using Aurora;
using Aurora.Api.Devices;
using Aurora.Api.Manager;
using Aurora.View;
using System;
using System.Collections.Generic;
using System.Windows;
using System.Windows.Input;
using System.Windows.Threading;

namespace WeldingCommon.Views
{
    internal class UCSingleAxisStatusViewModel : NotifyPropertyChangedBase
    {
        private readonly IDeviceManager DeviceManager;
        private readonly DispatcherTimer MonitorTimer;

        #region Binding Properties
        private List<string> _MotorIDList;
        public List<string> MotorIDList { get => _MotorIDList; set => SetProperty(ref _MotorIDList, value); }

        private string _SelectedMotorID;
        public string SelectedMotorID { get => _SelectedMotorID; set => SetProperty(ref _SelectedMotorID, value); }

        // TODO: 아래 strMotorServoOnOffStatus 와 하나로 합치자. 이 부분은 background 색상 변경에 사용됨
        private bool _bMotorServoOnOffStatus;
        public bool bMotorServoOnOffStatus { get => _bMotorServoOnOffStatus; set => SetProperty(ref _bMotorServoOnOffStatus, value); }
        private string _strMotorServoOnOffStatus;
        public string strMotorServoOnOffStatus { get => _strMotorServoOnOffStatus; set => SetProperty(ref _strMotorServoOnOffStatus, value); }

        private bool _MotorAlarmStatus;
        public bool MotorAlarmStatus { get => _MotorAlarmStatus; set => SetProperty(ref _MotorAlarmStatus, value); }

        private bool _MotorInMotion;
        public bool MotorInMotion { get => _MotorInMotion; set => SetProperty(ref _MotorInMotion, value); }

        private bool _MotorInPosition;
        public bool MotorInPosition { get => _MotorInPosition; set => SetProperty(ref _MotorInPosition, value); }

        private bool _MotorHomeStatus;
        public bool MotorHomeStatus { get => _MotorHomeStatus; set => SetProperty(ref _MotorHomeStatus, value); }

        private bool _MotorPlusLimitStatus;
        public bool MotorPlusLimitStatus { get => _MotorPlusLimitStatus; set => SetProperty(ref _MotorPlusLimitStatus, value); }

        private bool _MotorMinusLimitStatus;
        public bool MotorMinusLimitStatus { get => _MotorMinusLimitStatus; set => SetProperty(ref _MotorMinusLimitStatus, value); }

        private bool _MotorEmergencyStop;
        public bool MotorEmergencyStop { get => _MotorEmergencyStop; set => SetProperty(ref _MotorEmergencyStop, value); }

        private string _AlarmCode;
        public string AlarmCode { get => _AlarmCode; set => SetProperty(ref _AlarmCode, value); }

        private double _TargetPos;
        public double TargetPos { get => _TargetPos; set => SetProperty(ref _TargetPos, value); }

        private double _ActualPos;
        public double ActualPos { get => _ActualPos; set => SetProperty(ref _ActualPos, value); }

        private double _PosError;
        public double PosError { get => _PosError; set => SetProperty(ref _PosError, value); }

        private double _Velocity;
        public double Velocity { get => _Velocity; set => SetProperty(ref _Velocity, value); }

        #endregion

        #region EventCommands
        public ICommand CMD_VisibleChanged { get; }
        public ICommand CMD_INCCOMBOMOTORID { get; }
        public ICommand CMD_DECCOMBOMOTORID { get; }
        public ICommand CMD_ServoOnOff { get; }
        public ICommand CMD_ResetAlarm { get; }
        #endregion

        public UCSingleAxisStatusViewModel(IAuroraEnvironment aurora)
        {
            DeviceManager = aurora.DeviceManager;

            #region Initialize Binding Properties
            // Motor ID 를 List 에 넣기. devicemanager 에서 motor ID 를 받아오자.
            // motor 가 define 되지 않았으니 테스트를 위해 임시로 몇개 넣어둔다.
            MotorIDList = new List<string> { "Welding Y1", "Welding Z" };
            SelectedMotorID = MotorIDList[0];
            strMotorServoOnOffStatus = "Servo Off";
            #endregion

            #region DelegateCommands
            CMD_VisibleChanged = new DelegateCommand(VisibleChanged);
            CMD_INCCOMBOMOTORID = new DelegateCommand(IncreaseComboMotorID);
            CMD_DECCOMBOMOTORID = new DelegateCommand(DecreaseComboMotorID);
            CMD_ServoOnOff = new DelegateCommand(MotorServoOnOff);
            CMD_ResetAlarm = new DelegateCommand(MotorResetAlarm);
            #endregion

            MonitorTimer = new DispatcherTimer();
            MonitorTimer.Tick += OnMonitoring;
            MonitorTimer.Interval = TimeSpan.FromMilliseconds(100);
        }

        private void OnMonitoring(object sender, EventArgs e)
        {
            try {
                var motor = GetComboSelectedBaseMotor();
                if (motor != null) {
                    if (motor.IsServoOn()) {
                        bMotorServoOnOffStatus = true;
                        strMotorServoOnOffStatus = "Servo Off";
                    } else {
                        bMotorServoOnOffStatus = false;
                        strMotorServoOnOffStatus = "Servo On";
                    }
                    if (motor.IsAlarm()) {
                        MotorAlarmStatus = true;
                        AlarmCode = motor.GetLastAlarm().ToString();
                    } else {
                        MotorAlarmStatus = false;
                        AlarmCode = "No Alarm";
                    }
                    if (motor.IsMoving()) MotorInMotion = true;
                    else MotorInMotion = false;
                    // inposition bit 를 받아오는 함수가 없다. current 와 target 을 비교하는 것으로 하기에는 위험성이 있다. 일단 만들어는 두자.
                    // motor position 정보를 받아오는 함수를 따로 만드는게 맞지만, 이 view 에서 쓰는 코드를 재활용할일이 없으므로 IsMotorInPositiong 함수안에서 다한다.
                    if (IsMotorInPosition(motor)) MotorInPosition = true;
                    else MotorInPosition = false;
                    if (motor.IsHomeCompleted()) MotorHomeStatus = true;
                    else MotorHomeStatus = false;

                    // plus limit 함수없음. ACS 모터는 IsHPLimit() 함수가 있음.
                    // minus limit 함수없음. ACS 모터는 IsHNLimit() 함수가 있음.
                    // EMG 함수 없음
                    MotorPlusLimitStatus = false;
                    MotorMinusLimitStatus = false;
                    MotorEmergencyStop = false;

                    Velocity = motor.GetVelocity();
                }
                AlarmCode = "No Alarm";
            } catch (Exception ex) {
                MessageBox.Show(ex.Message);
            }
        }
        private void IncreaseComboMotorID(object obj)
        {
            try {
                int nIndex = MotorIDList.IndexOf(SelectedMotorID);
                if (nIndex >= MotorIDList.Count - 1) nIndex = MotorIDList.Count;
                else nIndex++;
                SelectedMotorID = MotorIDList[nIndex];
            } catch { }


        }
        private void DecreaseComboMotorID(object obj)
        {
            try {
                int nIndex = MotorIDList.IndexOf(SelectedMotorID);

                if (nIndex < 1) nIndex = 0;
                else nIndex--;
                SelectedMotorID = MotorIDList[nIndex];
            } catch { }
        }

        private void MotorServoOnOff(object obj)
        {
            try {
                var motor = GetComboSelectedBaseMotor();
                if (motor != null) {
                    if (motor.IsServoOn()) motor.ServoOn(false);
                    else motor.ServoOn(true);
                }
            } catch { }
        }
        private void MotorResetAlarm(object obj)
        {
            try {
                var motor = GetComboSelectedBaseMotor();
                if (motor != null) {
                    if (motor.IsAlarm()) motor.ClearAlarm();
                }
            } catch { }
        }

        private void VisibleChanged(object obj)
        {
            bool visible = (bool)obj;
            if (visible) {
                MonitorTimer.Start();
            } else {
                MonitorTimer.Stop();
            }
        }
        private BaseMotor GetComboSelectedBaseMotor()
        {
            return DeviceManager[SelectedMotorID] as BaseMotor;
        }
        private bool IsMotorInPosition(string MotorID)
        {
            var motor = DeviceManager[MotorID] as BaseMotor;
            return IsMotorInPosition(motor);
        }
        private bool IsMotorInPosition(BaseMotor motor)
        {
            if (motor == null) return false;

            double dbInPositionRange = 0.001;
            ActualPos = motor.GetCurrentPosition();
            TargetPos = motor.GetTargetPosition();
            PosError = TargetPos - ActualPos;
            if (!motor.IsMoving() && (Math.Abs(PosError) < dbInPositionRange))
                return true;
            return false;
        }

    }
}