using MathNet.Numerics.LinearAlgebra;
using Prism.Commands;
using Prism.Events;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Regions;
using Prism.Services.Dialogs;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Windows;
using TeamAAS_VP.Events;
using TeamAAS_VP.Core;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using MaterialDesignThemes.Wpf;
using NPOI.SS.Formula.Functions;
using TeamAAS_VP.Controls;
using TeamAAS_VP.Data;
using TeamAAS_VP;
using TeamAAS_VP.Views.DebugMod;
using TeamAAS_VP.Enums;
using System.IO;
using Microsoft.CodeAnalysis.Scripting;
using System.Windows.Forms;
using TeamAAS_VP.Resources.Languages;

namespace TeamAAS_VP.ViewModels.Product
{
    public class ProcedureParamsViewModel : BindableBase
    {
        IRegionManager _regionManager;
        IEventAggregator _eventAggregator;
        IContainerProvider _container;
        IDialogService _dialogService;
        ProductsViewModel productsViewModel;
        #region 属性

        private ProductModel _SelectProduct;

        /// <summary>
        /// 选中的产品
        /// </summary>
        public ProductModel SelectProduct
        {
            get { return _SelectProduct; }
            set { SetProperty(ref _SelectProduct, value); }
        }

        private ProcedureModel _SelectProcedure;

        /// <summary>
        /// 选中的流程
        /// </summary>
        public ProcedureModel SelectProcedure
        {
            get { return _SelectProcedure; }
            set { SetProperty(ref _SelectProcedure, value); }
        }

        private Management _management;

        public Management management
        {
            get { return _management; }
            set { SetProperty(ref _management,value); }
        }

        public IRobot Robot { get; set; }
        #endregion

        #region 命令
        private DelegateCommand _NextCommand;
        public DelegateCommand NextCommand =>
            _NextCommand ?? (_NextCommand = new DelegateCommand(ExecuteNextCommand));

        private DelegateCommand _BackCommand;
        public DelegateCommand BackCommand =>
            _BackCommand ?? (_BackCommand = new DelegateCommand(ExecuteBackCommand));

        private DelegateCommand _LoadedCommand;
        public DelegateCommand LoadedCommand =>
            _LoadedCommand ?? (_LoadedCommand = new DelegateCommand(ExecuteLoadedCommand));

        private DelegateCommand<object> _CalculateOffsetUAndToolCommand;
        public DelegateCommand<object> CalculateOffsetUAndToolCommand =>
            _CalculateOffsetUAndToolCommand ?? (_CalculateOffsetUAndToolCommand = new DelegateCommand<object>(ExecuteCalculateOffsetUAndToolCommand));

        private DelegateCommand<object> _RemoveToolCommand;
        public DelegateCommand<object> RemoveToolCommand =>
            _RemoveToolCommand ?? (_RemoveToolCommand = new DelegateCommand<object>(ExecuteRemoveToolCommand));

        
        private DelegateCommand _AddToolCommand;
        public DelegateCommand AddToolCommand =>
            _AddToolCommand ?? (_AddToolCommand = new DelegateCommand(ExecuteAddToolCommand));

        private DelegateCommand _OverrideVisionTaskCommand;
        public DelegateCommand OverrideVisionTaskCommand =>
            _OverrideVisionTaskCommand ?? (_OverrideVisionTaskCommand = new DelegateCommand(ExecuteOverrideVisionTaskCommand));

        #endregion

        #region 事件
        private DelegateCommand _SelectSaveImagePathCommand;
        public DelegateCommand SelectSaveImagePathCommand =>
            _SelectSaveImagePathCommand ?? (_SelectSaveImagePathCommand = new DelegateCommand(ExecuteSelectSaveImagePathCommand));

        #endregion

        public ProcedureParamsViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService)
        {
            _regionManager = regionManager;
            _eventAggregator = ea;
            _container = container;
            _dialogService = dialogService;
            //订阅权限登录事件
            _eventAggregator.GetEvent<UserLoginNotification>().Subscribe(LoginChange);

            productsViewModel = _container.Resolve<ProductsViewModel>();
            SelectProduct = productsViewModel.SelectProduct;
            SelectProcedure = _container.Resolve<ProcessBasicsViewModel>().SelectProcedure;
            management= _container.Resolve<Management>();
        }

        #region 方法

        /// <summary>
        /// 下一步
        /// </summary>
        void ExecuteNextCommand()
        {
            if (SelectProcedure.FeederId !=Guid.Empty)
            {
                var feeder = management.FeederService.GetFeeder(SelectProcedure.FeederId);
                if (feeder.IsConnected)
                {
                    feeder.CloseLight();
                }
            }
            _regionManager.RequestNavigate("ProductRegionContext", "ProcessBasics");
        }

        /// <summary>
        /// 上一步
        /// </summary>
        void ExecuteBackCommand()
        {
            _regionManager.RequestNavigate("ProductRegionContext", "ProcedureVisionOutput");
        }

        void ExecuteLoadedCommand()
        {
            if (_container.Resolve<Management>().CurrentUser.userPart == Enums.UserPart.Operator)
            {
                IsAllowEdit = false;
            }
            else
            {
                IsAllowEdit = true;
            }

            try
            {
                productsViewModel = _container.Resolve<ProductsViewModel>();
                SelectProduct = productsViewModel.SelectProduct;
                SelectProcedure = _container.Resolve<ProcessBasicsViewModel>().SelectProcedure;
                management = _container.Resolve<Management>();
                if (SelectProcedure.RobotId!=Guid.Empty)
                {
                    Robot = management.RobotService.GetRobot(SelectProcedure.RobotId);
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("加载流程参数界面时出错", ex);
            }
        }

        /// <summary>
        /// 添加工具
        /// </summary>
        void ExecuteAddToolCommand()
        {
            try
            {
                if (SelectProcedure.ToolInfo == null)
                    SelectProcedure.ToolInfo = new ObservableCollection<ToolInfo>();
                SelectProcedure.ToolInfo.Add(new ToolInfo() { Id = Guid.NewGuid(), Pick = new RPoint(), Place = new RPoint(), Tool = new RobotTool(), PickInfo = new PickInfo() });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("流程参数界面-添加工具时出错", ex);
            }
        }

        /// <summary>
        /// 移除工具
        /// </summary>
        /// <param name="id"></param>
        async void ExecuteRemoveToolCommand(object id)
        {
            try
            {
                var tool = SelectProcedure.ToolInfo.FirstOrDefault(t => t.Id == (Guid)id);
                if (tool != null)
                {
                    var view = new ShowMessage($"{Lang.工具末端}", Lang.是否移除工具末端);
                    //show the dialog
                    var result = await DialogHost.Show(view, "RootDialog", null, null, null);
                    if (result != null && result is bool)
                    {
                        if (((bool)result))
                        {
                            SelectProcedure.ToolInfo.Remove(tool);
                        }
                    }
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("流程参数界面-移除工具时出错", ex);
            }
        }

        /// <summary>
        /// 计算角度补偿值和工具坐标
        /// </summary>
        void ExecuteCalculateOffsetUAndToolCommand(object id)
        {
            try
            {
                if (Robot == null) return;
                var tool = SelectProcedure.ToolInfo.FirstOrDefault(t => t.Id == (Guid)id);
                if (tool == null)
                {
                    return;
                }
                IDialogParameters parameters = new DialogParameters();
                parameters.Add("ToolInfo", tool);
                _dialogService.Show("CalculateOffsetU", parameters, rst => {
                    //对话框关闭之后的回调函数，可以在这解析结果。
                    ButtonResult result1 = rst.Result;

                    if (result1 == ButtonResult.OK)
                    {
                        var param = rst.Parameters.GetValue<ToolInfo>("ToolInfo");
                        if (param != null)
                        {
                            tool = param;
                        }
                    }

                });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("流程参数界面-计算角度补偿值和工具坐标时出错", ex);
            }
        }

        /// <summary>
        /// 重写视觉处理逻辑
        /// </summary>
        void ExecuteOverrideVisionTaskCommand()
        {
            string path = FilePath.ProductsPath + "//" + SelectProduct.Name + "//" + SelectProcedure.CameraName + "//" + SelectProcedure.Name + ".cs";
            string script = "";
            if (File.Exists(path))
            {
                script = FileHelper.ReadFile(path);
            }
            else
            {
                if (File.Exists(FilePath.ScriptVisionTemplatePath))
                {
                    script = FileHelper.ReadFile(FilePath.ScriptVisionTemplatePath);
                }
            }
            IDialogParameters parameters = new DialogParameters();
            parameters.Add("Script", script);
            parameters.Add("Path", path);
            _dialogService.Show("VisionScriptPage", parameters, rst => {
                //对话框关闭之后的回调函数，可以在这解析结果。
                ButtonResult result1 = rst.Result;

                if (result1 == ButtonResult.OK)
                {
                    //var param = rst.Parameters.GetValue<ToolInfo>("ToolInfo");
                    //if (param != null)
                    //{
                    //    tool = param;
                    //}
                }

            });
        }

        void ExecuteSelectSaveImagePathCommand()
        {
            if (SelectProcedure == null)
            {
                return;
            }
            using (FolderBrowserDialog dialog = new FolderBrowserDialog())
            {
                // Optional: set the initial directory
                //dialog.SelectedPath = @"C:\";

                // Show the folder browser dialog
                System.Windows.Forms.DialogResult result = dialog.ShowDialog();

                if (result == System.Windows.Forms.DialogResult.OK)
                {
                    SelectProcedure.SavePath = dialog.SelectedPath;
                }
            }
        }
        #endregion

        private bool _IsAllowEdit = false;

        public bool IsAllowEdit
        {
            get { return _IsAllowEdit; }
            set { SetProperty(ref _IsAllowEdit, value); }
        }

        private void LoginChange(Models.User user)
        {
            if (user.userPart == Enums.UserPart.Operator)
            {
                IsAllowEdit = false;
            }
            else
            {
                IsAllowEdit = true;
            }
        }
    }
}