using Cognex.VisionPro.ToolBlock;
using MathNet.Numerics.LinearAlgebra;
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.Linq;
using System.Web.Hosting;
using System.Windows;
using System.Windows.Media.Media3D;
using Team.FFFeederService;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP;
using TeamAAS_VP.Core;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Resources.Languages;

namespace TeamAAS_VP.ViewModels.Product
{
    public class AdvancedProcedureViewModel : BindableBase, IConfirmNavigationRequest
    {
        IRegionManager _regionManager;
        IEventAggregator _eventAggregator;
        IContainerProvider _container;
        IDialogService _dialogService;
        IFeederService _feederService;
        IRobotService _robotService;
        ICameraService _cameraService;
        ISystemDatabaseService _systemDatabaseService;

        #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);
            }
        }

        public CogToolBlockEditV2 ToolBlockEdit { get;set; }

        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); }
        }

        private string _Message;
        public string Message
        {
            get { return _Message; }
            set { SetProperty(ref _Message, 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 _RunVisionProcessCommand;
        public DelegateCommand RunVisionProcessCommand =>
            _RunVisionProcessCommand ?? (_RunVisionProcessCommand = new DelegateCommand(ExecuteRunVisionProcessCommand));

        private DelegateCommand _VisionStaticAccuracyAnalyzerCommand;
        public DelegateCommand VisionStaticAccuracyAnalyzerCommand =>
            _VisionStaticAccuracyAnalyzerCommand ?? (_VisionStaticAccuracyAnalyzerCommand = new DelegateCommand(ExecuteVisionStaticAccuracyAnalyzerCommand));

        
        #endregion

        #region 事件

        #endregion

        public AdvancedProcedureViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService,
            IFeederService feederService, IRobotService robotService,ICameraService cameraService, ISystemDatabaseService systemDatabaseService)
        {
            _regionManager = regionManager;
            _eventAggregator = ea;
            _container = container;
            _dialogService = dialogService;
            _feederService = feederService;
            _robotService = robotService;
            _cameraService = cameraService;
            _systemDatabaseService = systemDatabaseService;
            //订阅权限登录事件
            _eventAggregator.GetEvent<UserLoginNotification>().Subscribe(LoginChange);
            
        }

        #region 方法

        /// <summary>
        /// 下一步
        /// </summary>
        void ExecuteNextCommand()
        {
            try
            {
                NavigationParameters param = new NavigationParameters();
                param.Add("SelectProduct", SelectProduct);
                param.Add("SelectedProcedure", SelectProcedure);
                SelectProcedure.ToolBlock = ToolBlockEdit.Subject;
                if (SelectProcedure.FeederId == Guid.Empty)
                {
                    _regionManager.RequestNavigate("ProductRegionContext", "ProcedureVisionOutput", param);
                }
                else
                {
                    var management = _container.Resolve<Management>();
                    var Feeder = _feederService.GetFeeder(SelectProcedure.FeederId);
                    
                    if (Feeder.FeederBrand == FeederBrand.AFAG)
                    {
                        _regionManager.RequestNavigate("ProductRegionContext", "AfagFeederParams", param);
                    }
                    else
                    {
                        _regionManager.RequestNavigate("ProductRegionContext", "FeederParams", param);
                    }
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(ex.Message,ex);
            }
        }

        /// <summary>
        /// 上一步
        /// </summary>
        void ExecuteBackCommand()
        {
            try
            {
                NavigationParameters param = new NavigationParameters();
                param.Add("SelectProduct", SelectProduct);
                param.Add("SelectedProcedure", SelectProcedure);
                _regionManager.RequestNavigate("ProductRegionContext", "CameraParams", param);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(ex.Message, ex);
            }
        }

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

        void ExecuteRunVisionProcessCommand()
        {
            try
            {
                SelectProcedure.ToolBlock = ToolBlockEdit.Subject;
                var image= Camera.Grab();
                if (image != null)
                {
                    ToolBlockEdit.Subject.Inputs["InputImage"].Value = image;
                    ToolBlockEdit.Subject.Run();
                    
                    Message = $"{Lang.图像采集耗时}：{Camera.TotalTime.TotalMilliseconds.ToString("F2")} ms {Lang.工具运行耗时}：{ToolBlockEdit.Subject.RunStatus.TotalTime.ToString("F2")} ms";
                }
                else
                {
                    Message=Lang.图像采集失败耗时.Replace("{0}", Camera.TotalTime.TotalMilliseconds.ToString("F2")).Replace("{1}", Camera.ErrorMessage);  
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.高级模式运行流程时出错时出错, ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 执行视觉静态精度分析仪命令
        /// </summary>
        void ExecuteVisionStaticAccuracyAnalyzerCommand()
        {
            try
            {
                IDialogParameters parameters = new DialogParameters();
                parameters.Add("ToolBlock", ToolBlockEdit.Subject);
                parameters.Add("SelectedProcedure", SelectProcedure);
                _dialogService.Show("VisionStaticAccuracyAnalyzer", parameters, rst =>
                {
                    //对话框关闭之后的回调函数，可以在这解析结果。
                    ButtonResult result1 = rst.Result;

                    if (result1 == ButtonResult.OK)
                    {
                        //var param = rst.Parameters.GetValue<RobotTool>("Tool");
                        //var param1 = rst.Parameters.GetValue<Matrix<double>>("RobotCameraRotationMatrix");
                        //var param2 = rst.Parameters.GetValue<double>("Angle");
                        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
                    }

                });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行视觉静态精度分析仪命令时出错", ex);
                MessageBox.Show(ex.Message);
            }
        }
        #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)
                {
                    Robot = _robotService.GetRobot(SelectProcedure.RobotId);
                    if (Robot != null)
                    {
                        Robot.EnterDebugMode = true;
                    }
                }
                Camera = _cameraService.GetCamera(SelectProcedure.CameraId);
                ToolBlockEdit.Subject = SelectProcedure.ToolBlock;
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.高级视觉界面进入时出错, 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;
            }
        }
        #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;
            }
        }
    }
}