using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
namespace KinematicsBase
{
    #region BaseClass
    #region Data Define
    /// <summary>
    /// 传感器类型
    /// </summary>
    [Serializable]
    public enum SensorType
    {
        /// <summary>
        /// 姿态传感器
        /// </summary>
        Pose,
        /// <summary>
        /// 关节距离传感器
        /// </summary>
        Distance,
        /// <summary>
        /// 关节传感器
        /// 判断关节位置
        /// </summary>
        Joint,
        /// <summary>
        /// 接近传感器
        /// </summary>
        Near,
        /// <summary>
        /// 光电传感器
        /// </summary>
        PhotoElectric,
        /// <summary>
        /// 属性传感器
        /// </summary>
        Attribution,
        /// <summary>
        /// Joint的值变化 ture
        /// 不变化 false
        /// </summary>
        IsRun

    }
    /// <summary>
    /// 信号触发方式
    /// </summary>
    /// [Serializable]
    public enum TrigerType
    {
        Pulse,
        Limit,
        StepBegin,
        StepEnd
    }
    [Serializable]

    public enum SensorDataType
    {

        INT,

        DINT,

        FLOAT,

        DOUBLE
    }
    #endregion
    /// <summary>
    /// 姿态传感器
    /// </summary>
    [Serializable]
    public class Sensor
    {
        ///// <summary>
        ///// 向外部发出传感器信号
        ///// </summary>
        //public static event Action<string, object> OnDataChange = null;

        /// <summary>
        /// string ModeId, string PoseId, string JointId, string Id, object Value
        /// </summary>
        public static event Action<string, string, string, string, object> OnDataChange;
        //public static event Action<string, string, string, string, bool> OnDataChangeBool;
        //public static event Action<string, string, string, string, int> OnDataChangeInt;
        //public static event Action<string, string, string, string, double> OnDataChangeFloat;

        public string Id { get; set; }

        public string Name { get; set; }
        public string ModelId { get; set; }
        public bool I = false;
        public SensorType SensorType { get; set; }
        public TrigerType TrigerType { get; set; }
        public string PoseId { get; set; } = "";
        /// <summary>
        /// PoseId =0和姿态距离传感器用
        /// </summary>
        public string JointId { get; set; } = "";
        public UnitType UnitType { get; set; }
        public SensorDataType SensorDataType { get; set; }

        /// <summary>
        /// 传感器是否启用
        /// </summary>
        public bool IsEnable { get; set; }
        ///// <summary>
        ///// PLC 变量代码
        ///// </summary>
        //public string SignalViewer_Id;

        /// <summary>
        /// 姿态传感器 光电传感器
        /// 触发后返回值 0，1  
        /// 或伺服值
        /// </summary>
        public object Tagvalue { get; set; }
        /// <summary>
        /// 触发值测试误差值上限
        /// </summary>
        public double LimitUpValue { get; set; } = 2f;
        /// <summary>
        /// 触发值测试误差值下限
        /// </summary>
        public double LimitDownValue { get; set; } = -2f;

        /// <summary>
        /// 光电传感器 检测长度用
        /// </summary>
        public double Length { get; set; }
        public double ValueFactor { get; set; } = 1;

        public Sensor()
        {
            this.Id = Guid.NewGuid().ToString("D").ToUpper();

        }
        public void Setup()
        {
            switch (SensorType)
            {
                case SensorType.Pose:
                    SetupPose();
                    break;
                case SensorType.Distance:
                    SetupDistance();
                    break;
                case SensorType.Joint:
                    SetupJoint();
                    break;
            }
        }
        private void SetupJoint()
        {
            bool isTriger = false;
            //Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == ModelId);
            var k = PP.ModelCodeFindModelAttribute(ModelId).KinematicsData;
            if (k == null) return;
            var val = k.JointList.FirstOrDefault(t => t.Id == JointId).ValueCurrent;
            var jValue = k.PoseList.FirstOrDefault(t => t.Id == PoseId).PoseInfo[JointId];

            if ((val >= jValue + LimitDownValue) && (val <= jValue + LimitDownValue))
            {
                isTriger = true;
            }
            else
            {
                isTriger = false;
            }
            I = isTriger;
            DataChange(ModelId, PoseId, JointId, Id, I);
        }

        private void SetupDistance()
        {
            // Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == ModelId);
            var k = PP.ModelCodeFindModelAttribute(ModelId).KinematicsData;
            if (k == null) return;
            double val = k.JointList.FirstOrDefault(t => t.Id == JointId).ValueCurrent;

            object value;

            switch (SensorDataType)
            {
                case SensorDataType.INT:
                    value = Convert.ToInt32(val);
                    DataChange(ModelId, PoseId, JointId, Id, value);

                    break;
                case SensorDataType.DINT:
                    value = (long)val;
                    DataChange(ModelId, PoseId, JointId, Id, value);
                    break;
                case SensorDataType.FLOAT:
                    value = (double)val;
                    DataChange(ModelId, PoseId, JointId, Id, value);
                    break;
                case SensorDataType.DOUBLE:
                    value = (double)val;
                    DataChange(ModelId, PoseId, JointId, Id, value);
                    break;
            }
        }
        private void SetupPose()
        {
            //double val = (double)vale;
            bool isTriger = false;
            bool isTrigerJoint;
            int index = 0;
            //Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == ModelId);
            var k = PP.ModelCodeFindModelAttribute(ModelId).KinematicsData;
            if (k == null) return;

            //监控POSE的全部姿态
            var pose = k.PoseList.FirstOrDefault(t => t.Id == PoseId);
            if (pose == null) return;
            foreach (var item in pose.PoseInfo)
            {
                double currentValue = k.JointList.FirstOrDefault(t => t.Id == item.Key).ValueCurrent;
                if ((currentValue >= item.Value + LimitDownValue) && (currentValue <= item.Value + LimitUpValue))
                {
                    isTrigerJoint = true;
                }
                else
                {
                    isTrigerJoint = false;
                }
                if (!isTrigerJoint)
                {
                    isTriger = false;
                    break;
                }
                else
                {
                    if (index == 0)
                    {
                        isTriger = isTrigerJoint;
                    }
                    else
                    {
                        isTriger = isTriger && isTrigerJoint;
                    }
                    if (isTriger == false)
                    {
                        break;
                    }
                }
                index++;
            }
            I = isTriger;
            DataChange(ModelId, PoseId, JointId, Id, I);
        }
        public Sensor(SensorType SensorType)
        {
            this.Id = Guid.NewGuid().ToString("D").ToUpper();
            Tagvalue = 0;
            switch (SensorType)
            {
                case SensorType.IsRun:
                    Joint.OnDataChangeJointIsRun -= Joint_OnDataChangeJointIsRun;
                    Joint.OnDataChangeJointIsRun += Joint_OnDataChangeJointIsRun;
                    break;
                default:
                    Joint.OnDataChange -= Joint_OnDataChange;
                    Joint.OnDataChange += Joint_OnDataChange;
                    break;
            }
        }
        public void Joint_OnDataChangeJointIsRun(string modelId, string jointId, bool val)
        {
            if (this.ModelId == modelId && this.JointId == jointId)
            {
                I = val;
                DataChange(ModelId, PoseId, JointId, Id, I);
            }
        }



        public string CreateSensorPose(string modelId, string poseId)
        {
            this.Id = Guid.NewGuid().ToString("D").ToUpper();
            Joint.OnDataChange -= Joint_OnDataChange;
            Joint.OnDataChange += Joint_OnDataChange;
            Tagvalue = 0;

            this.IsEnable = true;
            this.PoseId = poseId;
            var kTemp = Kinematics.GetKinematicsByModelId(modelId);
            {
                this.Name = kTemp.ModelName + "_PS_Logical_1";
                this.SensorType = SensorType.Pose;
            }
            this.ModelId = modelId;
            this.LimitUpValue = 2;
            this.LimitDownValue = -2;
            kTemp.SensorList.Add(this);
            // Kinematics.SaveToModel(kTemp);
            if (GlobalEventInterface.E_Transmit_SaveToModel != null)
            {
                GlobalEventInterface.E_Transmit_SaveToModel(kTemp);
            }

            return Id;
        }
        public string CreateSensorJoint(string modelId, string poseId, string jointId)
        {
            this.Id = Guid.NewGuid().ToString("D").ToUpper();
            Joint.OnDataChange -= Joint_OnDataChange;
            Joint.OnDataChange += Joint_OnDataChange;
            Tagvalue = 0;
            this.IsEnable = true;
            this.PoseId = poseId;
            this.JointId = jointId;
            var kTemp = Kinematics.GetKinematicsByModelId(modelId);

            this.Name = kTemp.ModelName + "_PJ_Logical_1";
            this.SensorType = SensorType.Joint;
            this.ModelId = modelId;
            this.LimitUpValue = 2;
            this.LimitDownValue = -2;
            kTemp.SensorList.Add(this);
            // Kinematics.SaveToModel(kTemp);
            if (GlobalEventInterface.E_Transmit_SaveToModel != null)
            {
                GlobalEventInterface.E_Transmit_SaveToModel(kTemp);
            }
            return Id;
        }
        public string CreateSensorJointIsRun(string modelId, string jointId)
        {
            this.Id = Guid.NewGuid().ToString("D").ToUpper();
            Joint.OnDataChangeJointIsRun -= Joint_OnDataChangeJointIsRun;
            Joint.OnDataChangeJointIsRun += Joint_OnDataChangeJointIsRun;

            Tagvalue = 0;

            this.IsEnable = true;
            this.JointId = jointId;
            var kTemp = Kinematics.GetKinematicsByModelId(modelId);

            this.Name = kTemp.ModelName + "_Run_Logical_1";
            this.SensorType = SensorType.IsRun;
            this.ModelId = modelId;
            kTemp.SensorList.Add(this);
            // Kinematics.SaveToModel(kTemp);
            if (GlobalEventInterface.E_Transmit_SaveToModel != null)
            {
                GlobalEventInterface.E_Transmit_SaveToModel(kTemp);
            }
            return Id;
        }
        public string CreateSensorPoseDistance(string modelId, string jointId, SensorDataType sensorDataType)
        {
            this.Id = Guid.NewGuid().ToString("D").ToUpper();
            Joint.OnDataChange -= Joint_OnDataChange;
            Joint.OnDataChange += Joint_OnDataChange;
            Tagvalue = 0;

            var kTemp = Kinematics.GetKinematicsByModelId(modelId);

            this.IsEnable = true;
            this.JointId = jointId;
            this.SensorType = SensorType.Distance;
            this.Name = kTemp.ModelName + "_JD_Logical_1";
            this.ModelId = modelId;
            this.SensorDataType = sensorDataType;
            this.LimitUpValue = 2;
            this.LimitDownValue = -2;
            kTemp.SensorList.Add(this);
            // Kinematics.SaveToModel(kTemp);
            if (GlobalEventInterface.E_Transmit_SaveToModel != null)
            {
                GlobalEventInterface.E_Transmit_SaveToModel(kTemp);
            }
            return Id;
        }

        public static void DataChange(string ModeId, string PoseId, string JointId, string Id, object Value)
        {
            if (OnDataChange != null)
            {
                OnDataChange.Invoke(ModeId, PoseId, JointId, Id, Value);
            }
        }


        public void Joint_OnDataChange(string modeId, string jointID, object val)
        {
            //if (this.Id == null) return;
            if (this.ModelId == modeId)
            {
                Triger(jointID, val);

            }
        }


        /// <summary>
        /// 根据Joint姿态的值，触发传感器信号
        /// </summary>
        /// <param name="val"></param>
        public void Triger(string jointID, object val)
        {
            switch (SensorType)
            {
                case SensorType.Pose:
                    TrigerPose(val);
                    break;
                case SensorType.Distance:
                    TrigerDistance(jointID, val);
                    break;
                case SensorType.Joint:
                    TrigerJoint(jointID, val);
                    break;
                case SensorType.PhotoElectric:
                    break;
                case SensorType.Near:
                    break;
                case SensorType.Attribution:
                    break;
            }
        }
        /// <summary>
        /// 回写关节当前值（距离）
        /// 可以订阅SensorDistanceDataChange事件
        /// </summary>
        /// <param name="val"></param>
        public void TrigerDistance(string jointID, object val)
        {
            if (this.JointId != jointID) return;
            object value;

            switch (SensorDataType)
            {
                case SensorDataType.INT:
                    value = Convert.ToInt32(val);
                    DataChange(ModelId, PoseId, JointId, Id, value);

                    break;
                case SensorDataType.DINT:
                    value = (long)val;
                    DataChange(ModelId, PoseId, JointId, Id, value);
                    break;
                case SensorDataType.FLOAT:
                    value = (double)val;
                    DataChange(ModelId, PoseId, JointId, Id, value);
                    break;
                case SensorDataType.DOUBLE:
                    value = (double)val;
                    DataChange(ModelId, PoseId, JointId, Id, value);
                    break;
            }
        }
        /// <summary>
        /// 判断姿态位置
        /// </summary>
        /// <param name="val"></param>
        public void TrigerPose(object vale)
        {
            double val = (double)vale;
            bool isTriger = false;
            bool isTrigerJoint;
            int index = 0;
            //Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == ModelId);
            var k = PP.ModelCodeFindModelAttribute(ModelId).KinematicsData;
            if (k == null) return;

            //监控POSE的全部姿态
            var pose = k.PoseList.FirstOrDefault(t => t.Id == PoseId);
            if (pose == null) return;
            foreach (var item in pose.PoseInfo)
            {
                double currentValue = k.JointList.FirstOrDefault(t => t.Id == item.Key).ValueCurrent;
                if ((currentValue >= item.Value + LimitDownValue) && (currentValue <= item.Value + LimitUpValue))
                {
                    isTrigerJoint = true;
                }
                else
                {
                    isTrigerJoint = false;
                }
                if (!isTrigerJoint)
                {
                    isTriger = false;
                    break;
                }
                else
                {
                    if (index == 0)
                    {
                        isTriger = isTrigerJoint;
                    }
                    else
                    {
                        isTriger = isTriger && isTrigerJoint;
                    }
                    if (isTriger == false)
                    {
                        break;
                    }
                }
                index++;
            }
            if (I != isTriger)
            {
                I = isTriger;
                DataChange(ModelId, PoseId, JointId, Id, I);
                //DataChangeBool(ModelId, PoseId, JointId, Id, I);
            }
        }
        /// <summary>
        /// 关节传感器
        /// 判断关节位置
        /// </summary>
        /// <param name="jointID"></param>
        /// <param name="val"></param>
        public void TrigerJoint(string jointID, object vale)
        {
            if (this.JointId != jointID) return;

            double val = (double)vale;
            bool isTriger = false;
            // Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == ModelId);
            var k = PP.ModelCodeFindModelAttribute(ModelId).KinematicsData;
            if (k == null) return;
            var jValue = k.PoseList.FirstOrDefault(t => t.Id == PoseId).PoseInfo[jointID];

            if ((val >= jValue + LimitDownValue) && (val <= jValue + LimitDownValue))
            {
                isTriger = true;
            }
            else
            {
                isTriger = false;
            }
            if (I != isTriger)
            {
                I = isTriger;
                DataChange(ModelId, PoseId, JointId, Id, I);
                //DataChangeBool(ModelId, PoseId, JointId, Id, I);
            }
        }

    }
    //
    #endregion
}