using Newtonsoft.Json;
using System;
using System.Collections.ObjectModel;
using System.Linq;
using TeamAAS.Robot.Models;
using TeamAAS.Robot.Models.Robot;
using TeamAAS.Vision.Calibration.Enums;

namespace TeamAAS.Vision.Calibration.Models
{
    /// <summary>
    /// 一次标定的完整配置与结果。
    /// 引擎无关：视觉工具以 <see cref="VisionTool"/>（运行时句柄，不序列化）
    /// 与 <see cref="VisionToolRef"/>（持久化引用，如 .vpp 路径）表示，
    /// 具体由当前视觉引擎（VisionPro/VM/Halcon）解释。
    /// </summary>
    [JsonObject(MemberSerialization.OptOut)]
    public class CalibrationInfo : TeamAAS.BindableBase
    {
        private bool _IsCreate;
        /// <summary>正在创建（尚未持久化）。</summary>
        [JsonIgnore]
        public bool IsCreate
        {
            get { return _IsCreate; }
            set { SetProperty(ref _IsCreate, value); }
        }

        private Guid _Id;
        public Guid Id
        {
            get { return _Id; }
            set { SetProperty(ref _Id, value); }
        }

        private int _Index;
        /// <summary>编号。</summary>
        public int Index
        {
            get { return _Index; }
            set { SetProperty(ref _Index, value); }
        }

        private string _Name;
        /// <summary>校准的名称。</summary>
        public string Name
        {
            get { return _Name; }
            set { SetProperty(ref _Name, value); }
        }

        private DateTime _DateTime;
        public DateTime DateTime
        {
            get { return _DateTime; }
            set { SetProperty(ref _DateTime, value); }
        }

        private string _CameraName;
        /// <summary>相机名称。</summary>
        public string CameraName
        {
            get { return _CameraName; }
            set { SetProperty(ref _CameraName, value); }
        }

        private Guid _CameraID;
        /// <summary>相机 ID。</summary>
        public Guid CameraID
        {
            get { return _CameraID; }
            set { SetProperty(ref _CameraID, value); }
        }

        private Guid _RobotId;
        /// <summary>机器人 ID。</summary>
        public Guid RobotId
        {
            get { return _RobotId; }
            set { SetProperty(ref _RobotId, value); }
        }

        private Guid _FeederId;
        /// <summary>Feeder（喂料器/光源）ID。</summary>
        public Guid FeederId
        {
            get { return _FeederId; }
            set { SetProperty(ref _FeederId, value); }
        }

        private CameraMount _CameraMount;
        /// <summary>相机安装方式。</summary>
        public CameraMount CameraMount
        {
            get { return _CameraMount; }
            set { SetProperty(ref _CameraMount, value); }
        }

        private PickInfo _Pick;
        /// <summary>取料方式（吸取/夹取 + IO 点位）。</summary>
        public PickInfo Pick
        {
            get { return _Pick; }
            set { SetProperty(ref _Pick, value); }
        }

        private int _Brightness;
        /// <summary>光源亮度。</summary>
        public int Brightness
        {
            get { return _Brightness; }
            set { SetProperty(ref _Brightness, value); }
        }

        private float _ExposureTime;
        /// <summary>相机曝光时间。</summary>
        public float ExposureTime
        {
            get { return _ExposureTime; }
            set { SetProperty(ref _ExposureTime, value); }
        }

        private float _Gain;
        /// <summary>相机增益。</summary>
        public float Gain
        {
            get { return _Gain; }
            set { SetProperty(ref _Gain, value); }
        }

        private CalibTechP0Mode _CalibTechP0Mode;
        /// <summary>移动相机中心作为 P0 还是手动示教 P0。</summary>
        public CalibTechP0Mode CalibTechP0Mode
        {
            get { return _CalibTechP0Mode; }
            set { SetProperty(ref _CalibTechP0Mode, value); }
        }

        private RPoint _CenterPoint;
        /// <summary>中心点。</summary>
        public RPoint CenterPoint
        {
            get { return _CenterPoint; }
            set { SetProperty(ref _CenterPoint, value); }
        }

        private RPoint _HomePoint;
        /// <summary>待机点。</summary>
        public RPoint HomePoint
        {
            get { return _HomePoint; }
            set { SetProperty(ref _HomePoint, value); }
        }

        private double _Width;
        /// <summary>机器人移动的范围 X。</summary>
        public double Width
        {
            get { return _Width; }
            set { SetProperty(ref _Width, value); }
        }

        private double _Height;
        /// <summary>机器人移动的范围 Y。</summary>
        public double Height
        {
            get { return _Height; }
            set { SetProperty(ref _Height, value); }
        }

        private double _Angle = 180;
        /// <summary>机器人移动的范围 U（旋转标定用角度）。</summary>
        public double Angle
        {
            get { return _Angle; }
            set { SetProperty(ref _Angle, value); }
        }

        private RobotTool _Tool;
        /// <summary>工具坐标（TCP）。</summary>
        public RobotTool Tool
        {
            get { return _Tool; }
            set { SetProperty(ref _Tool, value); }
        }

        private RobotArm _Arm;
        /// <summary>Arm。</summary>
        public RobotArm Arm
        {
            get { return _Arm; }
            set { SetProperty(ref _Arm, value); }
        }

        private int _Speed;
        public int Speed
        {
            get { return _Speed; }
            set { SetProperty(ref _Speed, value); }
        }

        private int _Accel;
        public int Accel
        {
            get { return _Accel; }
            set { SetProperty(ref _Accel, value); }
        }

        private int _WaitPhoto;
        public int WaitPhoto
        {
            get { return _WaitPhoto; }
            set { SetProperty(ref _WaitPhoto, value); }
        }

        private int _WaitSuction;
        /// <summary>吸真空延时。</summary>
        public int WaitSuction
        {
            get { return _WaitSuction; }
            set { SetProperty(ref _WaitSuction, value); }
        }

        private int _WaitBlow;
        /// <summary>破真空延时。</summary>
        public int WaitBlow
        {
            get { return _WaitBlow; }
            set { SetProperty(ref _WaitBlow, value); }
        }

        private bool _Power;
        public bool Power
        {
            get { return _Power; }
            set { SetProperty(ref _Power, value); }
        }

        private bool _IsDistortionCorrection;
        /// <summary>是否进行畸变校正。</summary>
        public bool IsDistortionCorrection
        {
            get { return _IsDistortionCorrection; }
            set { SetProperty(ref _IsDistortionCorrection, value); }
        }

        private RPoint _MarkPoint;
        /// <summary>特征点的坐标（移动相机模式下记录标定块绝对坐标）。</summary>
        public RPoint MarkPoint
        {
            get { return _MarkPoint; }
            set { SetProperty(ref _MarkPoint, value); }
        }

        private ObservableCollection<RobotPixelPoint> _CalibPoints;
        /// <summary>9 点校准点（机器人坐标与像素坐标对应）。</summary>
        public ObservableCollection<RobotPixelPoint> CalibPoints
        {
            get { return _CalibPoints; }
            set { SetProperty(ref _CalibPoints, value); }
        }

        private double[,] _RobotCameraRotationMatrix;
        /// <summary>机器人与相机之间的旋转矩阵。</summary>
        public double[,] RobotCameraRotationMatrix
        {
            get { return _RobotCameraRotationMatrix; }
            set { SetProperty(ref _RobotCameraRotationMatrix, value); }
        }

        private double _PixelScaleX;
        /// <summary>图像 X 方向像素与毫米缩放系数，mm/pixel。</summary>
        public double PixelScaleX
        {
            get { return _PixelScaleX; }
            set { SetProperty(ref _PixelScaleX, value); }
        }

        private double _PixelScaleY;
        /// <summary>图像 Y 方向像素与毫米缩放系数，mm/pixel。</summary>
        public double PixelScaleY
        {
            get { return _PixelScaleY; }
            set { SetProperty(ref _PixelScaleY, value); }
        }

        private double[,] _AffineTransformationMaterial;
        /// <summary>仿射变换 2*3 矩阵（像素 → 机器人）。</summary>
        public double[,] AffineTransformationMaterial
        {
            get { return _AffineTransformationMaterial; }
            set { SetProperty(ref _AffineTransformationMaterial, value); }
        }

        private CalibrationResult _CalibrationResult;
        /// <summary>校准结果。</summary>
        public CalibrationResult CalibrationResult
        {
            get { return _CalibrationResult; }
            set { SetProperty(ref _CalibrationResult, value); }
        }

        private CalibrationTestResult _CalibrationTestResult;
        /// <summary>校准验证结果。</summary>
        public CalibrationTestResult CalibrationTestResult
        {
            get { return _CalibrationTestResult; }
            set { SetProperty(ref _CalibrationTestResult, value); }
        }

        private string _VisionToolRef;
        /// <summary>视觉标定工具的持久化引用（如 .vpp 路径），随引擎解释。</summary>
        public string VisionToolRef
        {
            get { return _VisionToolRef; }
            set { SetProperty(ref _VisionToolRef, value); }
        }

        /// <summary>视觉标定工具的运行时句柄（引擎私有对象，不序列化）。</summary>
        [JsonIgnore]
        public object VisionTool { get; set; }

        /// <summary>畸变校正工具的运行时句柄（引擎私有对象，不序列化）。</summary>
        [JsonIgnore]
        public object DistortionTool { get; set; }

        public CalibrationInfo Clone()
        {
            return new CalibrationInfo
            {
                Id = this.Id,
                Index = this.Index,
                Name = this.Name,
                DateTime = this.DateTime,
                CameraName = this.CameraName,
                CameraID = this.CameraID,
                RobotId = this.RobotId,
                FeederId = this.FeederId,
                CameraMount = this.CameraMount,
                Pick = this.Pick?.Clone(),
                Brightness = this.Brightness,
                ExposureTime = this.ExposureTime,
                Gain = this.Gain,
                CalibTechP0Mode = this.CalibTechP0Mode,
                CenterPoint = this.CenterPoint?.Clone(),
                HomePoint = this.HomePoint?.Clone(),
                Width = this.Width,
                Height = this.Height,
                Angle = this.Angle,
                Tool = this.Tool?.Copy(),
                Arm = this.Arm,
                Speed = this.Speed,
                Accel = this.Accel,
                WaitPhoto = this.WaitPhoto,
                WaitSuction = this.WaitSuction,
                WaitBlow = this.WaitBlow,
                Power = this.Power,
                IsDistortionCorrection = this.IsDistortionCorrection,
                MarkPoint = this.MarkPoint?.Clone(),
                CalibPoints = new ObservableCollection<RobotPixelPoint>((this.CalibPoints ?? new ObservableCollection<RobotPixelPoint>()).Select(p => p.Clone())),
                RobotCameraRotationMatrix = (double[,])this.RobotCameraRotationMatrix?.Clone(),
                PixelScaleX = this.PixelScaleX,
                PixelScaleY = this.PixelScaleY,
                AffineTransformationMaterial = (double[,])this.AffineTransformationMaterial?.Clone(),
                VisionToolRef = this.VisionToolRef,
            };
        }
    }
}