using DataEntity.Share;
using DriverLib.Engine;
using NPOI.SS.Formula.Functions;
using NPOI.Util;
using System;
using System.Text.RegularExpressions;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Input;
using System.Windows.Media;
using XCommon.Log;
using XHandler.View.MethodProperty;

namespace XHandler.View
{
    /// <summary>
    /// 控制夹爪类
    /// </summary>
    public partial class ControlGrip : Window
    {
        #region 构造函数
        /// <summary>
        /// 构造函数
        /// </summary>
        public ControlGrip()
        {
            InitializeComponent();
        }
        #endregion

        #region 初始化
        /// <summary>
        /// 初始化
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void ControlGrip_Loaded(object sender, RoutedEventArgs e)
        {
            try
            {
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
        }
        #endregion

        #region 关闭窗口
        /// <summary>
        /// 关闭窗口
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btnClose_Click(object sender, RoutedEventArgs e)
        {
            try
            {
                this.Close();
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
        }
        #endregion

        #region X-轴偏移 TODO
        /// <summary>
        /// 往左偏移
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btnLeft_Click(object sender, RoutedEventArgs e)
        {
            HxResult result = new HxResult();
            result.Result = ResultType.Success;

            try
            {
                // 判断输入值是否为空
                if (!ValueIsEmpty(tBoxXOffset, "请输入X-轴偏移量"))
                {
                    return;
                }

                this.Cursor = Cursors.Wait;
                result = MethodAction.Instance.XMoveLeft(Shared.ChanelArmId, float.Parse(tBoxXOffset.Text));
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            finally
            {
                this.Cursor = Cursors.Arrow;

                // 判断结果是否失败
                ResultIsFail(result, "夹爪X轴向右偏移");
            }
        }

        /// <summary>
        /// 往右偏移
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btnRight_Click(object sender, RoutedEventArgs e)
        {
            HxResult result = new HxResult();
            result.Result = ResultType.Success;

            try
            {
                // 判断输入值是否为空
                if (!ValueIsEmpty(tBoxXOffset, "请输入X-轴偏移量"))
                {
                    return;
                }

                this.Cursor = Cursors.Wait;
                result = MethodAction.Instance.XMoveRight(Shared.ChanelArmId, float.Parse(tBoxXOffset.Text));
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            finally
            {
                this.Cursor = Cursors.Arrow;

                // 判断结果是否失败
                ResultIsFail(result, "夹爪X轴向左偏移");
            }
        }
        #endregion

        #region Y-轴偏移 TODO
        /// <summary>
        /// 往前偏移
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btnFwd_Click(object sender, RoutedEventArgs e)
        {
            HxResult result = new HxResult();
            result.Result = ResultType.Success;

            try
            {
                // 判断输入值是否为空
                if (!ValueIsEmpty(tBoxYOffset, "请输入Y-轴偏移量"))
                {
                    return;
                }

                this.Cursor = Cursors.Wait;
                result = MethodAction.Instance.GripperYMoveForward(float.Parse(tBoxYOffset.Text));
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            finally
            {
                this.Cursor = Cursors.Arrow;

                // 判断结果是否失败
                ResultIsFail(result, "夹爪Y轴向前偏移");
            }
        }

        /// <summary>
        /// 往后偏移
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btnBack_Click(object sender, RoutedEventArgs e)
        {
            HxResult result = new HxResult();
            result.Result = ResultType.Success;

            try
            {
                // 判断输入值是否为空
                if (!ValueIsEmpty(tBoxYOffset, "请输入Y-轴偏移量"))
                {
                    return;
                }

                this.Cursor = Cursors.Wait;
                result = MethodAction.Instance.GripperYMoveBackward(float.Parse(tBoxYOffset.Text));
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            finally
            {
                this.Cursor = Cursors.Arrow;

                // 判断结果是否失败
                ResultIsFail(result, "夹爪Y轴向后偏移");
            }
        }
        #endregion

        #region Z-轴偏移
        /// <summary>
        /// 向上偏移
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btnUp_Click(object sender, RoutedEventArgs e)
        {
            HxResult result = new HxResult();
            result.Result = ResultType.Success;

            try
            {
                // 判断输入值是否为空
                if (!ValueIsEmpty(tBoxZOffset, "请输入Z-轴偏移量"))
                {
                    return;
                }

                Mouse.OverrideCursor = Cursors.Wait;
                result = MethodAction.Instance.GripperZUp(float.Parse(tBoxZOffset.Text));
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            finally
            {
                Mouse.OverrideCursor = null;
                // 判断结果是否失败
                ResultIsFail(result, "夹爪Z轴向上偏移");
            }
        }

        /// <summary>
        /// 向下偏移
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btnDown_Click(object sender, RoutedEventArgs e)
        {
            HxResult result = new HxResult();
            result.Result = ResultType.Success;

            try
            {
                // 判断输入值是否为空
                if (!ValueIsEmpty(tBoxZOffset, "请输入Z-轴偏移量"))
                {
                    return;
                }

                Mouse.OverrideCursor = Cursors.Wait;
                result = MethodAction.Instance.GripperZDown(float.Parse(tBoxZOffset.Text));
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            finally
            {
                Mouse.OverrideCursor = null;
                // 判断结果是否失败
                ResultIsFail(result, "夹爪Z轴向下偏移");
            }
        }
        #endregion

        #region 夹爪伸缩量
        /// <summary>
        /// 夹紧
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btnSqueeze_Click(object sender, RoutedEventArgs e)
        {
            HxResult result = new HxResult();
            result.Result = ResultType.Success;

            try
            {
                // 判断输入值是否为空
                if (!ValueIsEmpty(tBoxSqueezeOffset, "请输入夹爪伸缩量"))
                {
                    return;
                }

                Mouse.OverrideCursor = Cursors.Wait;
                result = MethodAction.Instance.GripperClose(float.Parse(tBoxSqueezeOffset.Text));
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            finally
            {
                Mouse.OverrideCursor = null;
                // 判断结果是否失败
                ResultIsFail(result, "夹爪加紧");
            }
        }

        /// <summary>
        /// 张开
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btnUnSqueeze_Click(object sender, RoutedEventArgs e)
        {
            HxResult result = new HxResult();
            result.Result = ResultType.Success;

            try
            {
                // 判断输入值是否为空
                if (!ValueIsEmpty(tBoxSqueezeOffset, "请输入夹爪伸缩量"))
                {
                    return;
                }

                Mouse.OverrideCursor = Cursors.Wait; 
                result = MethodAction.Instance.GripperOpen(float.Parse(tBoxSqueezeOffset.Text));
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            finally
            {
                Mouse.OverrideCursor = null;
                // 判断结果是否失败
                ResultIsFail(result, "夹爪张开");
            }
        }
        #endregion

        #region 旋转角度    TODO
        /// <summary>
        /// 顺时针旋转
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btnClockWise_Click(object sender, RoutedEventArgs e)
        {
            HxResult result = new HxResult();
            result.Result = ResultType.Success;
            PlsToolTipWin plsToolTipWin = null;
            try
            {
                this.Cursor = Cursors.Arrow;
                System.Windows.Application.Current.Dispatcher.Invoke(new Action(() =>
                {
                    plsToolTipWin = new PlsToolTipWin("暂不支持!");
                    plsToolTipWin.WindowStartupLocation = WindowStartupLocation.CenterScreen;
                    plsToolTipWin.ShowDialog();
                }));
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            finally
            {
            }
        }

        /// <summary>
        /// 逆时针旋转
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btnAntiClockWise_Click(object sender, RoutedEventArgs e)
        {
            HxResult result = new HxResult();
            result.Result = ResultType.Success;

            try
            {
                result = MethodAction.Instance.GripperRotateReverse(float.Parse(tBoxRotationOffset.Text));
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            finally
            {
            }
        }
        #endregion

        #region Footer TODO
        /// <summary>
        /// 抓板
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btnPick_Click(object sender, RoutedEventArgs e)
        {
            HxResult result = new HxResult();
            result.Result = ResultType.Success;
            PlsToolTipWin plsToolTipWin = null;
            try
            {
                this.Cursor = Cursors.Arrow;
                System.Windows.Application.Current.Dispatcher.Invoke(new Action(() =>
                {
                    plsToolTipWin = new PlsToolTipWin("暂不支持!");
                    plsToolTipWin.WindowStartupLocation = WindowStartupLocation.CenterScreen;
                    plsToolTipWin.ShowDialog();
                }));
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            finally
            {
            }
        }

        /// <summary>
        /// 放板
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btnPlace_Click(object sender, RoutedEventArgs e)
        {
            HxResult result = new HxResult();
            result.Result = ResultType.Success;

            try
            {
                PlsToolTipWin plsToolTipWin = new PlsToolTipWin("");
                plsToolTipWin.WindowStartupLocation = WindowStartupLocation.CenterScreen;
                plsToolTipWin.Height = 200;
                plsToolTipWin.Width = 520;
                SolidColorBrush mybtn2_Brush = new SolidColorBrush(System.Windows.Media.Color.FromArgb(0, 0, 0, 0));
                plsToolTipWin.Background = (System.Windows.Media.Brush)mybtn2_Brush;
                bool bResult = (bool)plsToolTipWin.ShowDialog();
                if (bResult)
                {
                    result = MethodAction.Instance.GripperOpen(float.Parse(tBoxSqueezeOffset.Text));
                }
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            finally
            {
            }
        }

        /// <summary>
        /// 取消
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btnCancel_Click(object sender, RoutedEventArgs e)
        {
            try
            {
                this.Close();
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
        }
        #endregion

        #region 数据检查
        /// <summary>
        /// 只能输入正浮点数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void tBoxPreviewTextInput(object sender, System.Windows.Input.TextCompositionEventArgs e)
        {
            TextBox textElem = (sender as TextBox);
            // 解决连续输入很多.
            if ((textElem.Text.StartsWith(".") ||
                string.IsNullOrWhiteSpace(textElem.Text) ||
                textElem.Text.Contains(".")) && e.Text == ".")
            {
                e.Handled = true;
                return;
            }

            // 禁止在0前面继续输入0
            int index = ((System.Windows.Controls.TextBox)e.Source).CaretIndex;
            if (textElem.Text.StartsWith("0.") && index == 0 && e.Text == "0")
            {
                e.Handled = true;
                return;
            }

            Regex re = new Regex("[^0-9.]+");
            e.Handled = re.IsMatch(e.Text);
        }

        /// <summary>
        /// 输入框失去焦点:限制一位小数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void tBoxLostFocus(object sender, RoutedEventArgs e)
        {
            TextBox textElem = (sender as TextBox);
            if (textElem.Text.Length > 0)
            {
                textElem.Text = Math.Round(double.Parse(textElem.Text), 1).ToString();
            }
        }

        /// <summary>
        /// 禁用快捷指令
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void tBoxPreviewPreviewCanExecute(object sender, CanExecuteRoutedEventArgs e)
        {
            if (e.Command == ApplicationCommands.Copy ||
                   e.Command == ApplicationCommands.Cut ||
                   e.Command == ApplicationCommands.Paste)
            {
                e.CanExecute = false;
                e.Handled = true;
            }
        }

        /// <summary>
        /// 判断输入值是否为空
        /// </summary>
        /// <param name="tbox"></param>
        /// <param name="strMsg"></param>
        /// <returns></returns>
        private bool ValueIsEmpty(TextBox tbox, string strMsg)
        {
            if (string.IsNullOrEmpty(tbox.Text))
            {
                PlsToolTipWin plsToolTipWin = new PlsToolTipWin(strMsg);
                plsToolTipWin.btnCancel.Visibility = Visibility.Hidden;
                plsToolTipWin.ShowDialog();
                tbox.Focus();
                return false;
            }

            return true;
        }

        /// <summary>
        /// 判断结果是否失败
        /// </summary>
        /// <param name="result"></param>
        /// <param name="strMsg"></param>
        private void ResultIsFail(HxResult result, string strMsg)
        {
            if (result.Result != ResultType.Success)
            {
                System.Windows.Application.Current.Dispatcher.Invoke(new Action(() =>
                {
                    PlsToolTipWin plsToolTipWin = new PlsToolTipWin(string.Format("{0}失败：{1}", strMsg, result.AlarmInfo));
                    plsToolTipWin.btnCancel.Visibility = Visibility.Hidden;
                    plsToolTipWin.ShowDialog();
                }));
            }
        }
        #endregion

    }
}