/*
  * Copyright (c) 2022 LG Electronics Inc.
  * SPDX-License-Identifier: LicenseRef-LGE-Proprietary
  */
using Aurora;
using Aurora.Api;
using Aurora.Api.Devices;
using System.ComponentModel;
using System.Runtime.CompilerServices;
using System;
using System.Collections.Generic;
using System.Linq;
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 AuroraUIComponent.UserControls
{
    /// <summary>
    /// JogButtonPanel.xaml에 대한 상호 작용 논리
    /// </summary>
    public partial class JogButtonPanel : UserControl, INotifyPropertyChanged
    {
        protected readonly Logger Log = new Logger("JogButtonPanel");
        public JogButtonPanel() {
            InitializeComponent();
        }

        public event PropertyChangedEventHandler PropertyChanged;
        protected void OnPropertyChage([CallerMemberName] string name = null) {
            PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(name));
        }

        private bool useStep;
        public bool UseStep { get => useStep; set { useStep = value; OnPropertyChage(); } }

        //public double JogVelocityVal {
        //    get { return (double)GetValue(JogVelocityValProperty); }
        //    set { SetValue(JogVelocityValProperty, value); }
        //}
        //public static readonly DependencyProperty JogVelocityValProperty =
        //    DependencyProperty.Register("JogVelocityVal", typeof(double), typeof(JogButtonPanel), new UIPropertyMetadata(1D));

        public double LowVelocity {
            get => (double)GetValue(LowVelocityProperty);
            set => SetValue(LowVelocityProperty, value);
        }
        public static readonly DependencyProperty LowVelocityProperty =
            DependencyProperty.Register("LowVelocity", typeof(double), typeof(JogButtonPanel), new UIPropertyMetadata(0.0D));

        public double MidVelocity {
            get => (double)GetValue(MidVelocityProperty);
            set => SetValue(MidVelocityProperty, value);
        }
        public static readonly DependencyProperty MidVelocityProperty =
            DependencyProperty.Register("MidVelocity", typeof(double), typeof(JogButtonPanel), new UIPropertyMetadata(0.0D));

        public double HighVelocity {
            get => (double)GetValue(HighVelocityProperty);
            set => SetValue(HighVelocityProperty, value);
        }
        public static readonly DependencyProperty HighVelocityProperty =
            DependencyProperty.Register("HighVelocity", typeof(double), typeof(JogButtonPanel), new UIPropertyMetadata(0.0D));

        public double JogVelocity {
            get => (double)GetValue(JogVelocityProperty);
            set => SetValue(JogVelocityProperty, value);
        }
        public static readonly DependencyProperty JogVelocityProperty =
            DependencyProperty.Register("JogVelocity", typeof(double), typeof(JogButtonPanel), new UIPropertyMetadata(double.NaN));

        public JogVelIndex JogVelHMLIndex {
            get => (JogVelIndex)GetValue(JogVelHMLIndexProperty);
            set => SetValue(JogVelHMLIndexProperty, value);
        }
        public static readonly DependencyProperty JogVelHMLIndexProperty =
            DependencyProperty.Register("JogVelHMLIndex", typeof(JogVelIndex), typeof(JogButtonPanel), new UIPropertyMetadata(JogVelIndex.Low));

        public bool UseMotorConfig {
            get => (bool)GetValue(UseMotorConfigProperty);
            set => SetValue(UseMotorConfigProperty, value);
        }
        public static readonly DependencyProperty UseMotorConfigProperty =
            DependencyProperty.Register("UseMotorConfig", typeof(bool), typeof(JogButtonPanel), new UIPropertyMetadata(false));


        public double JogStep {
            get { return (double)GetValue(JogStepProperty); }
            set { SetValue(JogStepProperty, value); }
        }
        public static readonly DependencyProperty JogStepProperty =
            DependencyProperty.Register("JogStep", typeof(double), typeof(JogButtonPanel), new UIPropertyMetadata(1D));

        public Motor Motor {
            get { return (Motor)GetValue(MotorProperty); }
            set { SetValue(MotorProperty, value); }
        }
        public static readonly DependencyProperty MotorProperty =
            DependencyProperty.Register("Motor", typeof(Motor), typeof(JogButtonPanel), new UIPropertyMetadata(null));

        public JogImageType JogImageType {
            get { return (JogImageType)GetValue(JogImageTypeProperty); }
            set { SetValue(JogImageTypeProperty, value); }
        }
        public static readonly DependencyProperty JogImageTypeProperty =
            DependencyProperty.Register("JogImageType", typeof(JogImageType), typeof(JogButtonPanel), new UIPropertyMetadata(JogImageType.Default, JogImgeTypeChanged));

        private static void JogImgeTypeChanged(DependencyObject d, DependencyPropertyChangedEventArgs e) {
            ((JogButtonPanel)d).UpdateImage((JogImageType)e.NewValue);
        }

        public string Title {
            get { return (string)GetValue(TitleProperty); }
            set { SetValue(TitleProperty, value); }
        }
        public static readonly DependencyProperty TitleProperty =
            DependencyProperty.Register("Title", typeof(string), typeof(JogButtonPanel), new UIPropertyMetadata(""));

        public string DirectionMinus {
            get { return (string)GetValue(DirectionMinusProperty); }
            set { SetValue(DirectionMinusProperty, value); }
        }
        public static readonly DependencyProperty DirectionMinusProperty =
            DependencyProperty.Register("DirectionMinus", typeof(string), typeof(JogButtonPanel), new UIPropertyMetadata(""));

        public string DirectionPlus {
            get { return (string)GetValue(DirectionPlusProperty); }
            set { SetValue(DirectionPlusProperty, value); }
        }
        public static readonly DependencyProperty DirectionPlusProperty =
            DependencyProperty.Register("DirectionPlus", typeof(string), typeof(JogButtonPanel), new UIPropertyMetadata(""));

        
        private void DirectionMinusButton_Down(object sender, System.Windows.Input.MouseButtonEventArgs e) {
            if (Motor == null)
                return;

            if (!UseStep) {
                var config = (Motor.BaseConfig)Application.Current.AuroraEnv().DeviceManager.GetDeviceConfig(Motor.DeviceId);
                double vel = JogVelocity == double.NaN ? config.DefaultVelocity : JogVelocity;
                Motor?.Jog(-1, vel);
                ((Button)sender).CaptureMouse();
                e.Handled = true;
            }
        }

        private void DirectionPlusButton_Down(object sender, System.Windows.Input.MouseButtonEventArgs e) {
            if (Motor == null)
                return;

            if (!UseStep) {
                var config = (Motor.BaseConfig)Application.Current.AuroraEnv().DeviceManager.GetDeviceConfig(Motor.DeviceId);
                double vel = JogVelocity == double.NaN ? config.DefaultVelocity : JogVelocity;
                Motor?.Jog(1, vel);
                ((Button)sender).CaptureMouse();
                e.Handled = true;
            }
        }

        private void Button_MouseUp(object sender, System.Windows.Input.MouseButtonEventArgs e) {
            if (Motor == null)
                return;

            if (!UseStep) {
                Motor?.Stop();
                ((Button)sender).ReleaseMouseCapture();
                e.Handled = true;
            }
        }

        private void DirectionMinusButton_Click(object sender, RoutedEventArgs e) {
            if (Motor == null)
                return; 
            
            if (UseStep) {
                PerformCmdRelMove(JogStep * -1);
            }
        }

        private void DirectionPlusButton_Click(object sender, RoutedEventArgs e) {
            if (Motor == null)
                return;
            
            if (UseStep) {
                PerformCmdRelMove(JogStep);
            }
        }

        private void UpdateImage(JogImageType jogImageType) {

            switch (jogImageType) {
                case JogImageType.LeftRight:
                    imgLeft.Source = (ImageSource)FindResource("img_arrow_leftDrawingImage");
                    imgRight.Source = (ImageSource)FindResource("img_arrow_rightDrawingImage");
                    break;
                case JogImageType.UpDown:
                    imgLeft.Source = (ImageSource)FindResource("img_arrow_upDrawingImage");
                    imgRight.Source = (ImageSource)FindResource("img_arrow_downDrawingImage");
                    break;
                case JogImageType.DownUp:
                    imgLeft.Source = (ImageSource)FindResource("img_arrow_downDrawingImage");
                    imgRight.Source = (ImageSource)FindResource("img_arrow_upDrawingImage");
                    break;

                case JogImageType.CwCcw:
                    imgLeft.Source = (ImageSource)FindResource("img_arrow_clockwiseDrawingImage");
                    imgRight.Source = (ImageSource)FindResource("img_arrow_counterclockwiseDrawingImage");
                    break;
                case JogImageType.CcwCw:
                    imgLeft.Source = (ImageSource)FindResource("img_arrow_counterclockwiseDrawingImage");
                    imgRight.Source = (ImageSource)FindResource("img_arrow_clockwiseDrawingImage");
                    break;
                case JogImageType.Custom:
                case JogImageType.Default:
                default:
                    break;
            }
        }

        private void PerformCmdRelMove(double step) {
            try {
                var config = (Motor.BaseConfig)Application.Current.AuroraEnv().DeviceManager.GetDeviceConfig(Motor.DeviceId);
                double vel = JogVelocity == double.NaN ? config.DefaultVelocity : JogVelocity;
                Motor?.SetTargetPosition(step, TargetPosType.REL);
                Motor?.SetVelocity((uint)vel);
                // SetOthers()라도 만들어야 하나?
                //Motor?.SetAccelerationImm(config.AxisVelInfo.Acc);
                //Motor?.SetDecelerationImm(config.AxisVelInfo.Dec);
                //Motor?.SetJerkImm(config.AxisVelInfo.Jerk);
                Motor?.Move();

                Log.D(string.Format($"{Motor.DeviceId}|{Motor.DeviceId} RelMove"));
            } catch (Exception exc) {
                Log.E(exc.Message);
            }
        }
    }
    public enum JogImageType { Default, LeftRight, UpDown, DownUp, CwCcw, CcwCw, Custom }
    public enum JogVelIndex { Low, Mid, High }
}