using Aurora.Api;
using Aurora.Api.Devices;
using Aurora.View;
using ILSOS_PrismaticGun.Process;
using OpenCvSharp;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Security.Permissions;
using System.Text;
using System.Threading.Tasks;
using System.Xml.Linq;

namespace ILSOS_PrismaticGun.Settings
{
    public enum eTeachingPosition
    {
        Load,
        UnLoad,
        SafetyPosition,
        StageWeldingStartPos,
    }

    public enum ePLCEnableLimitPosition
    {
        LoadPositiveLimit,         // + Limit
        LoadNegativeLimit,          // - Limit
        UnloadPositiveLimit,       // + Limit
        UnloadNegativeLimit,        // - Limit
    }

    public class TeachingPositionSetting : ISettingItem
    {
        public SettingPosition[] SettingPositions { get; set; } = new SettingPosition[Enum.GetValues(typeof(eStage)).Length * Enum.GetValues(typeof(eTeachingPosition)).Length];

        public SettingPosition[] PLCEnablePosition { get; set; } = new SettingPosition[Enum.GetValues(typeof(eStage)).Length * Enum.GetValues(typeof(ePLCEnableLimitPosition)).Length];

        public double RealCellExistRangeMinStageA { get; set; }
        public double RealCellExistRangeMaxStageA { get; set; }

        public double RealCellExistRangeMinStageB { get; set; }
        public double RealCellExistRangeMaxStageB { get; set; }
        public TeachingPositionSetting()
        {
            SettingPositions[0] = new SettingPosition(eStage.A, eTeachingPosition.Load);
            SettingPositions[1] = new SettingPosition(eStage.A, eTeachingPosition.UnLoad);
            SettingPositions[2] = new SettingPosition(eStage.A, eTeachingPosition.SafetyPosition);
            SettingPositions[3] = new SettingPosition(eStage.A, eTeachingPosition.StageWeldingStartPos);

            SettingPositions[4] = new SettingPosition(eStage.B, eTeachingPosition.Load);
            SettingPositions[5] = new SettingPosition(eStage.B, eTeachingPosition.UnLoad);
            SettingPositions[6] = new SettingPosition(eStage.B, eTeachingPosition.SafetyPosition);
            SettingPositions[7] = new SettingPosition(eStage.B, eTeachingPosition.StageWeldingStartPos);

            PLCEnablePosition[0] = new SettingPosition(eStage.A, ePLCEnableLimitPosition.LoadPositiveLimit);
            PLCEnablePosition[1] = new SettingPosition(eStage.A, ePLCEnableLimitPosition.LoadNegativeLimit);
            PLCEnablePosition[2] = new SettingPosition(eStage.A, ePLCEnableLimitPosition.UnloadPositiveLimit);
            PLCEnablePosition[3] = new SettingPosition(eStage.A, ePLCEnableLimitPosition.UnloadNegativeLimit);

            PLCEnablePosition[4] = new SettingPosition(eStage.B, ePLCEnableLimitPosition.LoadPositiveLimit);
            PLCEnablePosition[5] = new SettingPosition(eStage.B, ePLCEnableLimitPosition.LoadNegativeLimit);
            PLCEnablePosition[6] = new SettingPosition(eStage.B, ePLCEnableLimitPosition.UnloadPositiveLimit);
            PLCEnablePosition[7] = new SettingPosition(eStage.B, ePLCEnableLimitPosition.UnloadNegativeLimit);
        }

        public SettingPosition Get(eStage stage, eTeachingPosition position)
        {
            int stageIndex = (int)stage;
            int positionIndex = (int)position;

            int totalPositionCount = Enum.GetValues(typeof(eTeachingPosition)).Length;

            int index = stageIndex * totalPositionCount + positionIndex;

            if (index < 0 || index >= SettingPositions.Length)
                return null;

            return SettingPositions[index];
        }

        public SettingPosition Get(eStage stage, ePLCEnableLimitPosition position)
        {
            int stageIndex = (int)stage;
            int positionIndex = (int)position;

            int totalPositionCount = Enum.GetValues(typeof(ePLCEnableLimitPosition)).Length;

            int index = stageIndex * totalPositionCount + positionIndex;

            if (index < 0 || index >= PLCEnablePosition.Length)
                return null;

            return PLCEnablePosition[index];
        }
    }

    public class SettingPosition : NotifyPropertyChangedBase
    {
        public string Name { get => _Name; set => SetProperty(ref _Name, value); }
        private string _Name;
        public double AxisX { get => _AxisX; set => SetProperty(ref _AxisX, value); }
        private double _AxisX = 0.0;
        public double AxisY { get => _AxisY; set => SetProperty(ref _AxisY, value); }
        private double _AxisY = 0.0;
        public double AxisZ { get => _AxisZ; set => SetProperty(ref _AxisZ, value); }
        private double _AxisZ = 0.0;

        public SettingPosition(eStage stage, eTeachingPosition position)
        {
            Name = $"Stage{Enum.GetName(typeof(eStage), stage)}{Enum.GetName(typeof(eTeachingPosition), position)}";
            AxisX = -999.0;
            AxisY = -999.0;
            AxisZ = -999.0;
        }
        public SettingPosition(eStage stage, ePLCEnableLimitPosition position)
        {
            Name = $"Stage{Enum.GetName(typeof(eStage), stage)}{Enum.GetName(typeof(eTeachingPosition), position)}";
            AxisX = -999.0;
            AxisY = -999.0;
            AxisZ = -999.0;
        }
        public SettingPosition()
        {
            AxisX = -999.0;
            AxisY = -999.0;
            AxisZ = -999.0;
        }
    }
}