using Prism.Mvvm;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using TeamAAS_VP.Core.PLCs;
using TeamAAS_VP.Interfaces;

namespace TeamAAS_VP.Models.PLC
{
    public class PlcPoint : BindableBase
    {
        private int _Number;
        /// <summary>
        /// 点位编号
        /// </summary>
        public int Number
        {
            get { return _Number; }
            set { SetProperty(ref _Number, value); }
        }

        private string _Label;
        /// <summary>
        /// 点位标签
        /// </summary>
        public string Label
        {
            get { return _Label; }
            set { SetProperty(ref _Label, value); }
        }

        private float _X_Position;
        /// <summary>
        /// X轴位置
        /// </summary>
        public float X_Position
        {
            get { return _X_Position; }
            set { SetProperty(ref _X_Position, value); }
        }

        private float _X_Velocity;
        /// <summary>
        /// X轴速度
        /// </summary>
        public float X_Velocity
        {
            get { return _X_Velocity; }
            set { SetProperty(ref _X_Velocity, value); }
        }

        private float _Y_Position;
        /// <summary>
        /// Y轴位置
        /// </summary>
        public float Y_Position
        {
            get { return _Y_Position; }
            set { SetProperty(ref _Y_Position, value); }
        }

        private float _Y_Velocity;
        /// <summary>
        /// Y轴速度
        /// </summary>
        public float Y_Velocity
        {
            get { return _Y_Velocity; }
            set { SetProperty(ref _Y_Velocity, value); }
        }

        private float _Z_Position_Start;
        /// <summary>
        /// Z轴起点位置
        /// </summary>
        public float Z_Position_Start
        {
            get { return _Z_Position_Start; }
            set { SetProperty(ref _Z_Position_Start, value); }
        }

        private float _Z_Velocity_Start;
        /// <summary>
        /// Z轴起点速度
        /// </summary>
        public float Z_Velocity_Start
        {
            get { return _Z_Velocity_Start; }
            set { SetProperty(ref _Z_Velocity_Start, value); }
        }

        private float _Z_Position_Stop;
        /// <summary>
        /// Z轴终点位置
        /// </summary>
        public float Z_Position_Stop
        {
            get { return _Z_Position_Stop; }
            set { SetProperty(ref _Z_Position_Stop, value); }
        }

        private float _Z_Velocity_Stop;
        /// <summary>
        /// Z轴终点速度
        /// </summary>
        public float Z_Velocity_Stop
        {
            get { return _Z_Velocity_Stop; }
            set { SetProperty(ref _Z_Velocity_Stop, value); }
        }

        private float _U_Position;
        /// <summary>
        /// U轴位置
        /// </summary>
        public float U_Position
        {
            get { return _U_Position; }
            set { SetProperty(ref _U_Position, value); }
        }

        private float _U_Velocity;
        /// <summary>
        /// U轴速度
        /// </summary>
        public float U_Velocity
        {
            get { return _U_Velocity; }
            set { SetProperty(ref _U_Velocity, value); }
        }

        private float _R_Position;
        /// <summary>
        /// R轴位置
        /// </summary>
        public float R_Position
        {
            get { return _R_Position; }
            set { SetProperty(ref _R_Position, value); }
        }

        private float _R_Velocity;
        /// <summary>
        /// R轴速度
        /// </summary>
        public float R_Velocity
        {
            get { return _R_Velocity; }
            set { SetProperty(ref _R_Velocity, value); }
        }

        private float _Torque;
        /// <summary>
        /// 扭矩值
        /// </summary>
        public float Torque
        {
            get { return _Torque; }
            set { SetProperty(ref _Torque, value); }
        }

        private Int16 _Feeder;
        /// <summary>
        /// Feeder编号
        /// </summary>
        public Int16 Feeder
        {
            get { return _Feeder; }
            set { SetProperty(ref _Feeder, value); }
        }

        private Int16 _ScrewProNum;
        /// <summary>
        /// 电批程序号
        /// </summary>
        public Int16 ScrewProNum
        {
            get { return _ScrewProNum; }
            set { SetProperty(ref _ScrewProNum, value); }
        }

        //描述
        private string _Description;
        /// <summary>
        /// 点位描述
        /// </summary>
        public string Description
        {
            get { return _Description; }
            set { SetProperty(ref _Description, value); }
        }

        private Guid _VisionProcessID;
        /// <summary>
        /// 视觉流程ID
        /// </summary>
        public Guid VisionProcessID
        {
            get { return _VisionProcessID; }
            set { SetProperty(ref _VisionProcessID, value); }
        }

        private string _VisionProcessName;
        /// <summary>
        /// 视觉流程名称
        /// </summary>
        public string VisionProcessName
        {
            get { return _VisionProcessName; }
            set { SetProperty(ref _VisionProcessName, value); }
        }

        private float _X_Offset;
        /// <summary>
        /// X轴补偿值
        /// </summary>
        public float X_Offset
        {
            get { return _X_Offset; }
            set { SetProperty(ref _X_Offset, value); }
        }

        private float _Y_Offset;
        /// <summary>
        /// Y轴补偿值
        /// </summary>
        public float Y_Offset
        {
            get { return _Y_Offset; }
            set { SetProperty(ref _Y_Offset, value); }
        }

        private float _Z_Start_Offset;
        /// <summary>
        /// Z轴起点补偿值
        /// </summary>
        public float Z_Start_Offset
        {
            get { return _Z_Start_Offset; }
            set { SetProperty(ref _Z_Start_Offset, value); }
        }

        private float _Z_Stop_Offset;
        /// <summary>
        /// Z轴终点补偿值
        /// </summary>
        public float Z_Stop_Offset
        {
            get { return _Z_Stop_Offset; }
            set { SetProperty(ref _Z_Stop_Offset, value); }
        }

        private float _U_Offset;
        /// <summary>
        /// U轴补偿值
        /// </summary>
        public float U_Offset
        {
            get { return _U_Offset; }
            set { SetProperty(ref _U_Offset, value); }
        }

        private float _R_Offset;
        /// <summary>
        /// R轴补偿值
        /// </summary>
        public float R_Offset
        {
            get { return _R_Offset; }
            set { SetProperty(ref _R_Offset, value); }
        }

        public PlcPoint()
        {
            Number = 0;
            X_Position = 0;
            X_Velocity = 0;
            Y_Position = 0;
            Y_Velocity = 0;
            Z_Position_Start = 0;
            Z_Velocity_Start = 0;
            Z_Position_Stop = 0;
            Z_Velocity_Stop = 0;
            U_Position = 0;
            U_Velocity = 0;
            R_Position = 0;
            R_Velocity = 0;
            Torque = 0;
            Feeder = 0;
            ScrewProNum = 0;
            Description = string.Empty;
            X_Offset = 0;
            Y_Offset = 0;
            Z_Start_Offset = 0;
            Z_Stop_Offset = 0;
            U_Offset = 0;
            R_Offset = 0;

        }

        public PlcPoint Clone()
        {
            return new PlcPoint
            {
                Number = this.Number,
                Label = this.Label,
                X_Position = this.X_Position,
                X_Velocity = this.X_Velocity,
                Y_Position = this.Y_Position,
                Y_Velocity = this.Y_Velocity,
                Z_Position_Start = this.Z_Position_Start,
                Z_Velocity_Start = this.Z_Velocity_Start,
                Z_Position_Stop = this.Z_Position_Stop,
                Z_Velocity_Stop = this.Z_Velocity_Stop,
                U_Position = this.U_Position,
                U_Velocity = this.U_Velocity,
                R_Position = this.R_Position,
                R_Velocity = this.R_Velocity,
                Torque = this.Torque,
                Feeder = this.Feeder,
                ScrewProNum = this.ScrewProNum,
                Description = this.Description,
                VisionProcessID = this.VisionProcessID,
                VisionProcessName = this.VisionProcessName,
                X_Offset = this.X_Offset,
                Y_Offset = this.Y_Offset,
                Z_Start_Offset = this.Z_Start_Offset,
                Z_Stop_Offset = this.Z_Stop_Offset,
                U_Offset = this.U_Offset,
                R_Offset = this.R_Offset
            };
        }

        /// <summary>
        /// 将点位数据写入到PLC地址
        /// </summary>
        /// <param name="plcAddress"></param>
        /// <param name="pLC"></param>
        /// <returns></returns>
        public async Task<bool> WriteToPlcAddress(PlcPointAddress plcAddress, OpcUaClientPLC pLC)
        {
            Dictionary<string, object> nodeValues = new Dictionary<string, object>();
            nodeValues.Add(string.Format(plcAddress.X_Position.Address, Number), X_Position + X_Offset);
            nodeValues.Add(string.Format(plcAddress.X_Velocity.Address, Number), X_Velocity);
            nodeValues.Add(string.Format(plcAddress.Y_Position.Address, Number), Y_Position + Y_Offset);
            nodeValues.Add(string.Format(plcAddress.Y_Velocity.Address, Number), Y_Velocity);
            nodeValues.Add(string.Format(plcAddress.Z_Position_Start.Address, Number), Z_Position_Start + Z_Start_Offset);
            nodeValues.Add(string.Format(plcAddress.Z_Velocity_Start.Address, Number), Z_Velocity_Start);
            nodeValues.Add(string.Format(plcAddress.Z_Position_Stop.Address, Number), Z_Position_Stop + Z_Stop_Offset);
            nodeValues.Add(string.Format(plcAddress.Z_Velocity_Stop.Address, Number), Z_Velocity_Stop);
            nodeValues.Add(string.Format(plcAddress.U_Position.Address, Number), U_Position + U_Offset);
            nodeValues.Add(string.Format(plcAddress.U_Velocity.Address, Number), U_Velocity);
            nodeValues.Add(string.Format(plcAddress.R_Position.Address, Number), R_Position + R_Offset);
            nodeValues.Add(string.Format(plcAddress.R_Velocity.Address, Number), R_Velocity);
            nodeValues.Add(string.Format(plcAddress.Torque.Address, Number), Torque);
            nodeValues.Add(string.Format(plcAddress.Feeder.Address, Number), Feeder);
            nodeValues.Add(string.Format(plcAddress.ScrewProNum.Address, Number), ScrewProNum);
            return await pLC.WriteNodesAsync(nodeValues);
        }

        /// <summary>
        /// 将点位数据写入到PLC地址
        /// </summary>
        /// <param name="plcAddress"></param>
        /// <param name="pLC"></param>
        /// <returns></returns>
        public async Task<bool> WriteToPlcAddress(PlcPointAddress plcAddress, OpcUaClientPLC pLC,int index)
        {
            Dictionary<string, object> nodeValues = new Dictionary<string, object>();
            nodeValues.Add(string.Format(plcAddress.X_Position.Address, index), X_Position + X_Offset);
            nodeValues.Add(string.Format(plcAddress.X_Velocity.Address, index), X_Velocity);
            nodeValues.Add(string.Format(plcAddress.Y_Position.Address, index), Y_Position + Y_Offset);
            nodeValues.Add(string.Format(plcAddress.Y_Velocity.Address, index), Y_Velocity);
            nodeValues.Add(string.Format(plcAddress.Z_Position_Start.Address, index), Z_Position_Start + Z_Start_Offset);
            nodeValues.Add(string.Format(plcAddress.Z_Velocity_Start.Address, index), Z_Velocity_Start);
            nodeValues.Add(string.Format(plcAddress.Z_Position_Stop.Address, index), Z_Position_Stop + Z_Stop_Offset);
            nodeValues.Add(string.Format(plcAddress.Z_Velocity_Stop.Address, index), Z_Velocity_Stop);
            nodeValues.Add(string.Format(plcAddress.U_Position.Address, index), U_Position + U_Offset);
            nodeValues.Add(string.Format(plcAddress.U_Velocity.Address, index), U_Velocity);
            nodeValues.Add(string.Format(plcAddress.R_Position.Address, index), R_Position + R_Offset);
            nodeValues.Add(string.Format(plcAddress.R_Velocity.Address, index), R_Velocity);
            nodeValues.Add(string.Format(plcAddress.Torque.Address, index), Torque);
            nodeValues.Add(string.Format(plcAddress.Feeder.Address, index), Feeder);
            nodeValues.Add(string.Format(plcAddress.ScrewProNum.Address, index), ScrewProNum);
            return await pLC.WriteNodesAsync(nodeValues);
        }

        /// <summary>
        /// 将点位数据写入到PLC地址
        /// </summary>
        /// <param name="plcAddress"></param>
        /// <param name="pLC"></param>
        /// <returns></returns>
        public async Task<bool> WriteToPlcAddressEx(PlcPointAddress plcAddress, OpcUaClientPLC pLC)
        {
            Dictionary<string, object> nodeValues = new Dictionary<string, object>();
            //nodeValues.Add(string.Format(plcAddress.X_Position.Address, Number), X_Position);
            //nodeValues.Add(string.Format(plcAddress.X_Velocity.Address, Number), X_Velocity);
            //nodeValues.Add(string.Format(plcAddress.Y_Position.Address, Number), Y_Position);
            //nodeValues.Add(string.Format(plcAddress.Y_Velocity.Address, Number), Y_Velocity);
            //nodeValues.Add(string.Format(plcAddress.Z_Position_Start.Address, Number), Z_Position_Start);
            //nodeValues.Add(string.Format(plcAddress.Z_Velocity_Start.Address, Number), Z_Velocity_Start);
            //nodeValues.Add(string.Format(plcAddress.Z_Position_Stop.Address, Number), Z_Position_Stop);
            //nodeValues.Add(string.Format(plcAddress.Z_Velocity_Stop.Address, Number), Z_Velocity_Stop);
            //nodeValues.Add(string.Format(plcAddress.U_Position.Address, Number), U_Position);
            //nodeValues.Add(string.Format(plcAddress.U_Velocity.Address, Number), U_Velocity);
            //nodeValues.Add(string.Format(plcAddress.R_Position.Address, Number), R_Position);
            //nodeValues.Add(string.Format(plcAddress.R_Velocity.Address, Number), R_Velocity);
            //nodeValues.Add(string.Format(plcAddress.Torque.Address, Number), Torque);
            nodeValues.Add(string.Format(plcAddress.Feeder.Address, Number), Feeder);
            nodeValues.Add(string.Format(plcAddress.ScrewProNum.Address, Number), ScrewProNum);
            return await pLC.WriteNodesAsync(nodeValues);
        }
    }
}