using Prism.Mvvm;
using System;

namespace SKMC.Api.Motion.Model
{
    /// <summary>
    /// 电机模型
    /// </summary>
    public class MotionAxis : BindableBase
    {
        private long _id;

        public long Id
        {
            get { return _id; }
            set { _id = value; RaisePropertyChanged(); }
        }

        private string _type;

        /// <summary>
        /// 电机类型, Closed: 闭环, Open: 开环
        /// </summary>
        public string Type
        {
            get { return _type; }
            set { _type = value; }
        }

        private string _code;


        private short level;

        /// <summary>
        /// 安全等级, 0: 低压电机, 1: 高压电机
        /// </summary>
        public short Level
        {
            get { return level; }
            set { level = value; }
        }

        /// <summary>
        /// 电机码
        /// </summary>
        public string Code
        {
            get { return _code; }
            set { _code = value; RaisePropertyChanged(); }
        }

        private string catalog;

        /// <summary>
        /// 所属(模块)分类
        /// </summary>
        public string Catalog
        {
            get { return catalog; }
            set { catalog = value; RaisePropertyChanged(); }
        }


        private short _axisNo;

        /// <summary>
        /// 电机序号
        /// </summary>
        public short AxisNo
        {
            get { return _axisNo; }
            set { _axisNo = value; RaisePropertyChanged(); }
        }

        private char _axisDir;

        public char AxisDir
        {
            get { return _axisDir; }
            set { _axisDir = value; RaisePropertyChanged(); }
        }

        /// <summary>
        /// 默认的安全检查函数, 用于电机调试时
        /// </summary>
        public Func<bool> SafeChecker { get; set; }

        private MotionAxisStatus _axisSts;

        /// <summary>
        /// 电机状态
        /// </summary>
        public MotionAxisStatus AxisSts
        {
            get { return _axisSts; }
            set { _axisSts = value; RaisePropertyChanged(); }
        }

        /// <summary>
        /// 到位时允许的偏差 (mm)
        /// </summary>
        public double InRange { get; set; }

        /// <summary>
        /// 是否已停止
        /// </summary>
        public bool IsStopped => _axisSts.IsBusy == 0 && _axisSts.IsDone == 1;

        /// <summary>
        /// 是否上使能
        /// </summary>
        public bool IsEnabled => _axisSts.IsEnable == 1;

        /// <summary>
        /// <para>如果该轴出现异常, 是否会中断其他电机与IO控制</para>
        /// <para>如果需要对该轴出现异常后进行恢复处理, 为不影响到其他电机与IO控制, 这里需要设置为false</para>
        /// </summary>
        public bool CanInterruptAll { get; set; } = true;

        /// <summary>
        /// 是否已回零
        /// </summary>
        public bool IsHomed
        {
            get => _axisSts.IsHomed == 1;
            set => _axisSts.IsHomed = value ? (byte)1 : (byte)0;
        }


        private string _name;

        /// <summary>
        /// 名称/描述
        /// </summary>
        public string Name
        {
            get { return _name; }
            set { _name = value; RaisePropertyChanged(); }
        }

        private string _ptag;

        /// <summary>
        /// 正方向运动标签, 默认→
        /// </summary>
        public string PTag
        {
            get { return _ptag; }
            set { _ptag = value; }
        }

        private string _ntag;

        /// <summary>
        /// 负方向运动标签, 默认←
        /// </summary>
        public string NTag
        {
            get { return _ntag; }
            set { _ntag = value; }
        }


        private short _homeMod;

        /// <summary>
        /// 驱动器回零模式
        /// </summary>
        public short HomeMod
        {
            get { return _homeMod; }
            set { _homeMod = value; RaisePropertyChanged(); }
        }

        private short _homeDir;

        /// <summary>
        /// 回零方向
        /// </summary>
        public short HomeDir
        {
            get { return _homeDir; }
            set { _homeDir = value; RaisePropertyChanged(); }
        }

        private int _homeLowVel;

        /// <summary>
        /// 回零低速
        /// </summary>
        public int HomeLowVel
        {
            get { return _homeLowVel; }
            set { _homeLowVel = value; RaisePropertyChanged(); }
        }

        private int _homeHighVel;

        /// <summary>
        /// 回零高速
        /// </summary>
        public int HomeHighVel
        {
            get { return _homeHighVel; }
            set { _homeHighVel = value; RaisePropertyChanged(); }
        }

        public string SerialNo { get => $"[{AxisNo}]{AxisDir}: {Code}"; }

        public string SerialName { get => $"[{Code}]: {Name}"; }


        private int _gearScale;

        /// <summary>
        /// 电子齿轮比
        /// </summary>
        public int GearScale
        {
            get { return _gearScale; }
            set { _gearScale = value; }
        }

        private int _speedRPM;
        /// <summary>
        /// 电机最大转速 单位:r/min
        /// </summary>
        public int SpeedRPM
        {
            get { return _speedRPM; }
            set { _speedRPM = value; }
        }

        private double _distanceR;

        /// <summary>
        /// 电机每旋转一圈机构的移动距离, 可以是螺距导程, 也可以是传动轮周长
        /// </summary>
        public double DistanceR
        {
            get { return _distanceR; }
            set { _distanceR = value; }
        }

        private short _unitType;

        // 单位类型, 0表示电机步距, 1表示实际距离
        public short UnitType
        {
            get { return _unitType; }
            set { _unitType = value; }
        }


        private string _unitName;

        // 单位名称用于显示, 例如mm, °等
        public string UnitName
        {
            get { return _unitName; }
            set { _unitName = value; }
        }

        private string _moveType;

        // 移动类型, L直线, R旋转
        public string MoveType
        {
            get { return _moveType; }
            set { _moveType = value; }
        }

        /// <summary>
        /// 距离(mm)对应的电机运动单位
        /// </summary>
        public double DistanceUnit
        {
            get => _gearScale / _distanceR;
        }

        /// <summary>
        /// 当前ENC值对应的实际距离mm
        /// </summary>
        public double Distance
        {
            get => _axisSts.ENC / DistanceUnit;
        }

        /// <summary>
        /// 离上一次记录的实际距离 mm
        /// </summary>
        public double WatchDistance => _axisSts.WatchPos / DistanceUnit;

        private double _prfUnit;

        /// <summary>
        /// 运动目标值, 实际单位mm或者角度等
        /// </summary>
        public double PrfUnit
        {
            get { return _prfUnit; }
            set
            {
                _prfUnit = value / DistanceUnit;
                AxisSts.PRF = value;
                RaisePropertyChanged();
            }
        }

        private double _encUnit;

        /// <summary>
        /// 运动反馈值, 实际单位mm或者角度等
        /// </summary>
        public double EncUnit
        {
            get { return _encUnit; }
            set
            {
                _encUnit = value / DistanceUnit;
                AxisSts.ENC = value;
                if (PercentOn) Percent = (_encUnit - NegativeUnit) / (PositiveUnit - NegativeUnit);
                RaisePropertyChanged();
            }
        }

        /// <summary>
        /// 是否使用位置百分比
        /// </summary>
        public bool PercentOn { get; set; }

        /// <summary>
        /// 负限位位置(mm)
        /// </summary>
        public double NegativeUnit { get; set; }

        /// <summary>
        /// 正限位位置(mm)
        /// </summary>
        public double PositiveUnit { get; set; }


        private double percent;

        /// <summary>
        /// 位置百分比, 负限位为0%, 正限位为100%
        /// </summary>
        public double Percent
        {
            get { return percent; }
            set { percent = value; RaisePropertyChanged(); }
        }

        /// <summary>
        /// 电机停止(中断)
        /// </summary>
        public bool IsInterrupt { get; set; }

        /// <summary>
        /// 被占用的handler
        /// </summary>
        public int? LockHandler { get; set; }


        /// <summary>
        /// 当前位置是否在偏移量之内
        /// </summary>
        /// <param name="targetVal"></param>
        /// <param name="offset"></param>
        /// <returns></returns>
        public bool IsEncInRange(double targetVal)
        {
            if (_encUnit == targetVal) return true;
            else if (_encUnit > targetVal) return _encUnit - targetVal <= InRange;
            else return targetVal - _encUnit <= InRange;
        }

        /// <summary>
        /// 当前位置是否在偏移量之内
        /// </summary>
        /// <param name="targetVal"></param>
        /// <param name="offset"></param>
        /// <returns></returns>
        public bool IsEncInRange(double targetVal, double offset)
        {
            if (_encUnit == targetVal) return true;
            else if (_encUnit > targetVal) return _encUnit - targetVal <= offset;
            else return targetVal - _encUnit <= offset;
        }

    }
}