccelProperty, "");
                        sender.SetValue(DecelProperty, "");
                    }
                }
            }
        }
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        public LinMotOtherControl()
        {
            InitializeComponent();
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Start_Click(object sender, RoutedEventArgs e)
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName}.StartPosition",Cycle);
        }

        private void Stop_Click(object sender, RoutedEventArgs e)
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName}.Stop");
        }

        private void Abort_Click(object sender, RoutedEventArgs e)
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName}.Abort");
        }

        private void Reset_Click(object sender, RoutedEventArgs e)
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName}.Reset");
        }

        private void Apply_Click(object sender, RoutedEventArgs e)
        {
            if (String.IsNullOrEmpty(DirectionSelectedItem))
            {
                MessageBox.Show("Select direction first", "Warning", MessageBoxButton.OK, MessageBoxImage.Error);
            }
            else if (DirectionSelectedItem == "up")
            {
                double speed = InputSpeed == 0.00 ? LinMotDeviceData.UpMaxSpeed : InputSpeed;
                int acc = InputAccel == 0.00 ? LinMotDeviceData.UpMaxAcceleration : (int)InputAccel;
                int dec = InputDecel == 0.00 ? LinMotDeviceData.UpMaxDeceleration : (int)InputDecel;
                InvokeClient.Instance.Service.DoOperation($"{ModuleName}.UpdateSpeedData", ModuleName, DirectionSelectedItem, speed, acc, dec);
            }
            else
            {
                double speed = InputSpeed != 0.00 ? InputSpeed : LinMotDeviceData.DownMaxSpeed;
                int acc = InputAccel != 0.00 ? (int)InputAccel : LinMotDeviceData.DownMaxAcceleration;
                int dec = InputDecel != 0.00 ? (int)InputDecel : LinMotDeviceData.DownMaxDeceleration;
                InvokeClient.Instance.Service.DoOperation($"{ModuleName}.UpdateSpeedData", ModuleName, DirectionSelectedItem, speed, acc, dec);
            }

        }
        private void Status_Click(object sender, RoutedEventArgs e)
        {
            IsEditEnable = false;
        }

        private void Setting_Click(object sender, RoutedEventArgs e)
        {
            IsEditEnable = true;
        }
    }
}