using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Data;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using DataEntity;
using DataEntity.Share;
using DataRWDAL;
using HxEnum;
using Newtonsoft.Json.Linq;
using XCommon;
using XHandler.Class.DataEx;
using XImagingXhandler.XDAL;
namespace DataCalcDAL
{
    /// <summary>
    /// 夹爪孔位、列坐标计算处理
    /// </summary>
    public class WellCalcOfGripper
    {
        #region 夹爪孔坐标计算处理
        /// <summary>
        /// 夹爪孔坐标计算处理得到所有孔的夹爪坐标列表
        /// </summary>
        /// <param name="labware">耗材对象</param>
        /// <param name="gripperCoordinate">夹爪在板位上的坐标对象</param>
        /// <returns>孔的夹爪坐标列表</returns>
        public List<GripperCoordinateForWell> GetReallyWellsLabwareCoordinatesOnLattice(Labware labware, GripperCoordinate gripperCoordinate)
        {
            int posVal = 0;
            DataTable dtWellDes = null;
            // 原点坐标：左上角
            if (Shared.SoftwareInformation.originType == EnumManagement.GetEnumValue(OriginTypeEnum.LeftTop))
            {
                posVal = 2;
                // 获取目标板位上孔坐标数据
                dtWellDes = GetDataTableForWellOfGripperOnLeftTop(labware, gripperCoordinate);
            }
            // 原点坐标：右上角
            else if (Shared.SoftwareInformation.originType == EnumManagement.GetEnumValue(OriginTypeEnum.RightTop))
            {
                posVal = 3;
            }

            
            List<GripperCoordinateForWell> lstWells = new List<GripperCoordinateForWell>();

            // dt 转化为实体类对象集合
            for (int k = 0; k < dtWellDes.Rows.Count; k++)
            {
                GripperCoordinateForWell wellDes = new GripperCoordinateForWell();
                wellDes.lattice_num = dtWellDes.Rows[k]["lattice_num"].ToString();
                wellDes.lattice_X = (float)Convert.ToDouble(dtWellDes.Rows[k]["axis_b_X"].ToString());
                wellDes.lattice_Y = (float)Convert.ToDouble(dtWellDes.Rows[k]["axis_b_Y"].ToString());
                wellDes.lattice_Z = (float)Convert.ToDouble(dtWellDes.Rows[k]["axis_b_Z"].ToString());
                wellDes.gripper_rotational = Convert.ToDouble(gripperCoordinate.gripper_rotational.ToString());
                wellDes.gripper_model = gripperCoordinate.gripper_model;
                wellDes.device_arm_id = gripperCoordinate.device_arm_id;
                wellDes.software_information_id = gripperCoordinate.software_information_id;
                wellDes.wellname = dtWellDes.Rows[k]["wellname"].ToString();
                wellDes.objectwidth= dtWellDes.Rows[k]["object_width"].ToString();
                wellDes.spreadVal = (float)Convert.ToDouble(dtWellDes.Rows[k]["spreadVal"].ToString());
                wellDes.squeezeVal = (float)Convert.ToDouble(dtWellDes.Rows[k]["squeezeVal"].ToString());
                wellDes.gripperpowerVal = (float)Convert.ToDouble(dtWellDes.Rows[k]["powerVal"].ToString());
                wellDes.gripSpeed = (float)Convert.ToDouble(dtWellDes.Rows[k]["speedVal"].ToString());
                lstWells.Add(wellDes);
            }

            return lstWells;
        }
        #endregion

        #region 夹爪列坐标计算处理
        public List<GripperCoordinateForColumn> GetReallyColumnsLabwareCoordinatesOnLattice(Labware labware, Lattice lattice)
        {
            List<GripperCoordinateForColumn> lstWells = new List<GripperCoordinateForColumn>();
            return lstWells;
        }
        #endregion


        #region 获取数据并计算夹爪孔的坐标--左上角为零点
        /// <summary>
        /// 获取数据并计算夹爪孔的坐标--左上角为零点
        /// </summary>
        /// <param name="labware">耗材对象</param>
        /// <param name="lattice">夹爪抓板的板位坐标对象</param>
        /// <returns>夹爪的孔位坐标表</returns>
        private DataTable GetDataTableForWellOfGripperOnLeftTop(Labware labware, GripperCoordinate lattice)
        {
            DataTable dt = new DataTable();
            DataColumn dc = new DataColumn();

            dc = new DataColumn();
            dc.ColumnName = "labware_id";//孔板Id
            dt.Columns.Add(dc);

            dc = new DataColumn();
            dc.ColumnName = "wellname";//孔名称
            dt.Columns.Add(dc);

            dc = new DataColumn();
            dc.ColumnName = "axis_b_X";//板内x轴
            dt.Columns.Add(dc);

            dc = new DataColumn();
            dc.ColumnName = "axis_b_Y";//板内y轴
            dt.Columns.Add(dc);

            dc = new DataColumn();
            dc.ColumnName = "axis_b_Z";//板内底部高z轴
            dt.Columns.Add(dc);

            dc = new DataColumn();
            dc.ColumnName = "well_top_shape";//板内孔口形状；1：圆形；2：方形
            dt.Columns.Add(dc);

            dc = new DataColumn();
            dc.ColumnName = "axis_b_r";//孔半径或者半边长度
            dt.Columns.Add(dc);

            dc = new DataColumn();
            dc.ColumnName = "object_width";//夹取宽度
            dt.Columns.Add(dc);

            dc = new DataColumn();
            dc.ColumnName = "spreadVal";//张开距离
            dt.Columns.Add(dc);

            dc = new DataColumn();
            dc.ColumnName = "squeezeVal";//夹紧距离
            dt.Columns.Add(dc);

            dc = new DataColumn();
            dc.ColumnName = "powerVal";//夹紧力度
            dt.Columns.Add(dc);

            dc = new DataColumn();
            dc.ColumnName = "speedVal";//夹紧速度
            dt.Columns.Add(dc);

            dc = new DataColumn();
            dc.ColumnName = "lattice_num";//板位编号
            dt.Columns.Add(dc);

            Labware labware1 = LabwareDB.GetLabware(labware.labware_id);

            //离心管耗材对象
            Labware centrifugalLabware = GetCentrifugalLabwer(labware1.piled_script);

            if (labware1 != null)
            {
                double a1DistanceX = 0;     // A1孔中心距短边的距离
                double a1DistanceY = 0;     // A1孔中心距长边的距离

                //判断是否为异形管架耗材
                if (labware1.labware_tubeshelf_type == 0)
                {
                    for (int nCol = 1; nCol < (int)labware1.number_column + 1; nCol++)
                    {
                        for (int nRow = 1; nRow < labware1.number_row + 1; nRow++)
                        {
                            string rowName = ComUtility.GetRowChar(nRow - 1);
                            a1DistanceX = (double)labware1.a1_distance_x;
                            a1DistanceY = (double)labware1.a1_distance_y;

                            // A1
                            string wellName = rowName + nCol.ToString();
                            DataRow dr = dt.NewRow();
                            dr["labware_id"] = labware1.labware_id;
                            dr["wellname"] = wellName;
                            dr["axis_b_X"] = lattice.lattice_X+a1DistanceX + ((nCol - 1) * labware1.a1_a2_distance);
                            dr["axis_b_Y"] = lattice.lattice_Y+a1DistanceY + ((nRow - 1) * labware1.a1_b1_distance);
                            dr["axis_b_Z"] = lattice.lattice_Z-labware1.well_bottom_height;

                            dr["well_top_shape"] = labware1.well_shape;
                            if (labware1.well_shape == 1)        // 孔洞形状，1:圆柱体
                            {
                                dr["axis_b_r"] = labware1.well_mouth_radius;
                            }
                            else
                            {
                                dr["axis_b_r"] = (labware1.well_top_x / 2);
                                if (labware1.labware_type_id == EnumManagement.GetEnumValue(ConsumableTypeEnum.Through).ToString())      // 试剂槽
                                {
                                    dr["axis_b_X"] = (float)Convert.ToDouble(dr["axis_b_X"]) + (float)Convert.ToDouble(dr["axis_b_r"]);
                                    dr["axis_b_Y"] = (float)Convert.ToDouble(dr["axis_b_Y"]) + 1f;
                                }
                            }

                            dr["object_width"] = (float)(centrifugalLabware.well_mouth_out_radius * 2);
                            dr["spreadVal"] = (float)(centrifugalLabware.gripper_spread);
                            dr["squeezeVal"] = (float)(centrifugalLabware.gripper_squeeze);
                            dr["powerVal"] = (float)(centrifugalLabware.gripper_power);
                            dr["speedVal"]= (float)(centrifugalLabware.gripper_speed);
                            dr["lattice_num"] = lattice.lattice_num;
                            dt.Rows.Add(dr);
                        }
                    }
                }
                else
                //异形管架耗材
                {
                    ObservableCollection<LabwareWellInfo> labwareWellInfos = LabwareDB.GetSpecialLabwareWellInfo(labware1.labware_id);

                    foreach(LabwareWellInfo labwareWellInfo in labwareWellInfos)
                    {
                        DataRow dr = dt.NewRow();
                        dr["labware_id"] = labware1.labware_id;
                        dr["wellname"] = labwareWellInfo.labware_well_name;
                        dr["axis_b_X"] = lattice.lattice_X+labwareWellInfo.labware_well_center_x;
                        dr["axis_b_Y"] = lattice.lattice_Y+labwareWellInfo.labware_well_center_y;

                        Labware labware2 = LabwareDB.GetLabware(labwareWellInfo.well_labware_id);//管架孔内安装的耗材
                        dr["axis_b_Z"] = lattice.lattice_Z - labware2.well_bottom_height;
                        dr["well_top_shape"] = labware1.well_shape;
                        if (labware1.well_shape == 1)        // 孔洞形状，1:圆柱体
                        {
                            dr["axis_b_r"] = labware2.well_mouth_out_radius;
                        }
                        else
                        {
                            dr["axis_b_r"] = (labware2.well_bottom_width / 2);
                        }
                        dr["object_width"] = (float)(labware2.well_mouth_out_radius * 2);
                        dr["spreadVal"] = (float)(labware2.gripper_spread);
                        dr["squeezeVal"] = (float)labware2.gripper_squeeze;
                        dr["powerVal"] = (float)(labware2.gripper_power);
                        dr["speedVal"] = (float)(labware2.gripper_speed);
                        dr["lattice_num"] = lattice.lattice_num;
                        dt.Rows.Add(dr);
                    }
                }
            }
            return dt;
        }
        #endregion

        #region 获取管架关联的管子
        /// <summary>
        /// 获取管架关联的管子
        /// </summary>
        /// <param name="jsonText">管架关联的管子json文本</param>
        /// <returns>管子对象</returns>
        public Labware GetCentrifugalLabwer(string jsonText)
        {
            string labwareCentrifugalId = string.Empty;
            Labware centrifugalLabware = new Labware();
            if (!string.IsNullOrEmpty(jsonText))
            {
                JObject job = JObject.Parse(jsonText);
                JArray jArray = (JArray)job["list"];
                if (jArray != null)
                {
                    if (jArray.Count > 0)
                    {
                        labwareCentrifugalId = jArray[0]["labwereid"].ToString();
                        centrifugalLabware = LabwareDB.GetLabware(labwareCentrifugalId);
                    }
                }
            }
            return centrifugalLabware;
        }
        #endregion
    }
}