using LB_SmartVisionCommon;
using LB_VisionControl;
using LB_VisionProcesses.Cameras;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Forms;
using System.Windows.Media.Media3D;
using static ZXing.QrCode.Internal.Mode;

namespace LB_SmartVision.Forms.Pages.MotionControlPage
{
    public partial class MotionControlForm : Form
    {
        BaseCamera camera { get; set; }
        UserPictureBox onlinePictureBox { get; set; }
        string communicatorsName { get; set; }
        public MotionControlForm()
        {
            InitializeComponent();
        }
        string cameraSN = string.Empty;

        public MotionControlForm(BaseCamera camera)
        {
            InitializeComponent();

            if (camera == null)
                return;

            this.camera = camera;
            this.Text = camera.SN;
            textBoxSN.Text = camera.SN;
            cameraSN = camera.SN;
            onlinePictureBox = new UserPictureBox(uiGroupBoxImage);
            this.uiGroupBoxImage.Controls.Clear();
            this.uiGroupBoxImage.Controls.Add(onlinePictureBox);
            onlinePictureBox.Dock = DockStyle.Fill;

            //加载回调函数
            Subscribe();
            foreach (var name in GlobalVar.dicCommunicators.Items.Keys)
            {
                cmbCom.Items.Add(name);
            }
        }
        ConcurrentDictionary<string, RecordMotionControlData> concurrentDictionary = new ConcurrentDictionary<string, RecordMotionControlData>();
        private void CameraForm_FormClosing(object sender, FormClosingEventArgs e)
        {
            if (camera == null)
                return;

            camera.StopGrabbing();

            camera.StartGrabbing();
            if (GlobalVar.dicMotionControlData.Keys.Contains(GlobalVar.strProductName))
            {
                concurrentDictionary = GlobalVar.dicMotionControlData[GlobalVar.strProductName];
                double xAxisDetectLocationValue, xAxisOriginalLocationValue, yAxisDetectLocationValue, yAxisOriginalLocationValue, zAxisDetectLocationValue, zAxisOriginalLocationValue, wAxisDetectLocationValue, wAxisOriginalLocationValue, pulseMotionSpeedValue, angularVelocityValue;
                xAxisDetectLocationValue = double.Parse(this.textBoxXDetectLocation.Text);
                xAxisOriginalLocationValue = double.Parse(this.textBoxXOriginalLocation.Text);
                yAxisDetectLocationValue = double.Parse(this.textBoxYDetectLocation.Text);
                yAxisOriginalLocationValue = double.Parse(this.textBoxYOriginalLocation.Text);
                zAxisDetectLocationValue = double.Parse(this.textBoxZDetectLocation.Text);
                zAxisOriginalLocationValue = double.Parse(this.textBoxZOriginalLocation.Text);
                wAxisDetectLocationValue = double.Parse(this.textBoxWDetectLocation.Text);
                wAxisOriginalLocationValue = double.Parse(this.textBoxWOriginalLocation.Text);
                pulseMotionSpeedValue = double.Parse(this.textBoxPointSpeed.Text);
                angularVelocityValue = double.Parse(this.textBoxPointSpeed.Text);
                if (concurrentDictionary.Keys.Contains(cameraSN))
                {
                    RecordMotionControlData recordMotionControlData = new RecordMotionControlData
                    {
                        ProductName = GlobalVar.strProductName,
                        CommunicatorsName = communicatorsName,
                        CameraSN = cameraSN,
                        XAxisAddress = this.textBoxXVarAddress.Text,
                        XAxisDetectLocationValue = xAxisDetectLocationValue,
                        XAxisOriginalLocationValue = xAxisOriginalLocationValue,
                        YAxisAddress = this.textBoxYVarAddress.Text,
                        YAxisDetectLocationValue = yAxisDetectLocationValue,
                        YAxisOriginalLocationValue = yAxisOriginalLocationValue,
                        ZAxisAddress = this.textBoxZVarAddress.Text,
                        ZAxisDetectLocationValue = zAxisDetectLocationValue,
                        ZAxisOriginalLocationValue = zAxisOriginalLocationValue,
                        WAxisAddress = this.textBoxWVarAddress.Text,
                        WAxisDetectLocationValue = wAxisDetectLocationValue,
                        WAxisOriginalLocationValue = wAxisOriginalLocationValue,
                        PulseMotionSpeedAddress = this.textBoxPulseMotionSpeedAddress.Text,
                        PulseMotionSpeedValue = pulseMotionSpeedValue,
                        AngularVelocityAddress = this.textBoxAngularVelocityAddress.Text,
                        AngularVelocityValue = angularVelocityValue
                    };
                    concurrentDictionary.TryAdd(cameraSN, recordMotionControlData);
                }
                else
                {
                    RecordMotionControlData recordMotionControlData = new RecordMotionControlData
                    {
                        ProductName = GlobalVar.strProductName,
                        CommunicatorsName = communicatorsName,
                        CameraSN = cameraSN,
                        XAxisAddress = this.textBoxXVarAddress.Text,
                        XAxisDetectLocationValue = xAxisDetectLocationValue,
                        XAxisOriginalLocationValue = xAxisOriginalLocationValue,
                        YAxisAddress = this.textBoxYVarAddress.Text,
                        YAxisDetectLocationValue = yAxisDetectLocationValue,
                        YAxisOriginalLocationValue = yAxisOriginalLocationValue,
                        ZAxisAddress = this.textBoxZVarAddress.Text,
                        ZAxisDetectLocationValue = zAxisDetectLocationValue,
                        ZAxisOriginalLocationValue = zAxisOriginalLocationValue,
                        WAxisAddress = this.textBoxWVarAddress.Text,
                        WAxisDetectLocationValue = wAxisDetectLocationValue,
                        WAxisOriginalLocationValue = wAxisOriginalLocationValue,
                        PulseMotionSpeedAddress = this.textBoxPulseMotionSpeedAddress.Text,
                        PulseMotionSpeedValue = pulseMotionSpeedValue,
                        AngularVelocityAddress = this.textBoxAngularVelocityAddress.Text,
                        AngularVelocityValue = angularVelocityValue
                    };
                    concurrentDictionary.TryAdd(cameraSN, recordMotionControlData);
                }
            }
            else
            {
                double xAxisDetectLocationValue, xAxisOriginalLocationValue, yAxisDetectLocationValue, yAxisOriginalLocationValue, zAxisDetectLocationValue, zAxisOriginalLocationValue, wAxisDetectLocationValue, wAxisOriginalLocationValue, pulseMotionSpeedValue, angularVelocityValue;
                xAxisDetectLocationValue = double.Parse(this.textBoxXDetectLocation.Text);
                xAxisOriginalLocationValue = double.Parse(this.textBoxXOriginalLocation.Text);
                yAxisDetectLocationValue = double.Parse(this.textBoxYDetectLocation.Text);
                yAxisOriginalLocationValue = double.Parse(this.textBoxYOriginalLocation.Text);
                zAxisDetectLocationValue = double.Parse(this.textBoxZDetectLocation.Text);
                zAxisOriginalLocationValue = double.Parse(this.textBoxZOriginalLocation.Text);
                wAxisDetectLocationValue = double.Parse(this.textBoxWDetectLocation.Text);
                wAxisOriginalLocationValue = double.Parse(this.textBoxWOriginalLocation.Text);
                pulseMotionSpeedValue = double.Parse(this.textBoxPointSpeed.Text);
                angularVelocityValue = double.Parse(this.textBoxPointSpeed.Text);
                if (concurrentDictionary.Keys.Contains(cameraSN))
                {
                    RecordMotionControlData recordMotionControlData = new RecordMotionControlData
                    {
                        ProductName = GlobalVar.strProductName,
                        CommunicatorsName = communicatorsName,
                        CameraSN = cameraSN,
                        XAxisAddress = this.textBoxXVarAddress.Text,
                        XAxisDetectLocationValue = xAxisDetectLocationValue,
                        XAxisOriginalLocationValue = xAxisOriginalLocationValue,
                        YAxisAddress = this.textBoxYVarAddress.Text,
                        YAxisDetectLocationValue = yAxisDetectLocationValue,
                        YAxisOriginalLocationValue = yAxisOriginalLocationValue,
                        ZAxisAddress = this.textBoxZVarAddress.Text,
                        ZAxisDetectLocationValue = zAxisDetectLocationValue,
                        ZAxisOriginalLocationValue = zAxisOriginalLocationValue,
                        WAxisAddress = this.textBoxWVarAddress.Text,
                        WAxisDetectLocationValue = wAxisDetectLocationValue,
                        WAxisOriginalLocationValue = wAxisOriginalLocationValue,
                        PulseMotionSpeedAddress = this.textBoxPulseMotionSpeedAddress.Text,
                        PulseMotionSpeedValue = pulseMotionSpeedValue,
                        AngularVelocityAddress = this.textBoxAngularVelocityAddress.Text,
                        AngularVelocityValue = angularVelocityValue
                    };
                    concurrentDictionary.TryAdd(cameraSN, recordMotionControlData);
                }
                else
                {
                    RecordMotionControlData recordMotionControlData = new RecordMotionControlData
                    {
                        ProductName = GlobalVar.strProductName,
                        CommunicatorsName = communicatorsName,
                        CameraSN = cameraSN,
                        XAxisAddress = this.textBoxXVarAddress.Text,
                        XAxisDetectLocationValue = xAxisDetectLocationValue,
                        XAxisOriginalLocationValue = xAxisOriginalLocationValue,
                        YAxisAddress = this.textBoxYVarAddress.Text,
                        YAxisDetectLocationValue = yAxisDetectLocationValue,
                        YAxisOriginalLocationValue = yAxisOriginalLocationValue,
                        ZAxisAddress = this.textBoxZVarAddress.Text,
                        ZAxisDetectLocationValue = zAxisDetectLocationValue,
                        ZAxisOriginalLocationValue = zAxisOriginalLocationValue,
                        WAxisAddress = this.textBoxWVarAddress.Text,
                        WAxisDetectLocationValue = wAxisDetectLocationValue,
                        WAxisOriginalLocationValue = wAxisOriginalLocationValue,
                        PulseMotionSpeedAddress = this.textBoxPulseMotionSpeedAddress.Text,
                        PulseMotionSpeedValue = pulseMotionSpeedValue,
                        AngularVelocityAddress = this.textBoxAngularVelocityAddress.Text,
                        AngularVelocityValue = angularVelocityValue
                    };
                    concurrentDictionary.TryAdd(cameraSN, recordMotionControlData);
                }
            }
            GlobalVar.dicMotionControlData.TryAdd(GlobalVar.strProductName, concurrentDictionary);
            ConfigManager<ConcurrentDictionary<string, ConcurrentDictionary<string, RecordMotionControlData>>>.SaveConfig<ConcurrentDictionary<string, ConcurrentDictionary<string, RecordMotionControlData>>>(GlobalVar.dicMotionControlData, GlobalVar.allMotionControlDataPath);
            Unsubscribe();
        }

        public void Unsubscribe()
        {
            try
            {
                if (camera == null)
                    return;
                //取消回调函数
                camera.ImageGrabbed -= GetImageBllComplete;
            }
            catch (Exception ex)
            {
                // 记录错误信息
                Debug.WriteLine($"错误: {ex.Message}");
            }

        }

        public void Subscribe()
        {
            try
            {
                if (camera == null)
                    return;

                //取消回调函数
                camera.ImageGrabbed -= GetImageBllComplete;
                //加载回调函数
                camera.ImageGrabbed += GetImageBllComplete;
            }
            catch (Exception ex)
            {
                // 记录错误信息
                Debug.WriteLine($"错误: {ex.Message}");
            }
        }

        /// <summary>
        /// 相机回调运行
        /// </summary>
        /// <param name="CCDName"></param>
        /// <param name="image"></param>
        private void GetImageBllComplete(object sender, CameraEventArgs e)
        {
            if (e.Bitmap == null)
                return;

            lock (e.Bitmap)
            {
                if (this.InvokeRequired) // 检查是否需要在UI线程上调用
                {
                    this.Invoke(new Action(() =>
                    {
                        onlinePictureBox.Image = e.Bitmap;
                    })); // 递归调用自身，但这次在UI线程上
                }
                else
                {
                    onlinePictureBox.Image = e.Bitmap;
                }
            }
        }

        private void uiButtonGrabOnce_Click(object sender, EventArgs e)
        {
            if (camera == null)
                return;

            Task.Factory.StartNew(() =>
            {
                camera.SetTriggerMode(TriggerMode.On, TriggerSource.Software);
                DateTime startTime = DateTime.Now; // 当前时间
                camera.GetImageWithSoftTrigger(out Bitmap bitmap);
            });
        }

        private void uiButtonCloseSoftGrab_Click(object sender, EventArgs e)
        {
            if (camera == null)
                return;

            Task.Factory.StartNew(() =>
            {
                camera.StopGrabbing();
                camera.SetTriggerMode(TriggerMode.On, TriggerSource.Software);
                camera.StartGrabbing();
            });
        }

        private void uiButtonHardGrabWithPLC_Click(object sender, EventArgs e)
        {
            if (camera == null)
                return;

            Task.Factory.StartNew(() =>
            {
                camera.SetTriggerMode(TriggerMode.On, TriggerSource.Line0);
                camera.StopGrabbing();
                camera.StartWith_HardTriggerModel();
            });
        }

        private void uiButtonDecreaseX_Click(object sender, EventArgs e)
        {
            float xPosition = 0;
            xPosition = float.Parse(textBoxXPosition.Text);
            MovePosition(-xPosition, 0, 0, 0);
            PositionNow();
        }

        private void uiButtonIncreaseX_Click(object sender, EventArgs e)
        {
            float xPosition = 0;
            xPosition = float.Parse(textBoxXPosition.Text);
            MovePosition(xPosition, 0, 0, 0);
            PositionNow();
        }

        private void uiButtonDecreaseY_Click(object sender, EventArgs e)
        {
            float yPosition = 0;
            yPosition = float.Parse(textBoxYPosition.Text);
            MovePosition(0, -yPosition, 0, 0);
            PositionNow();
        }

        private void uiButtonIncreaseY_Click(object sender, EventArgs e)
        {
            float yPosition = 0;
            yPosition = float.Parse(textBoxYPosition.Text);
            MovePosition(0, yPosition, 0, 0);
            PositionNow();
        }

        private void uiButtonDecreaseZ_Click(object sender, EventArgs e)
        {
            float zPosition = 0;
            zPosition = float.Parse(textBoxZPosition.Text);
            MovePosition(0, 0, -zPosition, 0);
            PositionNow();
        }

        private void uiButtonIncreaseZ_Click(object sender, EventArgs e)
        {
            float zPosition = 0;
            zPosition = float.Parse(textBoxZPosition.Text);
            MovePosition(0, 0, zPosition, 0);
            PositionNow();
        }

        private void uiButtonDecreasePitchAngle_Click(object sender, EventArgs e)
        {
            float pitchanglePosition = 0;
            pitchanglePosition = float.Parse(textBoxPitchAnglePosition.Text);
            MovePosition(0, 0, 0, -pitchanglePosition);
            AngNow();
        }

        private void uiButtonIncreasePitchAngle_Click(object sender, EventArgs e)
        {
            float pitchanglePosition = 0;
            pitchanglePosition = float.Parse(textBoxPitchAnglePosition.Text);
            MovePosition(0, 0, 0, pitchanglePosition);
            AngNow();
        }

        public float XPositionDt;
        public float YPositionDt;
        public float ZPositionDt;
        public float AnglePositionDt;
        public void MovePosition(float fDeltaX, float fDeltaY, float fDeltaZ, float fDeltAngle)
        {
            XPositionDt += fDeltaX;
            YPositionDt += fDeltaY;
            ZPositionDt += fDeltaZ;
            AnglePositionDt += fDeltAngle;
        }

        private void textBoxPointSpeed_TextChanged(object sender, EventArgs e)
        {
            float pointspeed = 0;
            pointspeed = float.Parse(textBoxPointSpeed.Text);
        }

        private void textBoxAngSpeed_TextChanged(object sender, EventArgs e)
        {
            float angspeed = 0;
            angspeed = float.Parse(textBoxAngSpeed.Text);
        }

        private void textBoxPositionNow_TextChanged(object sender, EventArgs e)
        {
            textBoxPositionNow.Enabled = false;

            string x;
            string y;
            string z;
            x = Convert.ToString(Math.Round(XPositionDt, 3));
            y = Convert.ToString(Math.Round(YPositionDt, 3));
            z = Convert.ToString(Math.Round(ZPositionDt, 3));

            textBoxPositionNow.Text = "(" + x + "," + y + "," + z + ")";
        }

        private void textBoxAngleNow_TextChanged(object sender, EventArgs e)
        {
            textBoxAngleNow.Enabled = false;

            string ang;
            ang = Convert.ToString(Math.Round(AnglePositionDt, 3));

            textBoxAngleNow.Text = ang;
        }

        private void PositionNow()
        {
            string x;
            string y;
            string z;
            x = Convert.ToString(Math.Round(XPositionDt, 3));
            y = Convert.ToString(Math.Round(YPositionDt, 3));
            z = Convert.ToString(Math.Round(ZPositionDt, 3));

            textBoxPositionNow.Text = "(" + x + y + z + ")";
        }
        private void AngNow()
        {
            string ang;
            ang = Convert.ToString(Math.Round(AnglePositionDt, 3));

            textBoxAngleNow.Text = "(" + ang + ")";
        }

        private void uiGroupBoxMotionControl_Enter(object sender, EventArgs e)
        {

        }

        private void label1_Click(object sender, EventArgs e)
        {

        }

        private void tableLayoutPanel3_Paint(object sender, PaintEventArgs e)
        {

        }

        private void uiSplitContainer1_Panel1_Paint(object sender, PaintEventArgs e)
        {

        }

        // 使用KeyDown事件更适合处理回车键
        private void textBoxXPosition_KeyDown(object sender, KeyEventArgs e)
        {
            if (e.KeyCode == Keys.Enter)
            {
                //// 验证输入
                //if (ValidateXPosition())
                //{
                //    // 执行确认操作
                //    ProcessXPosition();
                //}

                // 阻止系统声音并让文本框失去焦点
                e.SuppressKeyPress = true;
                e.Handled = true;

                this.ActiveControl = null;
            }
        }

        // 使用KeyPress验证实时输入
        private void textBoxXPosition_KeyPress(object sender, KeyPressEventArgs e)
        {
            // 允许回车键（虽然KeyDown会处理它）
            if (e.KeyChar == (char)Keys.Enter)
                return;

            // 允许退格键
            if (e.KeyChar == (char)Keys.Back)
                return;

            // 只允许数字
            if (!char.IsDigit(e.KeyChar))
            {
                e.Handled = true;  // 阻止输入
            }
        }

        // 验证方法
        private bool ValidateXPosition()
        {
            if (string.IsNullOrWhiteSpace(textBoxXPosition.Text))
                return false;

            return Regex.IsMatch(textBoxXPosition.Text, @"^\d+$");
        }

        // 处理确认的方法
        private void ProcessXPosition()
        {
            if (int.TryParse(textBoxXPosition.Text, out int xPosition))
            {
                // 执行逻辑
                //LogInfo?.Invoke($"X位置已更新为: {xPosition}", LogInfoType.INFO);
            }
        }

        private void tableLayoutPanel1_Paint(object sender, PaintEventArgs e)
        {

        }

        private void cmbCom_SelectedIndexChanged(object sender, EventArgs e)
        {
            communicatorsName = cmbCom.Text;
        }
    }
}