using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using Prism.Commands;
using Prism.Events;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Regions;
using Prism.Services.Dialogs;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.IO;
using System.Linq;
using System.Threading.Tasks;
using System.Windows;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP;
using TeamAAS_VP.Core;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Calibration;
using TeamAAS_VP.Resources.Languages;

namespace TeamAAS_VP.ViewModels.Calibration
{
    public class CalibrationCameraParamsViewModel : BindableBase, IConfirmNavigationRequest
    {
        IRegionManager _regionManager;
        IRegionNavigationService _regionNavigationService;
        IContainerProvider _container;
        IDialogService _dialogService;
        IEventAggregator _eventAggregator;
        IConfigService _configService;
        IRobotService _robotService;
        ICameraService _cameraService;
        IFeederService _feederService;
        ISystemDatabaseService _systemDatabaseService;

        #region 属性

        private CalibrationInfo _SelectCalibration;

        public CalibrationInfo SelectCalibration
        {
            get { return _SelectCalibration; }
            set { SetProperty(ref _SelectCalibration, value); }
        }

        private IRobot _Robot;

        public IRobot Robot
        {
            get { return _Robot; }
            set { SetProperty(ref _Robot, value); }
        }

        private IVoiceCoilMotorFeeder _Feeder;

        public IVoiceCoilMotorFeeder Feeder
        {
            get { return _Feeder; }
            set { SetProperty(ref _Feeder, value); }
        }

        private ICamera _Camera;

        public ICamera Camera
        {
            get { return _Camera; }
            set { SetProperty(ref _Camera, value); }
        }

        private bool _IsShowLight;

        public bool IsShowLight
        {
            get { return _IsShowLight; }
            set { SetProperty(ref _IsShowLight, value); }
        }

        private float _ExposureTime;
        /// <summary>
        /// 相机曝光时间
        /// </summary>
        public float ExposureTime
        {
            get { return _ExposureTime; }
            set
            {
                SetProperty(ref _ExposureTime, value);
                SelectCalibration.ExposureTime = value;
                if (Camera != null)
                {
                    try
                    {
                        Camera.SetExposureTime(value);
                    }
                    catch (Exception)
                    {

                    }
                }
            }
        }

        private float _Gain;
        /// <summary>
        /// 相机增益
        /// </summary>
        public float Gain
        {
            get { return _Gain; }
            set
            {
                SetProperty(ref _Gain, value);
                SelectCalibration.Gain = value;
                if (Camera != null)
                {
                    try
                    {
                        Camera.SetGain(value);
                    }
                    catch (Exception)
                    {

                    }
                }
            }
        }

        private ICogImage _Image;

        public ICogImage Image
        {
            get { return _Image; }
            set { SetProperty(ref _Image,value); }
        }

        private string _Message;
        public string Message
        {
            get { return _Message; }
            set { SetProperty(ref _Message, value); }
        }
        #endregion

        #region 命令
        private DelegateCommand _LoadedCommand;
        public DelegateCommand LoadedCommand =>
            _LoadedCommand ?? (_LoadedCommand = new DelegateCommand(ExecuteLoadedCommand));
        private DelegateCommand _NextCommand;
        public DelegateCommand NextCommand =>
            _NextCommand ?? (_NextCommand = new DelegateCommand(ExecuteNextCommand));

        private DelegateCommand _BackCommand;
        public DelegateCommand BackCommand =>
            _BackCommand ?? (_BackCommand = new DelegateCommand(ExecuteBackCommand));

        private DelegateCommand<double?> _LightValueChangedCommand;
        public DelegateCommand<double?> LightValueChangedCommand =>
            _LightValueChangedCommand ?? (_LightValueChangedCommand = new DelegateCommand<double?>(ExecuteLightValueChangedCommand));

        private DelegateCommand _StartGrabbingCommand;
        public DelegateCommand StartGrabbingCommand =>
            _StartGrabbingCommand ?? (_StartGrabbingCommand = new DelegateCommand(ExecuteStartGrabbingCommand));

        private DelegateCommand _StopGrabbingCommand;
        public DelegateCommand StopGrabbingCommand =>
            _StopGrabbingCommand ?? (_StopGrabbingCommand = new DelegateCommand(ExecuteStopGrabbingCommand));
        #endregion

        #region 事件

        #endregion

        public CalibrationCameraParamsViewModel(IRegionManager regionManager, IEventAggregator ea, IRegionNavigationService regionNavigationService, IContainerProvider container, IDialogService dialogService,
            IConfigService configService,IRobotService robotService,ICameraService cameraService,IFeederService feederService, ISystemDatabaseService systemDatabaseService)
        {
            _regionManager = regionManager;
            _regionNavigationService = regionNavigationService;
            _container = container;
            _dialogService = dialogService;
            _eventAggregator = ea;
            _configService = configService;
            _robotService = robotService;
            _cameraService = cameraService;
            _feederService = feederService;
            _systemDatabaseService = systemDatabaseService;
        }

        #region 方法
        async void ExecuteLoadedCommand()
        {
            try
            {
                if (_systemDatabaseService.GetCurrentUser().userPart == Enums.UserPart.Operator)
                {
                    IsAllowEdit = false;
                }
                else
                {
                    IsAllowEdit = true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准加载相机参数界面时出错!", ex);
                MessageBox.Show(ex.Message);
            }
        }
        /// <summary>
        /// 下一步
        /// </summary>
        void ExecuteNextCommand()
        {
            SelectCalibration.ExposureTime = ExposureTime;
            SelectCalibration.Gain = Gain;
            if (Camera != null)
            {
                Camera.StopGrabbing();
                Camera.ImageCallbackEvent -= Camera_ImageCallbackEvent;
            }
            NavigationParameters param = new NavigationParameters();
            param.Add("SelectCalibration", SelectCalibration);

            if (SelectCalibration.IsDistortionCorrection)
            {
                _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationDistortion", param);
            }
            else
            {
                _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationEditVision", param);
            }
        }

        /// <summary>
        /// 上一步
        /// </summary>
        void ExecuteBackCommand()
        {
            if (Camera != null)
            {
                Camera.StopGrabbing();
                Camera.ImageCallbackEvent -= Camera_ImageCallbackEvent;
            }
            NavigationParameters param = new NavigationParameters();
            param.Add("SelectCalibration", SelectCalibration);
            _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationBasics", param);
        }

        /// <summary>
        /// 光源亮度调整时
        /// </summary>
        async void ExecuteLightValueChangedCommand(double? lightvalue)
        {
            try
            {
                if (lightvalue == null) return;
                if (Feeder == null || !Feeder.IsConnected) return;
                await Feeder.SetLightValueAsync((ushort)lightvalue);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准光源亮度调整时出错!", ex);
                MessageBox.Show(ex.Message);
            }
        }

        /// <summary>
        /// 停止采集
        /// </summary>
        void ExecuteStopGrabbingCommand()
        {
            if (Camera != null)
                Camera.StopGrabbing();
        }
        /// <summary>
        /// 开始采集
        /// </summary>
        void ExecuteStartGrabbingCommand()
        {
            if (Camera != null)
                Camera.StartGrabbing();
        }

        private void Camera_ImageCallbackEvent(ICogImage image,TimeSpan totaltime,string errormessage)
        {
            Image = image;
            App.Current.Dispatcher.Invoke(new
                 Action(() =>
                 {
                     if (errormessage != null && !string.IsNullOrEmpty(errormessage))
                     {
                         Message = $"{Lang.耗时}:{totaltime.TotalMilliseconds.ToString("F1")} ms Error:{errormessage}";
                     }
                     else
                     {
                         Message = $"{Lang.耗时}:{totaltime.TotalMilliseconds.ToString("F1")} ms";
                     }
                 }));
        }
        #endregion

        #region 继承
        /// <summary>
        /// 确认导航请求时调用。此方法允许您在导航之前执行一些操作。
        /// </summary>
        /// <param name="navigationContext"></param>
        /// <param name="continuationCallback"></param>
        public void ConfirmNavigationRequest(NavigationContext navigationContext, Action<bool> continuationCallback)
        {
            continuationCallback(true);
        }

        /// <summary>
        /// 接收导航请求时调用。传入导航参数，包含有关导航目标的信息。
        /// </summary>
        /// <param name="navigationContext"></param>
        /// <exception cref="NotImplementedException"></exception>
        public async void OnNavigatedTo(NavigationContext navigationContext)
        {
            SelectCalibration = navigationContext.Parameters.GetValue<CalibrationInfo>("SelectCalibration");
            Camera = _cameraService.GetCamera(SelectCalibration.CameraID);
            if (SelectCalibration.ExposureTime == 0)
            {
                SelectCalibration.ExposureTime = 5000;
            }
            ExposureTime = SelectCalibration.ExposureTime;
            Gain = SelectCalibration.Gain;
            if (Camera != null)
            {
                Camera.SetExposureTime(ExposureTime);
                Camera.SetGain(Gain);
                Camera.ImageCallbackEvent += Camera_ImageCallbackEvent;
                //Camera.Grab();
            }
            if (SelectCalibration.IsCreate && SelectCalibration.ToolBlock == null)
            {
                SelectCalibration.ToolBlock = VisionProFileHelper.LoadObjectFromFileSafe<CogToolBlock>(FilePath.CalibrationToolblockPath);
            }
            else if (SelectCalibration.ToolBlock == null)
            {
                string prcPath = FilePath.CalibrationPath + "//" + SelectCalibration.Name + "//" + SelectCalibration.Name + ".vpp";
                if (File.Exists(prcPath))
                {
                    SelectCalibration.ToolBlock = VisionProFileHelper.LoadObjectFromFileSafe<CogToolBlock>(prcPath);
                }
                else
                {
                    SelectCalibration.ToolBlock = VisionProFileHelper.LoadObjectFromFileSafe<CogToolBlock>(FilePath.CalibrationToolblockPath);
                }
            }
            if (SelectCalibration.RobotId != Guid.Empty)
            {
                Robot = _robotService.GetRobot(SelectCalibration.RobotId);
                Robot.EnterDebugMode = true;
            }
            if (SelectCalibration.FeederId != Guid.Empty)
            {
                Feeder = _feederService.GetFeeder(SelectCalibration.FeederId);
                if (Feeder.IsConnected)
                {
                    await Feeder.OpenLightAsync();
                    await Feeder.SetLightValueAsync((ushort)SelectCalibration.Brightness);
                }
                IsShowLight = true;
            }
            else
            {
                IsShowLight = false;
            }
        }

        /// <summary>
        /// 是否允许导航到此视图模型。
        /// </summary>
        /// <param name="navigationContext"></param>
        /// <returns></returns>
        public bool IsNavigationTarget(NavigationContext navigationContext)
        {
            return true;
        }

        /// <summary>
        /// 导航离开此视图模型时调用。您可以在此处执行清理操作或保存状态。
        /// </summary>
        /// <param name="navigationContext"></param>
        public void OnNavigatedFrom(NavigationContext navigationContext)
        {
            ExecuteStopGrabbingCommand();
        }
        #endregion

        private bool _IsAllowEdit = false;

        public bool IsAllowEdit
        {
            get { return _IsAllowEdit; }
            set { SetProperty(ref _IsAllowEdit, value); }
        }

        private void LoginChange(Models.User user)
        {
            if (user.userPart == Enums.UserPart.Operator)
            {
                IsAllowEdit = false;
            }
            else
            {
                IsAllowEdit = true;
            }
        }
    }
}