using Advantech.Motion;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using ProductionControl.Device;
using ProductionControl.Utils;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Drawing.Imaging;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Xml.Linq;
using static ProductionControl.Device.AxisDev;
using static ProductionControl.UI.UIAxisDev;

namespace ProductionControl.UI
{
    public partial class UIAxisDev : UserControl
    {
        SynchronizationContext SyncContext = null;
         
        public Action<string> GetParamsEvent;
        //
        private AxisDevProp prop = new AxisDevProp();
        private AxisDev dev;
        private JObject dataReturn = new JObject();

        //
        ScannerDev devScannerGentl;
        ScannerDev devScannerCC;
        public UIAxisDev()
        {
            InitializeComponent();
            propertyGrid1.PropertyValueChanged += propertyGrid1_PropertyValueChanged;
            refreshUIState();
            //获取UI线程同步上下文
            SyncContext = SynchronizationContext.Current;
            //init(); 
        }
        private void refreshUIState()
        {
            foreach (ToolStripItem item in this.toolStrip1.Items)
            {
                if (item.Text == "打开设备")
                    item.Visible = (dev == null || !dev.IsInit);
                else
                    this.propertyGrid1.Enabled=item.Enabled = !(dev == null || !dev.IsInit);
            }
        }
        public string getParamsData()
        {
            if (prop.Enable)
            {
                string axisIndex = ((int)prop.AxisIndex).ToString(); 
                Utils.Util.addKey(dataReturn, axisIndex, JObject.Parse(prop.serialize())); 
            }
            //return prop.serialize(); 
            return dataReturn.ToString();
        }
        private void tbtnSave_Click(object sender, EventArgs e)
        { 
            if (dataReturn.Properties().Count() < 1)
            {
                MessageBox.Show("请设置需要启用的轴！", "失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
                return;
            }  
            //GetParamsEvent?.Invoke(prop.serialize());
            GetParamsEvent?.Invoke(getParamsData());
        }
        public bool stopNow()
        {
            if (dev != null && dev.IsInit)
            {
                dev.stopNow();
                return true;
            }
            else
                return false;
        }
        public void setParamsData(string json)
        {
            tsbtnScannerList.Visible = true;
            if (json == "") return;
            JObject dataReturnTmp = JObject.Parse(json); 
            //兼容旧版单轴
            if (!dataReturnTmp.ContainsKey("0") && !dataReturnTmp.ContainsKey("1") && !dataReturnTmp.ContainsKey("2") && !dataReturnTmp.ContainsKey("3"))
            {
                if(!dataReturnTmp.ContainsKey("Enable")) 
                    dataReturnTmp.Add("Enable",true);
                dataReturn.Add(dataReturnTmp.Value<int>("AxisIndex").ToString(), dataReturnTmp);
            }
            else
                dataReturn = dataReturnTmp;

            // 
            foreach (var property in dataReturn.Properties())
            {
                prop.deserialize(property.Value.ToString());
                break;
            }

            this.propertyGrid1.Refresh();
        }
        public void init()
        {
            this.tbtnSave.Visible = tssSave.Visible = (GetParamsEvent != null);
            this.propertyGrid1.SelectedObject = prop;
            dev = new AxisDev();
            dev.WarningEvent = (level, info) =>
            {
                txtLog.Text = $"({level}){info}";
            };

            //STATE
            dev.axisStateEvent += new System.Action<int, AxisStateType, uint>((axisIndex, type, stateValue) =>
            {
                if (axisIndex != (int)prop.AxisIndex)
                    return;

                switch (type)
                {
                    case AxisStateType.AxisState:
                        if (prop.AxState != (AxisState)stateValue)
                        {
                            prop.AxState = (AxisState)stateValue;
                            this.refreshUI();
                        }
                        break;
                    case AxisStateType.AxisIOState:
                        if (prop.AxIOStatus != stateValue)
                        {
                            prop.AxIOStatus = stateValue;

                            prop.ALM = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_ALM) > 0;//需IO close 
                            prop.EMG = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_EMG) > 0;//需重置 state 
                            prop.LMTP = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_LMTP) > 0;//右极限  true->false
                            prop.LMTN = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_LMTN) > 0;//左极限
                            prop.ORG = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_ORG) > 0;
                            prop.EZ = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_EZ) > 0;
                            prop.SVON = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_SVON) > 0;
                            this.refreshUI();

                        }
                        break;
                    case AxisStateType.AxisMotionState:
                        if (prop.AxMotionState != stateValue)
                        {
                            prop.AxMotionState = stateValue;
                            this.refreshUI();
                        }
                        break;
                }
            });
            //位置POS
            dev.axisPosEvent += new System.Action<int, AxisPosType, double>((axisIndex, type, pos) =>
            {
                if (axisIndex != (int)prop.AxisIndex)
                    return;

                switch (type)
                {
                    case AxisPosType.CmdPos:
                        if (prop.CmdPos != pos)
                        {
                            prop.CmdPos = pos;
                            this.refreshUI();
                        }
                        break;
                    case AxisPosType.ActualPos:
                        if (prop.ActualPos != pos)
                        {
                            prop.ActualPos = pos;
                            this.refreshUI();
                        }
                        break;
                }
            });

            if (!dev.start(Config.Axis_PulseOutMode,true))
            {
                this.closeDev();
                return;
            }

            refreshAxisVelParam();
            refreshUIState(); 
        }
        private void refreshUI(bool must=false)
        {
            SyncContext.Post(m =>
            {
                var result = m as string;
                if(!stopRefresh || must)
                    propertyGrid1.Refresh();
                tbtnJogOnOff.Text = (prop.AxState == AxisState.STA_AX_EXT_JOG) ? "关闭Jog" : "开启Jog";
                tbtnLeft.Enabled = tbtnRight.Enabled = (prop.AxState == AxisState.STA_AX_EXT_JOG);
            }, "异步操作完成结果"); 
        }
        private void refreshAxisVelParam()
        {
            int axisIndex = (int)prop.AxisIndex; 
            //prop.HomeMode = (AxitHomeMode)Config.Axis_HomeMode[axisIndex];

            var values = dev.getAxisVelParam(axisIndex);
            prop.VelLow = dev.tomm(values[0], Config.Axis_MM2PulseNum[axisIndex]);
            prop.VelHigh = dev.tomm(values[1], Config.Axis_MM2PulseNum[axisIndex]);
            prop.Acc = dev.tomm(values[2], Config.Axis_MM2PulseNum[axisIndex]);
            prop.Dec = dev.tomm(values[3], Config.Axis_MM2PulseNum[axisIndex]);
        }
        private void closeDev()
        {
            try
            {
                if (dev == null) 
                    return; 
                dev.stop();
                closeScannerDev();
            }
            catch (Exception ex)
            {
                this.refreshUIState();
                MessageBox.Show(ex.Message, "失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        protected override void OnHandleDestroyed(EventArgs e) 
        {
            base.OnHandleDestroyed(e);
            // 在此添加需要手动释放资源的代码
            this.closeDev();
        }

        private void tbtnRun_Click(object sender, EventArgs e)
        {
            try
            {
                this.stopRefresh = false;
                dev.setAxisVelParam(prop.VelLow, prop.VelHigh, prop.Acc, prop.Dec, (int)prop.AxisIndex);
                dev.move_ptp((int)prop.AxisIndex, prop.Value, prop.MoveMode);
                //running...
            }
            catch(Exception ex)
            {
                MessageBox.Show(ex.Message, "失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
            } 
        }

        private void tbtnExport_Click(object sender, EventArgs e)
        {
            string filePath = FileUtil.saveAsFile($"Axis配置.json", "JSON|*.json");
            if (filePath != "")
            {
                //string jsonText = prop.serialize(); 
                string jsonText = dataReturn.ToString();
                File.WriteAllText(filePath, jsonText);
                MessageBox.Show("保存成功！", "成功", MessageBoxButtons.OK, MessageBoxIcon.Information);
            }
        }

        private void tbtnImport_Click(object sender, EventArgs e)
        {
            string filePath = FileUtil.selectFile("JSON|*.json");
            if (filePath != "")
            {
                string jsonText = File.ReadAllText(filePath);
                JObject dataReturnTmp = JObject.Parse(jsonText);
                //兼容旧版单轴
                if (!dataReturnTmp.ContainsKey("0") && !dataReturnTmp.ContainsKey("1") && !dataReturnTmp.ContainsKey("2") && !dataReturnTmp.ContainsKey("3"))
                {
                    dataReturnTmp.Add("Enable", true);
                    dataReturn.Add(dataReturnTmp.Value<int>("AxisIndex").ToString(), dataReturnTmp);
                }
                else
                    dataReturn = dataReturnTmp;

                //
                foreach (var property in dataReturn.Properties())
                {
                    prop.deserialize(property.Value.ToString());
                    break;
                }
                this.propertyGrid1.Refresh(); 
            }
        }

        private void tbtnHome_Click(object sender, EventArgs e)
        {
            this.stopRefresh = false;
            int axitIndex = (int)prop.AxisIndex;
            dev.setAxisVelParam(prop.VelLow, prop.VelHigh, prop.Acc, prop.Dec, (int)prop.AxisIndex);
            //dev.setAxisVelParam(prop.VelLow, prop.VelHigh, prop.Acc, prop.Dec, (int)prop.AxisIndex,true);
            dev.home(axitIndex, (uint)Config.Axis_HomeMode[axitIndex], (uint)Config.Axis_HomeDir[axitIndex]);
            //if (prop.DeviceType == AxisType.默认)
            //{
            //    dev.home((int)prop.AxisIndex);
            //}
            //else //直线电机 
            //{
            //    //dev.move_ptp((int)prop.AxisIndex, - prop.ActualPos, false);
            //    dev.move_ptp((int)prop.AxisIndex, 0, true);
            //}
        }

        private void tbtnLeft_MouseDown(object sender, MouseEventArgs e)
        {
            this.stopRefresh = false;
            dev.jog((int)prop.AxisIndex, 1);
        } 
        private void tbtnLeft_MouseUp(object sender, MouseEventArgs e)
        {
            dev.stopDec((int)prop.AxisIndex);
        }

        private void tbtnRight_MouseDown(object sender, MouseEventArgs e)
        {
            this.stopRefresh = false;
            dev.jog((int)prop.AxisIndex, 0);
        } 
        private void tbtnRight_MouseUp(object sender, MouseEventArgs e)
        {
            dev.stopDec((int)prop.AxisIndex);
        }
         
        private void tbtnJogOnOff_Click(object sender, EventArgs e)
        {
            this.stopRefresh = false;
            if (prop.AxState==AxisState.STA_AX_EXT_JOG)
            {
                dev.closeJogMode((int)prop.AxisIndex);
                //tbtnJogOnOff.Text = "开启Jog";
            }
            else
            { 
                dev.setAxisVelParam(prop.VelLow, prop.VelHigh, prop.Acc, prop.Dec, (int)prop.AxisIndex);
                dev.openJogMode((int)prop.AxisIndex);
                //tbtnJogOnOff.Text = "关闭Jog";
            }
        }

        private void tbtnStop_Click(object sender, EventArgs e)
        {
            this.stopRefresh = false;
            dev.stopDec((int)prop.AxisIndex);
        }

        private void tbtnRestState_Click(object sender, EventArgs e)
        {
            this.stopRefresh = false;
            dev.resetAxisState((int)prop.AxisIndex);
        }

        private void tbtnResetPos_Click(object sender, EventArgs e)
        {
            this.stopRefresh = false;
            dev.resetCmdPosition((int)prop.AxisIndex);
            dev.resetActualPosition((int)prop.AxisIndex); 
        }

        private void propertyGrid1_PropertyValueChanged(object s, PropertyValueChangedEventArgs e)
        {
            //其中包含了两个重要的属性：OldValue和ChangeItem。
            //ChangeItem是“PropertyDescriptorGridEntry”类型。一般可以通过ChangeItem.PropertyDescriptor.ComponentType查找到属性的实际类型。 
            //而通过ChangeItem的Label，则可以查看到当前在属性编辑输入框中显示的值。  

            string className = e.ChangedItem.PropertyDescriptor.ComponentType.Name;
            string propertyName = e.ChangedItem.PropertyDescriptor.Name;
            var oldValue = e.OldValue;
            var newValue = e.ChangedItem.Value;
            switch (propertyName)
            { 
                case "AxisIndex"://切换前先把old更新，再加载新的prop
                    //先更新/删除旧的
                    string oldAxisIndex = ((int)oldValue).ToString();
                    string newAxisIndex = ((int)newValue).ToString();
                    if (dataReturn.ContainsKey(oldAxisIndex))
                    {
                        if (prop.Enable)
                        {
                            JObject o = JObject.Parse(prop.serialize());
                            o["AxisIndex"] = oldAxisIndex;//改为老的
                            Utils.Util.addKey(dataReturn, oldAxisIndex, o);
                        }
                        else
                            dataReturn.Remove(oldAxisIndex);
                    } 

                    //加载新的 
                    if (dataReturn.ContainsKey(newAxisIndex))
                        prop.deserialize(dataReturn[newAxisIndex].ToString());
                    else
                    {
                        prop.Enable = false; 
                        refreshAxisVelParam();//更新当前速度值
                    }

                    refreshUI(true);
                    break;
                case "Enable"://先进行更新数组，保存或删除
                    string axisIndex = ((int)prop.AxisIndex).ToString();
                    if ((bool)newValue)
                        Utils.Util.addKey(dataReturn, axisIndex, JObject.Parse(prop.serialize()));
                    else if (dataReturn.ContainsKey(axisIndex))
                        dataReturn.Remove(axisIndex); 
                    break;
            }
            
        } 

        private void tsbtnOpenDev_Click(object sender, EventArgs e)
        {
            this.init();
        }

        //打开相机
        FrmScannerShow frmScannerShow1;
        FrmScannerShow frmScannerShow2;
        private void tbtnScanner1_Click(object sender, EventArgs e)
        { 
            if (devScannerGentl==null) 
                devScannerGentl = new ScannerDev(ScannerDev.ScannerType.GENTL);
            devScannerGentl.ScanEvent += new System.Action<int, Bitmap>((num, bmp) =>
            {
                string path = Config.appBasePath + "\\temp\\" + DateTime.Now.Ticks + ".bmp";
                bmp.Save(path, ImageFormat.Bmp);
            });
            if (!devScannerGentl.open())
            {
                devScannerGentl.stop(); 
                return;
            }

            if (!devScannerGentl.start(IntPtr.Zero, null) && !devScannerGentl.IsInit)
            {
                devScannerGentl.close();
                MessageBox.Show("相机打开失败！");
                return;
            }

            if (frmScannerShow1 == null || frmScannerShow1.IsDisposed)
                frmScannerShow1 = new FrmScannerShow(devScannerGentl.size, devScannerGentl);
            frmScannerShow1.Show();
            devScannerGentl.setPreviewWin(frmScannerShow1.picHwnd);
            if (!devScannerGentl.isContinuousMode)
                devScannerGentl.setMode(true);  
        }

        private void tbtnScanner2_Click(object sender, EventArgs e)
        {
            if (devScannerCC == null)
                devScannerCC = new ScannerDev(ScannerDev.ScannerType.CC);
            if (!devScannerCC.open())
            {
                devScannerCC.stop();
                return;
            }

            if (!devScannerCC.start(IntPtr.Zero, Config.appBasePath + "\\temp") && !devScannerCC.IsInit)
            {
                devScannerCC.close();
                MessageBox.Show("相机打开失败！");
                return;
            }

            if (frmScannerShow2 == null || frmScannerShow2.IsDisposed)
                frmScannerShow2 = new FrmScannerShow(devScannerCC.size, devScannerCC);
            frmScannerShow2.Show();
            devScannerCC.setPreviewWin(frmScannerShow2.picHwnd);
            if (!devScannerCC.isContinuousMode)
                devScannerCC.setMode(true);
        }

        private void closeScannerDev()
        {
            if (devScannerGentl != null && devScannerGentl.IsInit)
            {
                devScannerGentl.stop();
                devScannerGentl.close();
            }
            if (devScannerCC != null && devScannerCC.IsInit)
            {
                devScannerCC.stop();
                devScannerCC.close();
            }
            if (frmScannerShow1 != null && !frmScannerShow1.IsDisposed) frmScannerShow1.Close();
            if (frmScannerShow2 != null && !frmScannerShow2.IsDisposed) frmScannerShow2.Close();

        }

        private bool _stopRefresh=false;
        private bool stopRefresh{
            get { return _stopRefresh; }
            set { 
                _stopRefresh = value;
                this.tsbtnStopRefresh.Text = (_stopRefresh?"开启同步":"停止同步");
            }
        }
        private void tsbtnStopRefresh_Click(object sender, EventArgs e)
        {
            stopRefresh = !stopRefresh;
        }
    }
}