using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.IO;
using System.Linq;
using System.Threading.Tasks;
using TeamAAS_VP.Core;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Calibration;
using TeamAAS_VP.Models.Feeder;

namespace TeamAAS_VP.Services
{
    /// <summary>
    /// 配置参数服务实现类
    /// </summary>
    public class ConfigService : IConfigService
    {
        private static class ConfigPaths
        {
            // 将路径集中管理于本类，当前使用现有 FilePath 值以保持兼容
            public static readonly string CamerasConfigurationPath = "..//Config//CameraConfiguration.cfg";
            public static readonly string RobotsConfigurationPath = "..//Config//RobotsConfiguration.cfg";
            public static readonly string FeedersConfigurationPath = "..//Config//FeedersConfiguration.cfg";
            public static readonly string PlcConfigurationPath = "..//Config//PlcConfiguration.cfg";
            public static readonly string BgTcpIpConfigurationPath = "..//Config//BgTcpIpConfiguration.cfg";
            public static readonly string BgModbusTcpConfigurationPath = "..//Config//BgModbusTcpConfiguration.cfg";
            public static readonly string SystemConfigurationPath = "..//Config//SystemConfiguration.cfg";
            // Feeder清料任务配置路径
            public static readonly string FeederClearanceTasksConfigurationPath = "..//Config//FeederClearanceTasksConfiguration.cfg";
        }

        private readonly object _sync = new object();
        private ObservableCollection<CameraInfo> Cameras { get; set; }
        private ObservableCollection<RobotInfo> Robots { get; set; }
        private ObservableCollection<FeederInfo> Feeders { get; set; }
        private ObservableCollection<PlcInfo> Plcs { get; set; }
        private BgTcpIP BgCommunicate { get; set; }
        private BgModbusTcp BgModbusCommunicate { get; set; }
        private ObservableCollection<FeederClearWork> FeederClearanceTasks { get; set; }

        public ConfigService()
        {

            //LoadAll();
        }

        public void LoadAll()
        {
            lock (_sync)
            {
                // 读取各配置，如果文件不存在，则保持 DeviceConfig 默认值
                if (File.Exists(ConfigPaths.CamerasConfigurationPath))
                    Cameras = FileHelper.ReadJsonFile<ObservableCollection<CameraInfo>>(ConfigPaths.CamerasConfigurationPath);
                else
                {
                    Cameras = new ObservableCollection<CameraInfo>();
                    FileHelper.WriteJsonFile(Cameras, ConfigPaths.CamerasConfigurationPath);
                }
                if (File.Exists(ConfigPaths.RobotsConfigurationPath))
                    Robots = FileHelper.ReadJsonFile<ObservableCollection<RobotInfo>>(ConfigPaths.RobotsConfigurationPath);
                else
                {
                    Robots = new ObservableCollection<RobotInfo>();
                    FileHelper.WriteJsonFile(Robots, ConfigPaths.RobotsConfigurationPath);
                }
                if (File.Exists(ConfigPaths.FeedersConfigurationPath))
                    Feeders = FileHelper.ReadJsonFile<ObservableCollection<FeederInfo>>(ConfigPaths.FeedersConfigurationPath);
                else
                {
                    Feeders = new ObservableCollection<FeederInfo>();
                    FileHelper.WriteJsonFile(Feeders, ConfigPaths.FeedersConfigurationPath);
                }
                if (File.Exists(ConfigPaths.PlcConfigurationPath))
                    Plcs = FileHelper.ReadJsonFile<ObservableCollection<PlcInfo>>(ConfigPaths.PlcConfigurationPath);
                else
                {
                    Plcs = new ObservableCollection<PlcInfo>();
                    FileHelper.WriteJsonFile(Plcs, ConfigPaths.PlcConfigurationPath);
                }
                if (File.Exists(ConfigPaths.BgTcpIpConfigurationPath))
                    BgCommunicate = FileHelper.ReadJsonFile<BgTcpIP>(ConfigPaths.BgTcpIpConfigurationPath);
                else
                {
                    BgCommunicate = new BgTcpIP();
                    FileHelper.WriteJsonFile(BgCommunicate, ConfigPaths.BgTcpIpConfigurationPath);
                }
                if (File.Exists(ConfigPaths.BgModbusTcpConfigurationPath))
                    BgModbusCommunicate = FileHelper.ReadJsonFile<BgModbusTcp>(ConfigPaths.BgModbusTcpConfigurationPath);
                else
                {
                    BgModbusCommunicate = new BgModbusTcp();
                    FileHelper.WriteJsonFile(BgModbusCommunicate, ConfigPaths.BgModbusTcpConfigurationPath);
                }
                if (!File.Exists(ConfigPaths.FeederClearanceTasksConfigurationPath))
                {
                    FeederClearanceTasks = new ObservableCollection<FeederClearWork>();
                    FileHelper.WriteJsonFile(FeederClearanceTasks, ConfigPaths.FeederClearanceTasksConfigurationPath);
                }
                else
                {
                    // 读取 Feeder清料任务 配置
                    FeederClearanceTasks = FileHelper.ReadJsonFile<ObservableCollection<FeederClearWork>>(ConfigPaths.FeederClearanceTasksConfigurationPath);
                }
            }
        }

        public Task LoadAllAsync()
        {
            return Task.Run(() => LoadAll());
        }

        public void SaveAll()
        {
            lock (_sync)
            {
                FileHelper.WriteJsonFile(Cameras, ConfigPaths.CamerasConfigurationPath);
                FileHelper.WriteJsonFile(Robots, ConfigPaths.RobotsConfigurationPath);
                FileHelper.WriteJsonFile(Feeders, ConfigPaths.FeedersConfigurationPath);
                FileHelper.WriteJsonFile(Plcs, ConfigPaths.PlcConfigurationPath);
                FileHelper.WriteJsonFile(BgCommunicate, ConfigPaths.BgTcpIpConfigurationPath);
                FileHelper.WriteJsonFile(BgModbusCommunicate, ConfigPaths.BgModbusTcpConfigurationPath);
            }
        }

        public Task SaveAllAsync()
        {
            return Task.Run(() => SaveAll());
        }

        #region Cameras
        public IReadOnlyCollection<CameraInfo> GetAllCameras()
        {
            lock (_sync) { return Cameras.ToList().AsReadOnly(); }
        }
        public CameraInfo GetCamera(Guid id)
        {
            lock (_sync) { return Cameras.FirstOrDefault(c => c.Id == id); }
        }
        public CameraInfo AddOrUpdateCamera(CameraInfo camera)
        {
            if (camera == null) return null;
            lock (_sync)
            {
                var exist = Cameras.FirstOrDefault(c => c.Id == camera.Id);
                if (exist != null)
                {
                    var idx = Cameras.IndexOf(exist);
                    Cameras[idx] = camera;
                }
                else
                {
                    camera.CameraNo = Cameras.Count + 1;
                    Cameras.Add(camera);
                }
            }
            FileHelper.WriteJsonFile(Cameras, ConfigPaths.CamerasConfigurationPath);
            return camera;
        }
        public bool RemoveCamera(Guid id)
        {
            bool result = false;
            lock (_sync)
            {
                var exist = Cameras.FirstOrDefault(c => c.Id == id);
                if (exist != null) result = Cameras.Remove(exist);
                //重新编号
                int no = 1;
                //对所有相机按CameraNo排序
                var sortedCameras = Cameras.OrderBy(c => c.CameraNo).ToList();
                foreach (var cam in sortedCameras)
                {
                    cam.CameraNo = no;
                    no++;
                }
                Cameras.Clear();
                foreach (var cam in sortedCameras)
                {
                    Cameras.Add(cam);
                }
            }
            FileHelper.WriteJsonFile(Cameras, ConfigPaths.CamerasConfigurationPath);
            return result;
        }
        public bool ContainsCamera(Guid id) { lock (_sync) { return Cameras.Any(c => c.Id == id); } }
        #endregion

        #region Robots
        public IReadOnlyCollection<RobotInfo> GetAllRobots() { lock (_sync) { return Robots.ToList().AsReadOnly(); } }
        public RobotInfo GetRobot(Guid id) { lock (_sync) { return Robots.FirstOrDefault(r => r.Id == id); } }
        public RobotInfo AddOrUpdateRobot(RobotInfo robot)
        {
            if (robot == null) return null;
            lock (_sync)
            {
                var exist = Robots.FirstOrDefault(r => r.Id == robot.Id);
                if (exist != null)
                {
                    var idx = Robots.IndexOf(exist);
                    Robots[idx] = robot;
                }
                else
                {
                    robot.RobotNo = Robots.Count + 1;
                    Robots.Add(robot);
                }

            }
            FileHelper.WriteJsonFile(Robots, ConfigPaths.RobotsConfigurationPath);
            return robot;
        }
        public bool RemoveRobot(Guid id)
        {
            bool result = false;
            lock (_sync)
            {
                var e = Robots.FirstOrDefault(r => r.Id == id);
                if (e != null)
                    result = Robots.Remove(e);
                //重新编号
                int no = 1;
                //对所有机器人按RobotNo排序
                var sortedRobots = Robots.OrderBy(r => r.RobotNo).ToList();
                foreach (var r in sortedRobots)
                {
                    r.RobotNo = no;
                    no++;
                }
                Robots.Clear();
                foreach (var r in sortedRobots)
                {
                    Robots.Add(r);
                }
            }
            FileHelper.WriteJsonFile(Robots, ConfigPaths.RobotsConfigurationPath);
            return result;
        }
        public bool ContainsRobot(Guid id) { lock (_sync) { return Robots.Any(r => r.Id == id); } }

        /// <summary>
        /// 修改指定机器人id的步进距离
        /// </summary>
        /// <param name="id">机器人唯一标识符。</param>
        /// <param name="stepDistance">步进距离</param>
        /// <returns></returns>
        public bool UpdateRobotStepDistance(Guid id, double stepDistance)
        {
            lock (_sync)
            {
                var robot = Robots.FirstOrDefault(r => r.Id == id);
                if (robot != null)
                {
                    robot.StepDistance = stepDistance;
                    FileHelper.WriteJsonFile(Robots, ConfigPaths.RobotsConfigurationPath);
                    return true;
                }
                else
                {
                    return false;
                }
            }
        }

        /// <summary>
        /// 获取指定机器人Id的步进距离
        /// </summary>
        /// <param name="id"></param>
        /// <returns></returns>
        public double GetRobotStepDistance(Guid id)
        {
            lock (_sync)
            {
                var robot = Robots.FirstOrDefault(r=> r.Id == id);
                if (robot != null)
                {
                    return robot.StepDistance;
                }
                else
                {
                    return 1.0;
                }
            }

        }

        #endregion

        #region Feeders
        public IReadOnlyCollection<FeederInfo> GetAllFeeders() { lock (_sync) { return Feeders.ToList().AsReadOnly(); } }
        public FeederInfo GetFeeder(Guid id) { lock (_sync) { return Feeders.FirstOrDefault(f => f.Id == id); } }
        public FeederInfo AddOrUpdateFeeder(FeederInfo feeder)
        {
            if (feeder == null) return null;
            lock (_sync)
            {
                var exist = Feeders.FirstOrDefault(f => f.Id == feeder.Id);
                if (exist != null)
                {
                    var idx = Feeders.IndexOf(exist);
                    Feeders[idx] = feeder;
                }
                else
                {
                    feeder.FeederNo = Feeders.Count + 1;
                    Feeders.Add(feeder);
                }
            }
            FileHelper.WriteJsonFile(Feeders, ConfigPaths.FeedersConfigurationPath);
            return feeder;
        }
        public bool RemoveFeeder(Guid id)
        {
            bool result = false;
            lock (_sync)
            {
                var e = Feeders.FirstOrDefault(f => f.Id == id);
                if (e != null) result = Feeders.Remove(e);
                //重新编号
                int no = 1;
                //对所有供料器按FeederNo排序
                var sortedFeeders = Feeders.OrderBy(f => f.FeederNo).ToList();
                foreach (var f in sortedFeeders)
                {
                    f.FeederNo = no;
                    no++;
                }
                Feeders.Clear();
                foreach (var f in sortedFeeders)
                {
                    Feeders.Add(f);
                }

            }
            FileHelper.WriteJsonFile(Feeders, ConfigPaths.FeedersConfigurationPath);
            return result;
        }
        public bool ContainsFeeder(Guid id) { lock (_sync) { return Feeders.Any(f => f.Id == id); } }
        #endregion

        #region PLC
        public IReadOnlyCollection<PlcInfo> GetAllPlcs() { lock (_sync) { return Plcs.ToList().AsReadOnly(); } }
        public PlcInfo GetPlc(Guid id) { lock (_sync) { return Plcs.FirstOrDefault(p => p.Id == id); } }
        public PlcInfo AddOrUpdatePlc(PlcInfo plc)
        {
            if (plc == null) return null;
            lock (_sync)
            {
                var exist = Plcs.FirstOrDefault(p => p.Id == plc.Id);
                if (exist != null)
                {
                    var idx = Plcs.IndexOf(exist);
                    Plcs[idx] = plc;
                }
                else
                {
                    plc.PlcNo = Plcs.Count + 1;
                    Plcs.Add(plc);
                }
            }
            FileHelper.WriteJsonFile(Plcs, ConfigPaths.PlcConfigurationPath);
            return plc;
        }
        public bool RemovePlc(Guid id)
        {
            bool result = false;
            lock (_sync)
            {
                var e = Plcs.FirstOrDefault(p => p.Id == id);
                if (e != null) result = Plcs.Remove(e);
                //重新编号
                int no = 1;
                //对所有PLC按PlcNo排序
                var sortedPlcs = Plcs.OrderBy(p => p.PlcNo).ToList();
                foreach (var p in sortedPlcs)
                {
                    p.PlcNo = no;
                    no++;
                }
                Plcs.Clear();
                foreach (var p in sortedPlcs)
                {
                    Plcs.Add(p);
                }

            }
            FileHelper.WriteJsonFile(Plcs, ConfigPaths.PlcConfigurationPath);
            return result;
        }
        public bool ContainsPlc(Guid id) { lock (_sync) { return Plcs.Any(p => p.Id == id); } }
        #endregion

        #region BgTcp
        public BgTcpIP GetBgTcp() { lock (_sync) { return BgCommunicate; } }
        public void SetBgTcp(BgTcpIP cfg) { lock (_sync) { BgCommunicate = cfg; } }
        public void SaveBgTcp() { lock (_sync) { FileHelper.WriteJsonFile(BgCommunicate, ConfigPaths.BgTcpIpConfigurationPath); } }
        #endregion

        #region BgModbus
        public BgModbusTcp GetBgModbusTcp() { lock (_sync) { return BgModbusCommunicate; } }
        public void SetBgModbusTcp(BgModbusTcp cfg) { lock (_sync) { BgModbusCommunicate = cfg; } }
        public void SaveBgModbusTcp() { lock (_sync) { FileHelper.WriteJsonFile(BgModbusCommunicate, ConfigPaths.BgModbusTcpConfigurationPath); } }
        #endregion

        #region 系统参数
        /// <summary>
        /// 获取系统设置
        /// </summary>
        /// <returns></returns>
        public SystemConfiguration GetSystemConfiguration()
        {
            lock (_sync)
            {
                var config = new SystemConfiguration();
                if (File.Exists(ConfigPaths.SystemConfigurationPath))
                {
                    config = FileHelper.ReadJsonFile<SystemConfiguration>(ConfigPaths.SystemConfigurationPath);
                }
                return config;
            }
        }

        /// <summary>
        /// 保存系统设置
        /// </summary>
        public void SaveSystemConfiguration(SystemConfiguration systemConfiguration)
        {
            lock (_sync)
            {
                FileHelper.WriteJsonFile(systemConfiguration, ConfigPaths.SystemConfigurationPath);
            }
        }
        #endregion

        #region Feeder清料任务
        /// <summary>
        /// 获取所有清料任务
        /// </summary>
        /// <returns></returns>
        public IReadOnlyCollection<FeederClearWork> GetAllClearanceTasks() { lock (_sync) { return FeederClearanceTasks.ToList().AsReadOnly(); } }

        /// <summary>
        /// 新增或更新清料任务
        /// </summary>
        /// <param name="task"></param>
        /// <returns></returns>
        public FeederClearWork AddOrUpdateClearanceTask(FeederClearWork task)
        {
            if (task == null) return null;
            lock (_sync)
            {
                var exist = FeederClearanceTasks.FirstOrDefault(t => t.Id == task.Id);
                if (exist != null)
                {
                    var idx = FeederClearanceTasks.IndexOf(exist);
                    FeederClearanceTasks[idx] = task;
                }
                else
                {
                    // 设置任务编号为当前最大编号加1
                    task.TaskCode = FeederClearanceTasks.Count > 0 ? FeederClearanceTasks.Max(t => t.TaskCode) + 1 : 1;
                    FeederClearanceTasks.Add(task);
                }
            }
            FileHelper.WriteJsonFile(FeederClearanceTasks, ConfigPaths.FeederClearanceTasksConfigurationPath);
            return task;
        }

        /// <summary>
        /// 移除清料任务
        /// </summary>
        /// <param name="id"></param>
        /// <returns></returns>
        public bool RemoveClearanceTask(Guid id)
        {
            lock (_sync)
            {
                var exist = FeederClearanceTasks.FirstOrDefault(t => t.Id == id);
                if (exist != null)
                {
                    FileHelper.WriteJsonFile(FeederClearanceTasks, ConfigPaths.FeederClearanceTasksConfigurationPath);
                    return FeederClearanceTasks.Remove(exist);
                }
                else
                    return false;
            }

        }

        /// <summary>
        /// 清除所有清料任务
        /// </summary>
        public void ClearAllClearanceTasks()
        {
            lock (_sync)
            {
                FeederClearanceTasks.Clear();
            }
            FileHelper.WriteJsonFile(FeederClearanceTasks, ConfigPaths.FeederClearanceTasksConfigurationPath);
        }

        /// <summary>
        /// 判断是否包含指定标识的清料任务
        /// </summary>
        /// <param name="id"></param>
        /// <returns></returns>
        public bool ContainsClearanceTask(Guid id)
        {
            lock (_sync) { return FeederClearanceTasks.Any(t => t.Id == id); }

        }

        /// <summary>
        /// 根据标识获取单个清料任务信息
        /// </summary>
        /// <param name="id"></param>
        /// <returns></returns>
        public FeederClearWork GetClearanceTask(Guid id)
        {
            lock (_sync) { return FeederClearanceTasks.FirstOrDefault(t => t.Id == id); }
        }

        /// <summary>
        /// 判断是否包含指定编号的清料任务
        /// </summary>
        /// <param name="taskNumber"></param>
        /// <returns></returns>
        public bool ContainsClearanceTaskByNumber(int taskNumber)
        {
            lock (_sync) { return FeederClearanceTasks.Any(t => t.TaskCode == taskNumber); }
        }

        /// <summary>
        /// 根据编号获取单个清料任务信息
        /// </summary>
        /// <param name="taskNumber"></param>
        /// <returns></returns>
        public FeederClearWork GetClearanceTaskByNumber(int taskNumber)
        {
            lock (_sync) { return FeederClearanceTasks.FirstOrDefault(t => t.TaskCode == taskNumber); }
        }
        #endregion

        public void Dispose()
        {
            SaveAll();
            GC.SuppressFinalize(this);
        }
    }
}