using Cognex.VisionPro;
using MaterialDesignThemes.Wpf;
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.Drawing;
using System.Linq;
using System.Threading;
using System.Threading.Channels;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Threading;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP;
using TeamAAS_VP.Controls;
using TeamAAS_VP.Core;
using TeamAAS_VP.Data;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Lights;
using TeamAAS_VP.Resources.Languages;
using TeamAAS_VP.Services;
using static NPOI.HSSF.Util.HSSFColor;

namespace TeamAAS_VP.ViewModels.Product
{
    public class CameraParamsViewModel : BindableBase, IConfirmNavigationRequest
    {
        IRegionManager _regionManager;
        IEventAggregator _eventAggregator;
        IContainerProvider _container;
        IDialogService _dialogService;
        IConfigService _configService;
        IRobotService _robotService;
        ICameraService _cameraService;
        IFeederService _feederService;
        IProductService _productService;
        IRemoteCommandService _remoteCommandService;
        ISystemDatabaseService _systemDatabaseService;
        ILightManagerService _lightManagerService;

        // 创建Channel
        private readonly Channel<(int channel, int brightness)> _brightnessChannel;
        private CancellationTokenSource _cancellationTokenSource;

        #region 属性

        private ProductModel _SelectProduct;

        /// <summary>
        /// 选中的产品
        /// </summary>
        public ProductModel SelectProduct
        {
            get { return _SelectProduct; }
            set { SetProperty(ref _SelectProduct, value); }
        }

        private ProcedureModel _SelectProcedure;

        /// <summary>
        /// 选中的流程
        /// </summary>
        public ProcedureModel SelectProcedure
        {
            get { return _SelectProcedure; }
            set { SetProperty(ref _SelectProcedure, value); }
        }

        private bool _IsHaveFeeder=false;

        public bool IsHaveFeeder
        {
            get { return _IsHaveFeeder; }
            set { SetProperty(ref _IsHaveFeeder, value); }
        }

        private bool _IsHaveRobot = false;

        public bool IsHaveRobot
        {
            get { return _IsHaveRobot; }
            set { SetProperty(ref _IsHaveRobot, value); }
        }

        private IRobot _Robot;

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

        private ICamera _Camera;

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

        public IVoiceCoilMotorFeeder Feeder { get; set; }

        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); }
        }

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

                    }
                }
            }
        }

        private bool _IsGrap=true;
        public bool IsGrap
        {
            get { return _IsGrap; }
            set { SetProperty(ref _IsGrap, value); }
        }
        #endregion

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

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

        private DelegateCommand _LoadedCommand;
        public DelegateCommand LoadedCommand =>
            _LoadedCommand ?? (_LoadedCommand = new DelegateCommand(ExecuteLoadedCommand));

        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).ObservesProperty(() => IsGrap));

        private DelegateCommand _StopGrabbingCommand;
        public DelegateCommand StopGrabbingCommand =>
            _StopGrabbingCommand ?? (_StopGrabbingCommand = new DelegateCommand(ExecuteStopGrabbingCommand).ObservesProperty(() => IsGrap));

        private DelegateCommand _LightValueAddCommand;
        public DelegateCommand LightValueAddCommand =>
            _LightValueAddCommand ?? (_LightValueAddCommand = new DelegateCommand(ExecuteLightValueAddCommand));

        private DelegateCommand _LightValueSubCommand;
        public DelegateCommand LightValueSubCommand =>
            _LightValueSubCommand ?? (_LightValueSubCommand = new DelegateCommand(ExecuteLightValueSubCommand));

        private DelegateCommand<object> _SetChannelBrightnessCommand;
        public DelegateCommand<object> SetChannelBrightnessCommand =>
            _SetChannelBrightnessCommand ?? (_SetChannelBrightnessCommand = new DelegateCommand<object>(ExecuteSetChannelBrightnessCommand));

        private DelegateCommand<object> _TurnOnCommand;
        public DelegateCommand<object> TurnOnCommand =>
            _TurnOnCommand ?? (_TurnOnCommand = new DelegateCommand<object>(ExecuteTurnOnCommand));

        private DelegateCommand<object> _TurnOffCommand;
        public DelegateCommand<object> TurnOffCommand =>
            _TurnOffCommand ?? (_TurnOffCommand = new DelegateCommand<object>(ExecuteTurnOffCommand));

        #endregion

        #region 事件

        #endregion

        public CameraParamsViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService,
            IConfigService configService, IRobotService robotService, ICameraService cameraService, IFeederService feederService, IProductService productService,
            IRemoteCommandService remoteCommandService, ISystemDatabaseService systemDatabaseService, ILightManagerService lightManagerService)
        {
            _regionManager = regionManager;
            _eventAggregator = ea;
            _container = container;
            _dialogService = dialogService;
            _configService = configService;
            _robotService = robotService;
            _cameraService = cameraService;
            _feederService = feederService;
            _systemDatabaseService = systemDatabaseService;
            //订阅权限登录事件
            _eventAggregator.GetEvent<UserLoginNotification>().Subscribe(LoginChange);
            _productService = productService;
            _remoteCommandService = remoteCommandService;
            _lightManagerService = lightManagerService;

            // 创建有界Channel，容量为1，只保留最新的亮度值
            _brightnessChannel = Channel.CreateBounded<(int channel, int brightness)>(
                new BoundedChannelOptions(1)  // 容量为1
                {
                    // 当Channel满时，丢弃最旧的值，写入新的值
                    FullMode = BoundedChannelFullMode.DropOldest,

                    // 允许多个UI线程写入（虽然通常只有一个）
                    SingleWriter = false,

                    // 只有一个消费者读取并发送到设备
                    SingleReader = true
                });

            _cancellationTokenSource = new CancellationTokenSource();

            // 启动消费者任务
            StartDeviceConsumer();
            
        }

        #region 方法

        // 消费者：从Channel读取并发送到设备
        private async void StartDeviceConsumer()
        {
            try
            {
                while (await _brightnessChannel.Reader.WaitToReadAsync(_cancellationTokenSource.Token))
                {
                    while (_brightnessChannel.Reader.TryRead(out var obj))
                    {
                        // 实际写入（底层方法可能不支持取消）
                        var success = await _lightManagerService.SetGlobalChannelBrightnessAsync(obj.channel, obj.brightness);
                    }
                }
            }
            catch (OperationCanceledException)
            {
                // 正常结束
            }
            finally
            {
                _brightnessChannel.Writer.Complete();
            }
        }

        /// <summary>
        /// 下一步
        /// </summary>
        async void ExecuteNextCommand()
        {
            SelectProcedure.ExposureTime = ExposureTime;
            SelectProcedure.Gain = Gain;
            if (Camera != null)
            {
                Camera.StopGrabbing();
                Camera.ImageCallbackEvent -= Camera_ImageCallbackEvent;
            }

            //判断Toolblock是否存在
            if (SelectProcedure.ToolBlock==null)
            {
                var view = new WaitingControl();
                //show the dialog
                var task = DialogHost.Show(view, "RootDialog", null, null,null);
                await _productService.LoadProcedureVisionToolsAsync(SelectProduct.ID, SelectProcedure.CameraId, SelectProcedure.Name);
                if (DialogHost.IsDialogOpen("RootDialog"))
                {
                    DialogHost.Close("RootDialog");
                }
                await task;
            }

            NavigationParameters param = new NavigationParameters();
            param.Add("SelectProduct", SelectProduct);
            param.Add("SelectedProcedure", SelectProcedure);
            if (SelectProcedure.VisionModel == Enums.VisionModel.Simple)
            {
                _regionManager.RequestNavigate("ProductRegionContext", "SimpleProcedure", param);
            }
            else
            {
                _regionManager.RequestNavigate("ProductRegionContext", "AdvancedProcedure", param);
            }
        }

        /// <summary>
        /// 上一步
        /// </summary>
        void ExecuteBackCommand()
        {
            if (Camera != null)
            {
                Camera.StopGrabbing();
                Camera.ImageCallbackEvent -= Camera_ImageCallbackEvent;
            }

            NavigationParameters param = new NavigationParameters();
            param.Add("SelectProduct", SelectProduct);
            param.Add("SelectedProcedure", SelectProcedure);
            _regionManager.RequestNavigate("ProductRegionContext", "ProcessBasics", param);
        }

        async void ExecuteLoadedCommand()
        {
            if (_systemDatabaseService.GetCurrentUser().userPart == Enums.UserPart.Operator)
            {
                IsAllowEdit = false;
            }
            else
            {
                IsAllowEdit = true;
            }
        }

        private void Camera_ImageCallbackEvent(ICogImage image,TimeSpan totaltime,string errormessage, Guid id)
        {
            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";
                     }
                 }));
        }

        /// <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("产品实时图像界面-Feeder光源亮度更改时出错！", ex);
            }
        }

        /// <summary>
        /// 为指定通道应用亮度设置（仅更新模型并在可能时尝试通知硬件）。
        /// </summary>
        /// <param name="channel">要设置的通道配置。</param>
        async void ExecuteSetChannelBrightnessCommand(object obj)
        {
            try
            {
                if (!(obj is Tuple<object, double, double> parameter)) return;

                if (!(parameter.Item1 is ChannelConfig channel)) return;
                int newValue = (int)parameter.Item2;
                // 尝试写入Channel（非阻塞）
                try
                {
                    // 如果Channel满了（有旧值），DropOldest策略会自动丢弃旧值
                    await _brightnessChannel.Writer.WriteAsync(
                        (channel.GlobalIndex, newValue),
                        _cancellationTokenSource.Token);
                }
                catch (OperationCanceledException)
                {
                    // 正常取消，无需处理
                }
                catch (ChannelClosedException)
                {
                    // Channel已关闭
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("产品实时图像界面-设置光源通道亮度时出错！", ex);
            }
        }

        /// <summary>
        /// 关闭光源
        /// </summary>
        /// <param name="parameter"></param>
        async void ExecuteTurnOffCommand(object parameter)
        {
            try
            {
                if (!(parameter is ChannelConfig channel)) return;
                await _lightManagerService.TurnOffGlobalChannelAsync(channel.GlobalIndex);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("关闭通道光源时出错！", ex);
            }
        }

        /// <summary>
        /// 打开光源
        /// </summary>
        /// <param name="parameter"></param>
        async void ExecuteTurnOnCommand(object parameter)
        {
            try
            {
                if (!(parameter is ChannelConfig channel)) return;
                await _lightManagerService.TurnOnGlobalChannelAsync(channel.GlobalIndex);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("打开通道光源时出错！", ex);
            }
        }

        void ExecuteLightValueSubCommand()
        {
            SelectProcedure.LightValue--;
        }

        void ExecuteLightValueAddCommand()
        {
            SelectProcedure.LightValue++;
        }

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

            try
            {
                SelectProduct = navigationContext.Parameters.GetValue<ProductModel>("SelectProduct");
                SelectProcedure = navigationContext.Parameters.GetValue<ProcedureModel>("SelectedProcedure");

                if (SelectProcedure.RobotId != Guid.Empty)
                {
                    IsHaveRobot = true;
                    Robot = _robotService.GetRobot(SelectProcedure.RobotId);
                    if (Robot != null)
                    {
                        Robot.EnterDebugMode = true;
                    }
                }
                else
                {
                    IsHaveRobot = false;
                }
                if (SelectProcedure.FeederId != Guid.Empty)
                {
                    IsHaveFeeder = true;
                    Feeder = _feederService.GetFeeder(SelectProcedure.FeederId);
                    if (Feeder.IsConnected && !_remoteCommandService.IsExecuting)
                    {
                        await Feeder.OpenLightAsync();
                        await Feeder.SetLightValueAsync((ushort)SelectProcedure.LightValue);
                    }
                }
                else
                {
                    IsHaveFeeder = false;
                }

                Camera = _cameraService.GetCamera(SelectProcedure.CameraId);

                if (SelectProcedure.ExposureTime == 0)
                {
                    SelectProcedure.ExposureTime = 5000;
                }
                ExposureTime = SelectProcedure.ExposureTime;
                Gain = SelectProcedure.Gain;

                if (Camera != null && !_remoteCommandService.IsExecuting)
                {
                    Camera.SetExposureTime(ExposureTime);
                    Camera.SetGain(Gain);
                    Camera.ImageCallbackEvent += Camera_ImageCallbackEvent;
                    //Camera.Grab();
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机流程界面进入时出错！", ex);
            }
        }

        /// <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)
        {
            if (Robot!=null)
            {
                Robot.EnterDebugMode = false;
            }
            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;
            }
        }
    }
}