using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Linq;
using System.Windows;
using TeamAAS.Motion.Models;

namespace TeamAAS.Views
{
    public partial class EditMotionAxesDialog
    {
        public ObservableCollection<AxisEditRow> Rows { get; } = new ObservableCollection<AxisEditRow>();
        public List<MotionAxisConfig> Result { get; private set; }

        public EditMotionAxesDialog(IEnumerable<MotionAxisConfig> axes)
        {
            InitializeComponent();
            DataContext = this;
            foreach (var cfg in axes ?? Enumerable.Empty<MotionAxisConfig>())
                Rows.Add(AxisEditRow.FromConfig(cfg));
            if (Rows.Count == 0)
            {
                foreach (var cfg in MotionAxisCatalog.CreateDefaults(4))
                    Rows.Add(AxisEditRow.FromConfig(cfg));
            }
        }

        private void BtnAdd_Click(object sender, RoutedEventArgs e)
        {
            int next = Rows.Count == 0 ? 0 : Rows.Max(r => r.AxisNo) + 1;
            Rows.Add(new AxisEditRow
            {
                AxisNo = next,
                Name = next < MotionAxisCatalog.DefaultNames.Length ? MotionAxisCatalog.DefaultNames[next] : $"Axis-{next}",
                KindName = "实轴",
                OutputChannel = next
            });
        }

        private void BtnAddCombined_Click(object sender, RoutedEventArgs e)
        {
            var selectedItems = GridAxes.SelectedItems.Cast<AxisEditRow>().ToList();
            var master = GridAxes.SelectedItem as AxisEditRow;
            if (master == null || master.Kind != MotionAxisKind.Virtual)
                master = selectedItems.FirstOrDefault(r => r.Kind == MotionAxisKind.Virtual);

            if (master == null || master.Kind != MotionAxisKind.Virtual)
            {
                DialogHelper.ShowWarning("请先选中一条虚轴作为主轴，再添加从轴");
                return;
            }

            var existing = new HashSet<int>(master.ToConfig().ParseMembers().Select(m => m.AxisNo))
            {
                master.AxisNo
            };

            var slaves = selectedItems
                .Where(r => r != master && !r.ToConfig().IsGrouped)
                .Select(r => r.AxisNo)
                .Where(no => !existing.Contains(no))
                .Distinct()
                .ToList();

            if (slaves.Count == 0)
            {
                var candidate = Rows.FirstOrDefault(r =>
                    r != master && !r.ToConfig().IsGrouped && !existing.Contains(r.AxisNo));
                if (candidate != null)
                    slaves.Add(candidate.AxisNo);
            }

            if (slaves.Count == 0)
            {
                DialogHelper.ShowWarning("没有可添加的从轴。请先添加一条实轴或未跟随的虚轴");
                return;
            }

            var parts = string.IsNullOrWhiteSpace(master.CombinedMembers)
                ? new List<string>()
                : master.CombinedMembers
                    .Split(new[] { ',', ';', ' ', '，' }, StringSplitOptions.RemoveEmptyEntries)
                    .Select(s => s.Trim())
                    .Where(s => s.Length > 0)
                    .ToList();
            foreach (var no in slaves)
            {
                if (!existing.Contains(no))
                    parts.Add(no.ToString());
            }

            master.CombinedMembers = string.Join(",", parts);
            GridAxes.SelectedItem = master;
            GridAxes.ScrollIntoView(master);
            DialogHelper.Info($"虚轴 {master.Name} 已添加从轴：{string.Join(",", slaves)}");
        }

        private void BtnRemove_Click(object sender, RoutedEventArgs e)
        {
            var selected = GridAxes.SelectedItems.Cast<AxisEditRow>().ToList();
            foreach (var row in selected)
                Rows.Remove(row);
        }

        private void BtnOK_Click(object sender, RoutedEventArgs e)
        {
            string err = Validate();
            if (err != null)
            {
                DialogHelper.ShowWarning(err);
                return;
            }

            Result = Rows.Select(r => r.ToConfig()).ToList();
            DialogResult = true;
        }

        private string Validate()
        {
            if (Rows.Count == 0) return "至少配置一条轴";
            var nos = new HashSet<int>();
            foreach (var row in Rows)
            {
                if (row.AxisNo < 0 || row.AxisNo > 63) return $"轴号 {row.AxisNo} 超出范围 [0,63]";
                if (!nos.Add(row.AxisNo)) return $"轴号 {row.AxisNo} 重复";
                if (string.IsNullOrWhiteSpace(row.Name)) return $"轴 {row.AxisNo} 名称为空";
            }

            var leafNos = new HashSet<int>(Rows.Where(r => !r.ToConfig().IsGrouped).Select(r => r.AxisNo));
            foreach (var row in Rows)
            {
                var cfg = row.ToConfig();
                var members = cfg.ParseMembers();
                bool wantGroup = cfg.Kind == MotionAxisKind.Combined
                                 || (cfg.Kind == MotionAxisKind.Virtual && !string.IsNullOrWhiteSpace(cfg.CombinedMembers));
                if (!wantGroup) continue;
                if (members.Count < 1) return $"{cfg.KindText} {row.Name} 至少需要 1 个从轴";
                foreach (var m in members)
                {
                    if (m.AxisNo == row.AxisNo) return $"{row.Name} 不能把自身当作从轴";
                    if (!leafNos.Contains(m.AxisNo))
                        return $"{row.Name} 的从轴 {m.AxisNo} 必须是已有的实轴或未跟随的虚轴";
                }
            }
            return null;
        }
    }

    public class AxisEditRow : INotifyPropertyChanged
    {
        private int _axisNo;
        private string _name = "Axis";
        private MotionAxisKind _kind;
        private int _outputChannel;
        private string _combinedMembers = "";
        private double _velocity = 100;
        private bool _softLimitEnabled;
        private double _softLimitNeg;
        private double _softLimitPos;
        private double _maxVelocity;

        public int AxisNo { get => _axisNo; set { _axisNo = value; OnChanged(nameof(AxisNo)); } }
        public string Name { get => _name; set { _name = value; OnChanged(nameof(Name)); } }
        public MotionAxisKind Kind { get => _kind; set { _kind = value; OnChanged(nameof(Kind)); OnChanged(nameof(KindName)); } }
        public string KindName
        {
            get
            {
                switch (_kind)
                {
                    case MotionAxisKind.Virtual: return "虚轴";
                    case MotionAxisKind.Combined: return "组合轴";
                    default: return "实轴";
                }
            }
            set
            {
                if (value == "虚轴") _kind = MotionAxisKind.Virtual;
                else if (value == "组合轴") _kind = MotionAxisKind.Combined;
                else _kind = MotionAxisKind.Physical;
                OnChanged(nameof(Kind));
                OnChanged(nameof(KindName));
            }
        }
        public int OutputChannel { get => _outputChannel; set { _outputChannel = value; OnChanged(nameof(OutputChannel)); } }
        public string CombinedMembers { get => _combinedMembers; set { _combinedMembers = value; OnChanged(nameof(CombinedMembers)); } }
        public double Velocity { get => _velocity; set { _velocity = value; OnChanged(nameof(Velocity)); } }
        public bool SoftLimitEnabled { get => _softLimitEnabled; set { _softLimitEnabled = value; OnChanged(nameof(SoftLimitEnabled)); } }
        public double SoftLimitNeg { get => _softLimitNeg; set { _softLimitNeg = value; OnChanged(nameof(SoftLimitNeg)); } }
        public double SoftLimitPos { get => _softLimitPos; set { _softLimitPos = value; OnChanged(nameof(SoftLimitPos)); } }
        public double MaxVelocity { get => _maxVelocity; set { _maxVelocity = value; OnChanged(nameof(MaxVelocity)); } }

        public event PropertyChangedEventHandler PropertyChanged;
        private void OnChanged(string name) => PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(name));

        public static AxisEditRow FromConfig(MotionAxisConfig cfg)
        {
            cfg = cfg ?? new MotionAxisConfig();
            return new AxisEditRow
            {
                AxisNo = cfg.AxisNo,
                Name = cfg.Name,
                Kind = cfg.Kind,
                OutputChannel = cfg.OutputChannel,
                CombinedMembers = cfg.CombinedMembers,
                Velocity = cfg.Velocity,
                SoftLimitEnabled = cfg.SoftLimitEnabled,
                SoftLimitNeg = cfg.SoftLimitNeg,
                SoftLimitPos = cfg.SoftLimitPos,
                MaxVelocity = cfg.MaxVelocity
            };
        }

        public MotionAxisConfig ToConfig()
        {
            return new MotionAxisConfig
            {
                AxisNo = AxisNo,
                Name = Name?.Trim(),
                Kind = Kind,
                OutputChannel = OutputChannel,
                CombinedMembers = CombinedMembers?.Trim() ?? "",
                Velocity = Velocity,
                SoftLimitEnabled = SoftLimitEnabled,
                SoftLimitNeg = SoftLimitNeg,
                SoftLimitPos = SoftLimitPos,
                MaxVelocity = MaxVelocity
            };
        }
    }
}