using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Runtime.CompilerServices;
using System.Text;
using System.Threading.Tasks;
using System.Web;

namespace TeamAAS_VP.Core.Robots
{
    /// <summary>
    /// Represents command node names for an axis.
    /// </summary>
    public class AxisCommand
    {
        /// <summary>
        /// 使能，Bool类型
        /// </summary>
        public string PowerNode { get; set; }
        /// <summary>
        /// 停止,Bool类型
        /// </summary>
        public string StopNode { get; set; }
        /// <summary>
        /// 手动回原,Bool类型
        /// </summary>
        public string ManuToHomeNode { get; set; }
        /// <summary>
        /// 自动回原,Bool类型
        /// </summary>
        public string AutoToHomeNode { get; set; }
        /// <summary>
        /// 手动J0G+,Bool类型
        /// </summary>
        public string ManuJogFowardNode { get; set; }
        /// <summary>
        /// 手动J0G-,Bool类型
        /// </summary>
        public string ManuJogBackwardNode { get; set; }
        /// <summary>
        /// 速度模式控制,Bool类型
        /// </summary>
        public string VelocityControlNode { get; set; }
        /// <summary>
        /// 速度模式变速,Bool类型
        /// </summary>
        public string VelocityChangeNode { get; set; }
        /// <summary>
        /// 自动相对运动,Int类型
        /// </summary>
        public string AutoINCNode { get; set; }
        /// <summary>
        /// 自动绝对运动，Int类型
        /// </summary>
        public string AutoABSNode { get; set; }
        /// <summary>
        /// 转矩控制运动，Int类型
        /// </summary>
        public string TorqueNode { get; set; }
        /// <summary>
        /// 点位选择,Int类型
        /// </summary>
        public string PointSelectNode { get; set; }
        /// <summary>
        /// 示教使能,Bool类型
        /// </summary>
        public string TeachOnNode { get; set; }
        /// <summary>
        /// 示教位置,Bool类型
        /// </summary>
        public string TeachNode { get; set; }
        /// <summary>
        /// 手动绝对运动点位,Bool类型
        /// </summary>
        public string ManuPointNode { get; set; }
        /// <summary>
        /// 手动绝对运动指定位置,Bool类型
        /// </summary>
        public string ManuPositionNode { get; set; }
    }

    /// <summary>
    /// Represents parameter node names for an axis.
    /// </summary>
    public class AxisParameter
    {
        /// <summary>
        /// 手动定位点位,Real类型
        /// </summary>
        public string ManuPositionNode { get; set; }
        /// <summary>
        /// 手动定位速度,Real类型
        /// </summary>
        public string ManuVelocityNode { get; set; }
        /// <summary>
        /// 速度模式定位速度,Real类型
        /// </summary>
        public string VelModeVelocityNode { get; set; }
        /// <summary>
        /// 轴名称,String类型
        /// </summary>
        public string CommentNode { get; set; }
    }

    /// <summary>
    /// Represents state node names for an axis.
    /// </summary>
    public class AxisState
    {
        /// <summary>
        /// 轴已使能,Bool类型
        /// </summary>
        public string PowerOnNode { get; set; }
        /// <summary>
        /// 运转中,Bool类型
        /// </summary>
        public string BusyNode { get; set; }
        /// <summary>
        /// 定位完成,Bool类型
        /// </summary>
        public string PosOKNode { get; set; }
        /// <summary>
        /// 回原完成,Bool类型
        /// </summary>
        public string InitialedNode { get; set; }
        /// <summary>
        /// 轴暂停中,Bool类型
        /// </summary>
        public string PausedNode { get; set; }
        /// <summary>
        /// 轴正转中,Bool类型
        /// </summary>
        public string PosiNode { get; set; }
        /// <summary>
        /// 轴反转中,Bool类型
        /// </summary>
        public string NegaNode { get; set; }
        /// <summary>
        /// 错误,Bool类型
        /// </summary>
        public string ErrorNode { get; set; }
        /// <summary>
        /// 错误代码,Int类型
        /// </summary>
        public string ErrorIdNode { get; set; }
        /// <summary>
        /// 实际位置,Real类型
        /// </summary>
        public string ActPositionNode { get; set; }
        /// <summary>
        /// 实际速度,Real类型
        /// </summary>
        public string ActVelocityNode { get; set; }
        /// <summary>
        /// 实际扭矩,Real类型
        /// </summary>
        public string ActTorqueNode { get; set; }
        /// <summary>
        /// 停止位置,Real类型
        /// </summary>
        public string StopPositionNode { get; set; }
        /// <summary>
        /// 绝对位置点位,Real类型
        /// </summary>
        public string HmiPositionNode { get; set; }
        /// <summary>
        /// 运动时间,Int类型
        /// </summary>
        public string SpTimeNode { get; set; }
        /// <summary>
        /// 轴状态,Int类型
        /// </summary>
        public string StateNode { get; set; }
    }

    /// <summary>
    /// Axis model that groups command, parameter and state node names.
    /// </summary>
    public class Axis
    {
        public Axis()
        {
            Command = new AxisCommand();
            Parameter = new AxisParameter();
            State = new AxisState();
        }

        public Axis(string name, int index) : this()
        {
            Name = name;
            Index = index;
        }

        /// <summary>
        /// Logical name of the axis, e.g. "X","Y","Z","U" or "A1".
        /// </summary>
        public string Name { get; set; }

        /// <summary>
        /// Axis index (1-based) when applicable.
        /// </summary>
        public int Index { get; set; }

        public AxisCommand Command { get; set; }

        public AxisParameter Parameter { get; set; }

        public AxisState State { get; set; }
    }

    public class AxisExtended : Axis, INotifyPropertyChanged
    {
        //当前坐标
        private double _CurrentPosition;
        public double CurrentPosition
        {
            get { return _CurrentPosition; }
            set { SetProperty(ref _CurrentPosition, value); }
        }

        #region 属性通知
        /// <summary>
        /// Occurs when a property value changes.
        /// </summary>
        public event PropertyChangedEventHandler PropertyChanged;

        /// <summary>
        /// Checks if a property already matches a desired value. Sets the property and
        /// notifies listeners only when necessary.
        /// </summary>
        /// <typeparam name="T">Type of the property.</typeparam>
        /// <param name="storage">Reference to a property with both getter and setter.</param>
        /// <param name="value">Desired value for the property.</param>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers that
        /// support CallerMemberName.</param>
        /// <returns>True if the value was changed, false if the existing value matched the
        /// desired value.</returns>
        protected virtual bool SetProperty<T>(ref T storage, T value, [CallerMemberName] string propertyName = null)
        {
            if (EqualityComparer<T>.Default.Equals(storage, value)) return false;

            storage = value;
            RaisePropertyChanged(propertyName);

            return true;
        }

        /// <summary>
        /// Checks if a property already matches a desired value. Sets the property and
        /// notifies listeners only when necessary.
        /// </summary>
        /// <typeparam name="T">Type of the property.</typeparam>
        /// <param name="storage">Reference to a property with both getter and setter.</param>
        /// <param name="value">Desired value for the property.</param>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers that
        /// support CallerMemberName.</param>
        /// <param name="onChanged">Action that is called after the property value has been changed.</param>
        /// <returns>True if the value was changed, false if the existing value matched the
        /// desired value.</returns>
        protected virtual bool SetProperty<T>(ref T storage, T value, Action onChanged, [CallerMemberName] string propertyName = null)
        {
            if (EqualityComparer<T>.Default.Equals(storage, value)) return false;

            storage = value;
            onChanged?.Invoke();
            RaisePropertyChanged(propertyName);

            return true;
        }

        /// <summary>
        /// Raises this object's PropertyChanged event.
        /// </summary>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers
        /// that support <see cref="CallerMemberNameAttribute"/>.</param>
        protected void RaisePropertyChanged([CallerMemberName] string propertyName = null)
        {
            OnPropertyChanged(new PropertyChangedEventArgs(propertyName));
        }

        /// <summary>
        /// Raises this object's PropertyChanged event.
        /// </summary>
        /// <param name="args">The PropertyChangedEventArgs</param>
        protected virtual void OnPropertyChanged(PropertyChangedEventArgs args)
        {
            PropertyChanged?.Invoke(this, args);
        }
        #endregion
    }

}