using System;
using System.Globalization;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using TeamAAS.Robot.Interfaces;

namespace TeamAAS.Robot.UI
{
    /// <summary>
    /// 默认机器人调试页：状态/坐标 + 电机/重置/刹车 + 步进/Tool + Jog 六向。
    /// 未在 [Robot] 特性指定 DebugPageType 的品牌机器人均用本页。
    /// 照 MotionDebugView 范式：code-behind 直接操作 BindRobot 得到的 IRobot 实例。
    /// </summary>
    public partial class DefaultRobotDebugPage : UserControl, IRobotDebugPage
    {
        private IRobot _robot;
        private readonly System.Windows.Threading.DispatcherTimer _statusTimer;

        public DefaultRobotDebugPage()
        {
            InitializeComponent();
            _statusTimer = new System.Windows.Threading.DispatcherTimer { Interval = TimeSpan.FromMilliseconds(500) };
            _statusTimer.Tick += (s, e) => RefreshStatus();
        }

        public void BindRobot(IRobot robot)
        {
            _robot = robot;
            OpsRoot.IsEnabled = robot != null;
            if (robot != null)
            {
                _statusTimer.Start();
                RefreshStatus();
                var _t = GetPosAsync();
            }
            else
            {
                _statusTimer.Stop();
            }
        }

        public void UnbindRobot()
        {
            _statusTimer.Stop();
            _robot = null;
            OpsRoot.IsEnabled = false;
            TxtStatus.Text = "";
            TxtMessage.Text = "";
            TxtPos.Text = "X: ---  Y: ---  Z: ---";
        }

        private void RefreshStatus()
        {
            if (_robot == null) { TxtStatus.Text = ""; return; }
            try { TxtStatus.Text = _robot.IsConnected ? "已连接" : "未连接"; }
            catch { }
        }

        private double Step
        {
            get { double s; return double.TryParse(TxtStep.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out s) ? s : 1.0; }
        }

        private int ToolIndex { get { return ToolCombo.SelectedIndex < 0 ? 0 : ToolCombo.SelectedIndex; } }

        private void Msg(string m) { TxtMessage.Text = m; }

        private async void BtnMotorOn_Click(object sender, RoutedEventArgs e) { await RunAsync(() => _robot.MotorAsync(true), "电机已开启", "电机操作"); }
        private async void BtnMotorOff_Click(object sender, RoutedEventArgs e) { await RunAsync(() => _robot.MotorAsync(false), "电机已关闭", "电机操作"); }
        private async void BtnReset_Click(object sender, RoutedEventArgs e) { await RunAsync(() => _robot.ResetAsync(), "已重置", "重置"); }
        private async void BtnSFree_Click(object sender, RoutedEventArgs e) { await RunAsync(() => _robot.SFreeAsync(), "已释放刹车", "释放刹车"); }
        private async void BtnSLock_Click(object sender, RoutedEventArgs e) { await RunAsync(() => _robot.SLockAsync(), "已锁定刹车", "锁定刹车"); }
        private async void BtnGetPos_Click(object sender, RoutedEventArgs e) { await GetPosAsync(); }

        private async void BtnSelectTool_Click(object sender, RoutedEventArgs e)
        {
            int t = ToolIndex;
            await RunAsync(() => _robot.SelectToolAsync(t), "已选择 Tool " + t, "选择Tool");
        }

        private async void BtnJog_Click(object sender, RoutedEventArgs e)
        {
            var btn = sender as Button;
            var param = btn == null ? null : btn.Tag as string;
            if (_robot == null || string.IsNullOrEmpty(param) || param.Length < 2) return;
            string axis = param.Substring(0, 1);
            string dir = param.Substring(1, 1);
            double dist = Step * (dir == "+" ? 1 : -1);
            await RunAsync(() => _robot.JogAsync(axis, dist), "Jog " + param + " " + Step + "mm", "Jog");
            await GetPosAsync();
        }

        private async Task RunAsync(Func<Task<bool>> op, string okMsg, string errLabel)
        {
            if (_robot == null) return;
            try { await op(); Msg(okMsg); }
            catch (Exception ex) { Msg(errLabel + "异常: " + ex.Message); }
        }

        private async Task GetPosAsync()
        {
            if (_robot == null) return;
            try
            {
                var pos = await _robot.GetRobotPosAsync();
                if (pos != null)
                    TxtPos.Text = string.Format("X: {0:F3}  Y: {1:F3}  Z: {2:F3}\nU: {3:F3}  V: {4:F3}  W: {5:F3}",
                        pos.X, pos.Y, pos.Z, pos.U, pos.V, pos.W);
            }
            catch (Exception ex) { Msg("读取位置异常: " + ex.Message); }
        }
    }
}