using Newtonsoft.Json;
using NPOI.Util;
using Prism.Mvvm;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using TeamAAS_VP.Models.PLC;
using TeamAAS_VP.Models.Product;
using TeamAAS_VP.Models.Robot;

namespace TeamAAS_VP.Models
{
    [JsonObject(MemberSerialization.OptOut)]
    public class ProductModel : BindableBase
    {
        private Guid _ID;

        public Guid ID
        {
            get { return _ID; }
            set { SetProperty(ref _ID, value); }
        }

        private string _Name;

        public string Name
        {
            get { return _Name; }
            set { SetProperty(ref _Name, value); }
        }

        private int _NumberCode;
        public int NumberCode
        {
            get { return _NumberCode; }
            set
            {
                SetProperty(ref _NumberCode, value);
            }
        }

        private string _Description;

        public string Description
        {
            get { return _Description; }
            set { SetProperty(ref _Description, value); }
        }

        private DateTime _DateTime;

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

        private ObservableCollection<CameraProcedure> _CameraProcedures;
        /// <summary>
        /// 相机流程集合
        /// </summary>
        public ObservableCollection<CameraProcedure> CameraProcedures
        {
            get { return _CameraProcedures; }
            set { SetProperty(ref _CameraProcedures, value); }
        }

        private CameraProcedure _SelectedProcedure;
        public CameraProcedure SelectedProcedure
        {
            get { return _SelectedProcedure; }
            set { SetProperty(ref _SelectedProcedure, value); }
        }

        private RobotPoint _RobotPoint;

        /// <summary>
        /// 机器人点位表
        /// </summary>
        public RobotPoint RobotPoint
        {
            get { return _RobotPoint; }
            set { SetProperty(ref _RobotPoint, value); }
        }

        private int _Speed;
        /// <summary>
        /// PTP速度
        /// </summary>
        public int Speed
        {
            get { return _Speed; }
            set { SetProperty(ref _Speed, value); }
        }

        private int _Accel;
        /// <summary>
        /// PTP加减速度
        /// </summary>
        public int Accel
        {
            get { return _Accel; }
            set { SetProperty(ref _Accel, value); }
        }

        private int _Speeds;
        /// <summary>
        /// CP速度
        /// </summary>
        public int Speeds
        {
            get { return _Speeds; }
            set { SetProperty(ref _Speeds, value); }
        }

        private int _Accels;
        /// <summary>
        /// CP加减速度
        /// </summary>
        public int Accels
        {
            get { return _Accels; }
            set { SetProperty(ref _Accels, value); }
        }

        private bool _Power;
        /// <summary>
        /// 功率
        /// </summary>
        public bool Power
        {
            get { return _Power; }
            set { SetProperty(ref _Power, value); }
        }

        private bool _IsUserUpCamera;
        /// <summary>
        /// 启用二次定位相机
        /// </summary>
        public bool IsUserUpCamera
        {
            get { return _IsUserUpCamera; }
            set { SetProperty(ref _IsUserUpCamera, value); }
        }

        private ProductGlobalParamEx _GlobalParamEx = new ProductGlobalParamEx();
        /// <summary>
        /// 全局参数扩展（保压/检测上下限）
        /// </summary>
        public ProductGlobalParamEx GlobalParamEx
        {
            get { return _GlobalParamEx; }
            set { SetProperty(ref _GlobalParamEx, value); }
        }

        private Guid _FixedUpCamera1ProcedureId;
        /// <summary>
        /// 固定向上相机1视觉流程ID
        /// </summary>
        public Guid FixedUpCamera1ProcedureId
        {
            get { return _FixedUpCamera1ProcedureId; }
            set { SetProperty(ref _FixedUpCamera1ProcedureId, value); }
        }

        private Guid _FixedUpCamera2ProcedureId;
        /// <summary>
        /// 固定向上相机2视觉流程ID
        /// </summary>
        public Guid FixedUpCamera2ProcedureId
        {
            get { return _FixedUpCamera2ProcedureId; }
            set { SetProperty(ref _FixedUpCamera2ProcedureId, value); }
        }


        // 二维码扫码流程ID
        private Guid _QrCodeProcedureId;
        public Guid QrCodeProcedureId
        {
            get { return _QrCodeProcedureId; }
            set { SetProperty(ref _QrCodeProcedureId, value); }
        }

        // 二维码扫码流程ID2
        private Guid _QrCodeProcedureId2;
        public Guid QrCodeProcedureId2
        {
            get { return _QrCodeProcedureId2; }
            set { SetProperty(ref _QrCodeProcedureId2, value); }
        }

        /// <summary>
        /// 固定向上的相机模板角度
        /// </summary>
        private double _FixedUpCameraTempletAngle;
        public double FixedUpCameraTempletAngle
        {
            get { return _FixedUpCameraTempletAngle; }
            set { SetProperty(ref _FixedUpCameraTempletAngle, value); }
        }

        private Guid _FixedDownCamera1ProcedureId;
        /// <summary>
        /// 固定向下相机取料流程ID
        /// </summary>
        public Guid FixedDownCamera1ProcedureId
        {
            get { return _FixedDownCamera1ProcedureId; }
            set { SetProperty(ref _FixedDownCamera1ProcedureId, value); }
        }

        private Guid _FixedDownCamera2ProcedureId;
        /// <summary>
        /// 固定向下相机取料流程ID
        /// </summary>
        public Guid FixedDownCamera2ProcedureId
        {
            get { return _FixedDownCamera2ProcedureId; }
            set { SetProperty(ref _FixedDownCamera2ProcedureId, value); }
        }

        private Guid _MoveDownCamera1LockPhotoProcedureId;
        /// <summary>
        /// 移动向下相机1锁付拍照流程ID
        /// </summary>
        public Guid MoveDownCamera1LockPhotoProcedureId
        {
            get { return _MoveDownCamera1LockPhotoProcedureId; }
            set { SetProperty(ref _MoveDownCamera1LockPhotoProcedureId, value); }
        }

        private Guid _MoveDownCamera2LockPhotoProcedureId;
        /// <summary>
        /// 移动向下相机2锁付拍照流程ID
        /// </summary>
        public Guid MoveDownCamera2LockPhotoProcedureId
        {
            get { return _MoveDownCamera2LockPhotoProcedureId; }
            set { SetProperty(ref _MoveDownCamera2LockPhotoProcedureId, value); }
        }

        private Guid _MoveDownCamer1PickPhotoProcedureId;
        /// <summary>
        /// 移动向下相机1取料拍照流程ID
        /// </summary>
        public Guid MoveDownCamer1PickPhotoProcedureId
        {
            get { return _MoveDownCamer1PickPhotoProcedureId; }
            set { SetProperty(ref _MoveDownCamer1PickPhotoProcedureId, value); }
        }

        private Guid _MoveDownCamer2PickPhotoProcedureId;
        /// <summary>
        /// 移动向下相机2取料拍照流程ID
        /// </summary>
        public Guid MoveDownCamer2PickPhotoProcedureId
        {
            get { return _MoveDownCamer2PickPhotoProcedureId; }
            set { SetProperty(ref _MoveDownCamer2PickPhotoProcedureId, value); }
        }

        private Guid _IndependentCamer1ProductProcedureId;
        /// <summary>
        /// 独立移动模组相机1产品定位拍照流程ID
        /// </summary>
        public Guid IndependentCamer1ProductProcedureId
        {
            get { return _IndependentCamer1ProductProcedureId; }
            set { SetProperty(ref _IndependentCamer1ProductProcedureId, value); }
        }

        private Guid _IndependentCamer2ProductProcedureId;
        /// <summary>
        /// 独立移动模组相机2产品定位拍照流程ID
        /// </summary>
        public Guid IndependentCamer2ProductProcedureId
        {
            get { return _IndependentCamer2ProductProcedureId; }
            set { SetProperty(ref _IndependentCamer2ProductProcedureId, value); }
        }

        private Guid _IndependentCamer3ProductProcedureId;
        /// <summary>
        /// 独立移动模组相机3产品定位拍照流程ID
        /// </summary>
        public Guid IndependentCamer3ProductProcedureId
        {
            get { return _IndependentCamer3ProductProcedureId; }
            set { SetProperty(ref _IndependentCamer3ProductProcedureId, value); }
        }

        private Guid _IndependentCamer4ProductProcedureId;
        /// <summary>
        /// 独立移动模组相机4产品定位拍照流程ID
        /// </summary>
        public Guid IndependentCamer4ProductProcedureId
        {
            get { return _IndependentCamer4ProductProcedureId; }
            set { SetProperty(ref _IndependentCamer4ProductProcedureId, value); }
        }

        private Guid _IndependentCamer1AuxProcedureId;
        /// <summary>
        /// 独立移动模组相机1辅料定位拍照流程ID
        /// </summary>
        public Guid IndependentCamer1AuxProcedureId
        {
            get { return _IndependentCamer1AuxProcedureId; }
            set { SetProperty(ref _IndependentCamer1AuxProcedureId, value); }
        }

        private Guid _IndependentCamer2AuxProcedureId;
        /// <summary>
        /// 独立移动模组相机2辅料定位拍照流程ID
        /// </summary>
        public Guid IndependentCamer2AuxProcedureId
        {
            get { return _IndependentCamer2AuxProcedureId; }
            set { SetProperty(ref _IndependentCamer2AuxProcedureId, value); }
        }

        private Guid _IndependentCamer3AuxProcedureId;
        /// <summary>
        /// 独立移动模组相机3辅料定位拍照流程ID
        /// </summary>
        public Guid IndependentCamer3AuxProcedureId
        {
            get { return _IndependentCamer3AuxProcedureId; }
            set { SetProperty(ref _IndependentCamer3AuxProcedureId, value); }
        }

        private Guid _IndependentCamer4AuxProcedureId;
        /// <summary>
        /// 独立移动模组相机4辅料定位拍照流程ID
        /// </summary>
        public Guid IndependentCamer4AuxProcedureId
        {
            get { return _IndependentCamer4AuxProcedureId; }
            set { SetProperty(ref _IndependentCamer4AuxProcedureId, value); }
        }

        private Guid _IndependentCamer1CheckProcedureId;
        /// <summary>
        /// 独立移动模组相机1检测任务拍照流程ID
        /// </summary>
        public Guid IndependentCamer1CheckProcedureId
        {
            get { return _IndependentCamer1CheckProcedureId; }
            set { SetProperty(ref _IndependentCamer1CheckProcedureId, value); }
        }

        private Guid _IndependentCamer2CheckProcedureId;
        /// <summary>
        /// 独立移动模组相机2检测任务拍照流程ID
        /// </summary>
        public Guid IndependentCamer2CheckProcedureId
        {
            get { return _IndependentCamer2CheckProcedureId; }
            set { SetProperty(ref _IndependentCamer2CheckProcedureId, value); }
        }

        private Guid _IndependentCamer3CheckProcedureId;
        /// <summary>
        /// 独立移动模组相机3检测任务拍照流程ID
        /// </summary>
        public Guid IndependentCamer3CheckProcedureId
        {
            get { return _IndependentCamer3CheckProcedureId; }
            set { SetProperty(ref _IndependentCamer3CheckProcedureId, value); }
        }

        private Guid _IndependentCamer4CheckProcedureId;
        /// <summary>
        /// 独立移动模组相机4检测任务拍照流程ID
        /// </summary>
        public Guid IndependentCamer4CheckProcedureId
        {
            get { return _IndependentCamer4CheckProcedureId; }
            set { SetProperty(ref _IndependentCamer4CheckProcedureId, value); }
        }

        /// <summary>
        /// 移动向上的相机模板角度
        /// </summary>
        private double _MoveDownCamerTempletAngle;
        public double MoveDownCamerTempletAngle
        {
            get { return _MoveDownCamerTempletAngle; }
            set { SetProperty(ref _MoveDownCamerTempletAngle, value); }
        }

        private ObservableCollection<ProductGlobalParam> _GlobalParamListCollection;
        /// <summary>
        /// 产品全局参数集合
        /// </summary>
        public ObservableCollection<ProductGlobalParam> GlobalParamListCollection
        {
            get { return _GlobalParamListCollection; }
            set { SetProperty(ref _GlobalParamListCollection, value); }
        }

        private ObservableCollection<PlcPoint> _PickCameraPoints = new ObservableCollection<PlcPoint>();
        /// <summary>
        /// 取料拍照点位集合
        /// </summary>
        public ObservableCollection<PlcPoint> PickCameraPoints
        {
            get { return _PickCameraPoints; }
            set { SetProperty(ref _PickCameraPoints, value); }
        }

        private ObservableCollection<PlcPoint> _PickPoints = new ObservableCollection<PlcPoint>();
        /// <summary>
        /// 取料点位参数集合
        /// </summary>
        public ObservableCollection<PlcPoint> PickPoints
        {
            get { return _PickPoints; }
            set { SetProperty(ref _PickPoints, value); }
        }

        private ObservableCollection<PlcPoint> _SecPosCameraPoints = new ObservableCollection<PlcPoint>();
        /// <summary>
        /// 下相机二次定位点位参数集合
        /// </summary>
        public ObservableCollection<PlcPoint> SecPosCameraPoints
        {
            get { return _SecPosCameraPoints; }
            set { SetProperty(ref _SecPosCameraPoints, value); }
        }

        private ObservableCollection<PlcPoint> _QrCodePoints = new ObservableCollection<PlcPoint>();
        /// <summary>
        /// 二维码拍照点位参数集合
        /// </summary>
        public ObservableCollection<PlcPoint> QrCodePoints
        {
            get { return _QrCodePoints; }
            set { SetProperty(ref _QrCodePoints, value); }
        }

        private ObservableCollection<PlcPoint> _ScrewCameraPoints = new ObservableCollection<PlcPoint>();
        /// <summary>
        /// 锁附拍照点位参数集合
        /// </summary>
        public ObservableCollection<PlcPoint> ScrewCameraPoints
        {
            get { return _ScrewCameraPoints; }
            set { SetProperty(ref _ScrewCameraPoints, value); }
        }

        private PlcPoint _ScrewCameraLocalPos1 = new PlcPoint();
        /// <summary>
        /// 锁付拍照点1对应的产品坐标系中的点位
        /// </summary>
        public PlcPoint ScrewCameraLocalPos1
        {
            get { return _ScrewCameraLocalPos1; }
            set { SetProperty(ref _ScrewCameraLocalPos1, value); }
        }

        private PlcPoint _ScrewCameraLocalPos2 = new PlcPoint();
        /// <summary>
        /// 锁付拍照点2对应的产品坐标系中的点位
        /// </summary>
        public PlcPoint ScrewCameraLocalPos2
        {
            get { return _ScrewCameraLocalPos2; }
            set { SetProperty(ref _ScrewCameraLocalPos2, value); }
        }

        private ObservableCollection<PlcPoint> _ScrewPoints = new ObservableCollection<PlcPoint>();
        /// <summary>
        /// 锁附点位参数集合
        /// </summary>
        public ObservableCollection<PlcPoint> ScrewPoints
        {
            get { return _ScrewPoints; }
            set { SetProperty(ref _ScrewPoints, value); }
        }

        private ObservableCollection<PlcPoint> _CheckCameraPoints = new ObservableCollection<PlcPoint>();
        /// <summary>
        /// 复检点位参数集合
        /// </summary>
        public ObservableCollection<PlcPoint> CheckCameraPoints
        {
            get { return _CheckCameraPoints; }
            set { SetProperty(ref _CheckCameraPoints, value); }
        }

        private ObservableCollection<PlcPoint> _IndependentCamerPoints = new ObservableCollection<PlcPoint>();
        /// <summary>
        /// 独立移动相机步进坐标系点位
        /// </summary>
        public ObservableCollection<PlcPoint> IndependentCamerPoints
        {
            get { return _IndependentCamerPoints; }
            set { SetProperty(ref _IndependentCamerPoints, value); }
        }

        private ObservableCollection<PlcPoint> _RemovePoints = new ObservableCollection<PlcPoint>();
        /// <summary>
        /// 撕膜点位参数集合
        /// </summary>
        public ObservableCollection<PlcPoint> RemovePoints
        {
            get { return _RemovePoints; }
            set { SetProperty(ref _RemovePoints, value); }
        }

        private ObservableCollection<PlcPoint> _PressurePlacePoints = new ObservableCollection<PlcPoint>();
        /// <summary>
        /// 压力组装点位参数集合
        /// </summary>
        public ObservableCollection<PlcPoint> PressurePlacePoints
        {
            get { return _PressurePlacePoints; }
            set { SetProperty(ref _PressurePlacePoints, value); }
        }

        private ObservableCollection<PlcPoint> _Reference_coordinate = new ObservableCollection<PlcPoint>();
        /// <summary>
        /// 屏幕中心基准点位集合
        /// </summary>
        public ObservableCollection<PlcPoint> Reference_coordinate
        {
            get { return _Reference_coordinate; }
            set { SetProperty(ref _Reference_coordinate, value); }
        }


        private bool _IsLoad;
        /// <summary>
        /// 是否已加载
        /// </summary>
        [JsonIgnore]
        public bool IsLoad
        {
            get { return _IsLoad; }
            set { SetProperty(ref _IsLoad, value); }
        }

        private bool _IsCreate;
        /// <summary>
        /// 正在创建
        /// </summary>
        [JsonIgnore]
        public bool IsCreate
        {
            get { return _IsCreate; }
            set { SetProperty(ref _IsCreate, value); }
        }

        /// <summary>
        /// 增加相机流程
        /// </summary>
        /// <param name="cameraProcedure"></param>
        /// <exception cref="Exception"></exception>
        public void AddCameraProcedure(CameraProcedure cameraProcedure)
        {
            if (CameraProcedures == null)
            {
                CameraProcedures = new ObservableCollection<CameraProcedure>();
            }

            //判断是否已存在相同相机的流程
            if (CameraProcedures.Any(cp => cp.ID == cameraProcedure.ID))
            {
                throw new Exception("已存在相同相机的流程，无法添加重复相机流程！");
            }

            CameraProcedures.Add(cameraProcedure);
        }

        /// <summary>
        /// 移除相机流程
        /// </summary>
        /// <param name="id"></param>
        public void RemoveCameraProcedure(Guid id)
        {
            var procedure = CameraProcedures.FirstOrDefault(cp => cp.ID == id);
            if (procedure != null)
            {
                CameraProcedures.Remove(procedure);
            }
        }

        /// <summary>
        /// 增加全局参数
        /// </summary>
        /// <param name="globalParam"></param>
        public void AddGlobalParam(ProductGlobalParam globalParam)
        {
            if (GlobalParamListCollection == null)
            {
                GlobalParamListCollection = new ObservableCollection<ProductGlobalParam>();
            }
            globalParam.Number = GlobalParamListCollection.Count + 1;
            GlobalParamListCollection.Add(globalParam);
        }

        /// <summary>
        /// 移除全局参数
        /// </summary>
        /// <param name="globalParam"></param>
        public void RemoveGlobalParam(ProductGlobalParam globalParam)
        {
            GlobalParamListCollection.Remove(globalParam);
            //重新编号
            int number = 1;
            //先排序
            var sortedList = GlobalParamListCollection.OrderBy(gp => gp.Number).ToList();
            foreach (var gp in sortedList)
            {
                gp.Number = number;
                number++;
            }
            GlobalParamListCollection = new ObservableCollection<ProductGlobalParam>(sortedList);
        }

        public ProductModel Clone()
        {
            return new ProductModel
            {
                ID = this.ID,
                Name = this.Name,
                NumberCode = this.NumberCode,
                Description = this.Description,
                DateTime = this.DateTime,
                CameraProcedures = new ObservableCollection<CameraProcedure>(this.CameraProcedures.Select(cp => cp.Clone())),
                RobotPoint = this.RobotPoint?.Clone(),
                Speed = this.Speed,
                Accel = this.Accel,
                Speeds = this.Speeds,
                Accels = this.Accels,
                Power = this.Power,
                IsUserUpCamera = this.IsUserUpCamera,
                GlobalParamEx = this.GlobalParamEx,
                GlobalParamListCollection = new ObservableCollection<ProductGlobalParam>(this.GlobalParamListCollection.Select(gp => gp.Copy())),
                PickCameraPoints = this.PickCameraPoints,
                PickPoints = this.PickPoints,
                SecPosCameraPoints = this.SecPosCameraPoints,
                ScrewCameraPoints = this.ScrewCameraPoints,
                ScrewPoints = this.ScrewPoints,
                CheckCameraPoints = this.CheckCameraPoints,
                IndependentCamerPoints = this.IndependentCamerPoints,
                RemovePoints = this.RemovePoints,
                PressurePlacePoints = this.PressurePlacePoints,
                Reference_coordinate = this.Reference_coordinate,
                IsLoad = this.IsLoad,
                IsCreate = this.IsCreate,
                QrCodePoints = this.QrCodePoints,
                ScrewCameraLocalPos1 = this.ScrewCameraLocalPos1,
                ScrewCameraLocalPos2 = this.ScrewCameraLocalPos2
            };
        }
    }
}