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

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

        public int EstopDiIndex { get; set; } = -1;
        public int EstopDiBankIndex { get; set; }
        public bool EstopActiveHigh { get; set; } = true;
        public int StopDiIndex { get; set; } = -1;
        public int StopDiBankIndex { get; set; }
        public bool StopActiveHigh { get; set; } = true;

        public MotionIoBank EstopDiBank => EstopDiBankIndex == 1 ? MotionIoBank.EtherCat : MotionIoBank.Local;
        public MotionIoBank StopDiBank => StopDiBankIndex == 1 ? MotionIoBank.EtherCat : MotionIoBank.Local;

        public EditMotionSafetyDialog(MotionDeviceConfig cfg, IEnumerable<MotionAxisConfig> axes)
        {
            EstopDiIndex = cfg != null ? cfg.EstopDiIndex : -1;
            EstopDiBankIndex = cfg != null && cfg.EstopDiBank == MotionIoBank.EtherCat ? 1 : 0;
            EstopActiveHigh = cfg == null || cfg.EstopActiveHigh;
            StopDiIndex = cfg != null ? cfg.StopDiIndex : -1;
            StopDiBankIndex = cfg != null && cfg.StopDiBank == MotionIoBank.EtherCat ? 1 : 0;
            StopActiveHigh = cfg == null || cfg.StopActiveHigh;
            InitializeComponent();
            DataContext = this;
            foreach (var axisCfg in axes ?? Enumerable.Empty<MotionAxisConfig>())
                Rows.Add(SafetyEditRow.FromConfig(axisCfg));
        }

        private void BtnOK_Click(object sender, RoutedEventArgs e)
        {
            foreach (var row in Rows)
            {
                if (row.SoftLimitEnabled && row.SoftLimitNeg == row.SoftLimitPos)
                {
                    DialogHelper.ShowWarning($"{row.Name} 的正负软限位不能相同");
                    return;
                }
                if (row.MaxVelocity < 0)
                {
                    DialogHelper.ShowWarning($"{row.Name} 的最高速度不能为负");
                    return;
                }
            }

            if (EstopDiIndex < -1 || StopDiIndex < -1)
            {
                DialogHelper.ShowWarning("急停/停止 DI 填 -1 表示不启用，不能小于 -1");
                return;
            }

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

    public class SafetyEditRow : INotifyPropertyChanged
    {
        private bool _softLimitEnabled;
        private double _softLimitNeg;
        private double _softLimitPos;
        private double _maxVelocity;

        public int AxisNo { get; set; }
        public string Name { get; set; }
        public string KindText { get; set; }

        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 SafetyEditRow FromConfig(MotionAxisConfig cfg)
        {
            cfg = cfg ?? new MotionAxisConfig();
            return new SafetyEditRow
            {
                AxisNo = cfg.AxisNo,
                Name = cfg.Name,
                KindText = cfg.KindText,
                SoftLimitEnabled = cfg.SoftLimitEnabled,
                SoftLimitNeg = cfg.SoftLimitNeg,
                SoftLimitPos = cfg.SoftLimitPos,
                MaxVelocity = cfg.MaxVelocity
            };
        }

        public MotionAxisConfig ToConfig()
        {
            return new MotionAxisConfig
            {
                AxisNo = AxisNo,
                Name = Name,
                SoftLimitEnabled = SoftLimitEnabled,
                SoftLimitNeg = SoftLimitNeg,
                SoftLimitPos = SoftLimitPos,
                MaxVelocity = MaxVelocity
            };
        }
    }
}