using Cognex.VisionPro.CalibFix;
using MathNet.Numerics.LinearAlgebra;
using Newtonsoft.Json;
using Prism.Mvvm;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Media.Media3D;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Models.Robot;

namespace TeamAAS_VP.Models.Calibration
{
    [JsonObject(MemberSerialization.OptOut)]
    public class CalibrationInfo : BindableBase
    {
        private bool _IsCreate;
        /// <summary>
        /// 正在创建
        /// </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
        /// </summary>
        public Guid RobotId
        {
            get { return _RobotId; }
            set { SetProperty(ref _RobotId, value); }
        }

        private Guid _FeederId;
        /// <summary>
        /// Feeder
        /// </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 int _CameraMotionModuleIndex;
        /// <summary>
        /// 相机运动模块的编号
        /// </summary>
        public int CameraMotionModuleIndex
        {
            get { return _CameraMotionModuleIndex; }
            set { SetProperty(ref _CameraMotionModuleIndex, value); }
        }

        private PickInfo _Pick;

        /// <summary>
        /// 取料方式
        /// </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
        /// </summary>
        public double Angle
        {
            get { return _Angle; }
            set { SetProperty(ref _Angle, value); }
        }

        private RobotTool _Tool;
        /// <summary>
        /// 工具坐标
        /// </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 _FixedDownCameraNoReturnToHome;
        /// <summary>
        /// 固定向下相机时是否不需要每次回到待机点
        /// </summary>
        public bool FixedDownCameraNoReturnToHome
        {
            get { return _FixedDownCameraNoReturnToHome; }
            set { SetProperty(ref _FixedDownCameraNoReturnToHome, 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
        /// </summary>
        public RPoint MarkPoint
        {
            get { return _MarkPoint; }
            set { SetProperty(ref _MarkPoint, value); }
        }

        private RPoint _PutPoint;
        /// <summary>
        /// 移动相机时。通过下相机校准P0的标定快放置位置
        /// </summary>
        public RPoint PutPoint
        {
            get { return _PutPoint; }
            set { SetProperty(ref _PutPoint, value); }
        }

        //
        private RPoint _DownCameraPoint;
        /// <summary>
        /// 移动相机时。通过下相机校准P0的下相机拍照位置
        /// </summary>
        public RPoint DownCameraPoint
        {
            get { return _DownCameraPoint; }
            set { SetProperty(ref _DownCameraPoint, value); }
        }

        private RPoint _IndependentDownCameraMotionModulePoint;
        /// <summary>
        /// 独立的移动固定向下相机的模组位置
        /// </summary>
        public RPoint IndependentDownCameraMotionModulePoint
        {
            get { return _IndependentDownCameraMotionModulePoint; }
            set { SetProperty(ref _IndependentDownCameraMotionModulePoint, value); }
        }

        private double _IndependentDownCameraMotionModuleMoveX;
        /// <summary>
        /// 独立模组X轴移动的距离
        /// </summary>
        public double IndependentDownCameraMotionModuleMoveX
        {
            get { return _IndependentDownCameraMotionModuleMoveX; }
            set { SetProperty(ref _IndependentDownCameraMotionModuleMoveX, value); }
        }

        private double[,] _IndependentDownCameraMotionModuleRotationMatrix;
        /// <summary>
        /// 独立移动模组的旋转矩阵
        /// </summary>
        public double[,] IndependentDownCameraMotionModuleRotationMatrix
        {
            get { return _IndependentDownCameraMotionModuleRotationMatrix; }
            set { SetProperty(ref _IndependentDownCameraMotionModuleRotationMatrix, value); }
        }

        private double[,] _IndependentDownCameraMotionModuleTranslationMatrix;
        /// <summary>
        /// 独立移动模组的平移矩阵
        /// </summary>
        public double[,] IndependentDownCameraMotionModuleTranslationMatrix
        {
            get { return _IndependentDownCameraMotionModuleTranslationMatrix; }
            set { SetProperty(ref _IndependentDownCameraMotionModuleTranslationMatrix, value); }
        }

        private ObservableCollection<RobotPixelPoint> _CalibPoints;

        /// <summary>
        /// 9点校准点
        /// </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
        /// </summary>
        public double[,] AffineTransformationMaterial
        {
            get { return _AffineTransformationMaterial; }
            set { SetProperty(ref _AffineTransformationMaterial, value); }
        }

        private FixedUpCameraFindP0Info _FixedUpCameraFindP0Info;
        /// <summary>
        /// 移动相机时，下相机校准P0
        /// </summary>
        public FixedUpCameraFindP0Info FixedUpCameraFindP0Info
        {
            get { return _FixedUpCameraFindP0Info; }
            set { SetProperty(ref _FixedUpCameraFindP0Info, value); }
        }

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

        private CalibrationTestResult _CalibrationTestResult;

        public CalibrationTestResult CalibrationTestResult
        {
            get { return _CalibrationTestResult; }
            set { SetProperty(ref _CalibrationTestResult, value); }
        }


        /// <summary>
        /// 流程
        /// </summary>
        [JsonIgnore]
        public Cognex.VisionPro.ToolBlock.CogToolBlock ToolBlock { get; set; }

        [JsonIgnore]
        public CogCalibCheckerboardTool CalibCheckerboardTool { get; set; }

        public CalibrationInfo Clone()
        {
            try
            {
                return JsonConvert.DeserializeObject<CalibrationInfo>(JsonConvert.SerializeObject(this));
            }
            catch (Exception)
            {
                return this;
            }
        }
    }
}