using ScottPlot.Plottable;
using ScottPlot;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;

using Plot3D;

// enums
using eRaster = Plot3D.Editor3D.eRaster;
using ePolygonMode = Plot3D.Editor3D.ePolygonMode;
using eSelEvent = Plot3D.Editor3D.eSelEvent;
using eSelType = Plot3D.Editor3D.eSelType;
using eObjType = Plot3D.Editor3D.eObjType;
using eTooltip = Plot3D.Editor3D.eTooltip;
using eNormalize = Plot3D.Editor3D.eNormalize;
using eMouseCtrl = Plot3D.Editor3D.eMouseCtrl;
using eScatterShape = Plot3D.Editor3D.eScatterShape;
using eColorScheme = Plot3D.Editor3D.eColorScheme;
using eInvalidate = Plot3D.Editor3D.eInvalidate;
using eLegendPos = Plot3D.Editor3D.eLegendPos;

// classes
using cObject3D = Plot3D.Editor3D.cObject3D;
using cPoint3D = Plot3D.Editor3D.cPoint3D;
using cShape3D = Plot3D.Editor3D.cShape3D;
using cLine3D = Plot3D.Editor3D.cLine3D;
using cPolygon3D = Plot3D.Editor3D.cPolygon3D;
using cColorScheme = Plot3D.Editor3D.cColorScheme;
using cMessgData = Plot3D.Editor3D.cMessgData;
using cSurfaceData = Plot3D.Editor3D.cSurfaceData;
using cScatterData = Plot3D.Editor3D.cScatterData;
using cLineData = Plot3D.Editor3D.cLineData;
using cPolygonData = Plot3D.Editor3D.cPolygonData;
using cUserInput = Plot3D.Editor3D.cUserInput;

// callback function
using delRendererFunction = Plot3D.Editor3D.delRendererFunction;
using static Plot3D.Editor3D;
using System.Diagnostics;
using System.Drawing.Imaging;
using System.Text.RegularExpressions;
using System.IO;
using Telerik.WinControls;
using static Telerik.WinControls.UI.ValueMapper;
using HexcalMC.Base;
using ACS.SPiiPlusNET;

namespace HexcalMC
{
	internal enum eDemo
	{
		Math_Callback,
		Math_Formula,
		Surface_Fill,
		Surface_Grid,
		Surface_Fill_Missing,
		Surface_Grid_Missing,
		Nested_Graphs,
		Scatter_Plot,
		Connected_Lines,
		Scatter_Shapes,
		Pyramid,
		Sphere_Fill_Closed,
		Sphere_Fill_Open,
		Sphere_Grid,
		Valentine,
		Animation,
	}

	public partial class EtalonForm : System.Windows.Forms.Form
	{
		private eDemo me_Demo;
		private eColorScheme me_ColorScheme;
		private Timer mi_StatusTimer = new Timer();
		private cMessgData mi_MesgTop = new cMessgData("", -7, 7, Color.Blue); // For special hint
		private cMessgData mi_MesgBottom = new cMessgData("", -7, -7, Color.Gray); // For selection mode

		// Only for demo "Animation"
		private Timer mi_AnimationTimer = new Timer();

		private cScatterData mi_SinusData;
		private cPoint3D[] mi_Pyramid;
		private int ms32_AnimationAngle;

		// etalon解析变量
		private List<Point> etalon_points = new List<Point>();

		private List<Point> filteredPoints = new List<Point>(); //过滤后的点
		private List<int> dwellTimes = new List<int>();

		private static Timer refresh_time = new Timer();
		private static int currentIndex = 0;

		private readonly MainFrom mainFrom;
		private readonly Api _acs; //ACS控制器

		public EtalonForm(MainFrom _mainFrom)
		{
			InitializeComponent();
			mainFrom = _mainFrom;
			this._acs = _mainFrom._acs;
		}

		private void EtalonForm_Load(object sender, EventArgs e)
		{
			InitScatterPlot(); //清空绘图

			DebugDfn.textBox_Msg = this.text_etalon_info;
		}

		private void InitScatterPlot() //绘图区初始化
		{
			comboColors.Sorted = false;
			foreach (eColorScheme e_Scheme in Enum.GetValues(typeof(eColorScheme)))
			{
				comboColors.Items.Add(e_Scheme.ToString().Replace('_', ' '));
			}
			comboColors.SelectedIndex = (int)eColorScheme.Monochrome; //默认色卡

			comboRaster.Sorted = false;
			foreach (eRaster e_Raster in Enum.GetValues(typeof(eRaster)))
			{
				comboRaster.Items.Add(e_Raster);
			}
			comboRaster.SelectedIndex = (int)eRaster.Labels; //坐标系栅格样式

			//设置默认
			comboMouse.SelectedIndex = 0;

			// 设置定时器
			refresh_time.Interval = 100;
			refresh_time.Tick += new EventHandler(OnAnimationTimer);
			refresh_time.Start();
		}

		private void DemoScatterPlot(bool b_Lines)
		{
			comboColors.Enabled = true; // Some of the demos will disable this combobox
			me_ColorScheme = (eColorScheme)comboColors.SelectedIndex;

			checkMirrorX.Checked = editor3D.AxisX.Mirror;
			checkMirrorY.Checked = editor3D.AxisY.Mirror;

			// 3 pixels for line width and for circle radius
			const int SIZE = 3;

			cColorScheme i_Scheme = new cColorScheme(me_ColorScheme);
			cScatterData i_ShapeData = new cScatterData(i_Scheme);
			cLineData i_LineData = new cLineData(i_Scheme);
			List<cPoint3D> i_Points = new List<cPoint3D>();

			for (double P = -22.0; P < 22.0; P += 0.1)
			{
				double d_X = Math.Sin(P) * P;
				double d_Y = Math.Cos(P) * P;
				double d_Z = P;
				if (d_Z > 0.0) d_Z /= 3.0;

				cPoint3D i_Point = new cPoint3D(d_X, d_Y, d_Z, "Scatter Point");
				if (b_Lines)
				{
					i_Points.Add(i_Point);
				}
				else // Shapes
				{
					// You can store the returned shape in a variable and later modify it's properties
					cShape3D i_Shape = i_ShapeData.AddShape(i_Point, eScatterShape.Circle, SIZE, null);
				}
			}

			// You can store the returned lines in a variable and later modify their properties
			cLine3D[] i_Lines = i_LineData.AddConnectedLines(i_Points, SIZE, null);

			// Depending on your use case you can also specify MaintainXY or MaintainXYZ here
			editor3D.Clear();
			editor3D.Normalize = eNormalize.Separate;
			editor3D.AddRenderData(i_ShapeData, i_LineData);

			editor3D.Selection.HighlightColor = Color.FromArgb(90, 90, 90);
			editor3D.Selection.Callback = OnSelectEvent;
			editor3D.Selection.MultiSelect = true;
			editor3D.Selection.Enabled = true;
			editor3D.UndoBuffer.Enabled = true;
			editor3D.Invalidate();
		}

		private eInvalidate OnSelectEvent(eSelEvent e_Event, Keys e_Modifiers, int s32_DeltaX, int s32_DeltaY, cObject3D i_Object)//
		{
			eInvalidate e_Invalidate = eInvalidate.NoChange;

			bool b_CTRL = (e_Modifiers & Keys.Control) > 0;

			// The left mouse button went down with ALT key down and CTRL key up
			if (e_Event == eSelEvent.MouseDown && !b_CTRL && i_Object != null)
			{
				i_Object.Selected = !i_Object.Selected;

				// After changing the selection status the object must be redrawn.
				e_Invalidate = eInvalidate.Invalidate;
			}
			else if (e_Event == eSelEvent.MouseDrag && b_CTRL)
			{
				// The user is dragging the mouse with ALT + CTRL keys down. Convert the mouse
				// movement in the 2D space into a movement in the 3D space.
				cPoint3D i_Project = editor3D.ReverseProject(s32_DeltaX, s32_DeltaY);

				// GetSelectedPoints() returns only unique points.
				cPoint3D[] i_Selected = editor3D.Selection.GetSelectedPoints(eSelType.All);
				foreach (cPoint3D i_Point in i_Selected)
				{
					switch (me_Demo)
					{
						case eDemo.Pyramid:
						case eDemo.Scatter_Shapes:
						case eDemo.Scatter_Plot:
						case eDemo.Connected_Lines:
							// The pyramid line end points / scatter shapes can be moved freely in
							// the 3D space
							i_Point.Move(i_Project.X, i_Project.Y, i_Project.Z);
							break;

						case eDemo.Surface_Fill:
						case eDemo.Surface_Grid:
						case eDemo.Surface_Fill_Missing:
						case eDemo.Surface_Grid_Missing:
							// The points in the Surface grid have a fixed X,Y position, only Z can
							// be modified.
							i_Point.Move(0, 0, i_Project.Z);
							break;

						default:
							Debug.Assert(false);
							break;
					}
				}

				// Set flag to recalculate the coordinate system, then Invalidate()
				e_Invalidate = eInvalidate.CoordSystem;
			}

			mi_StatusTimer.Stop();

			mi_StatusTimer.Start();
			return e_Invalidate;
		}

		private void comboRaster_SelectedIndexChanged(object sender, EventArgs e) //坐标栅格样式
		{
			editor3D.Raster = (eRaster)comboRaster.SelectedIndex;
			editor3D.Invalidate();
		}

		private void checkMirrorY_CheckedChanged(object sender, EventArgs e) //Y轴镜像
		{
			editor3D.AxisY.Mirror = checkMirrorY.Checked;
			editor3D.Invalidate();
		}

		private void checkMirrorX_CheckedChanged(object sender, EventArgs e) //x轴镜像
		{
			editor3D.AxisX.Mirror = checkMirrorX.Checked;
			editor3D.Invalidate();
		}

		private void btnReset_Click(object sender, EventArgs e) //重置视图
		{
			editor3D.SetCoefficients(1350, 70, 230);
			editor3D.Invalidate();
		}

		private void btnScreenshot_Click(object sender, EventArgs e) //截图保存
		{
			SaveFileDialog i_Dlg = new SaveFileDialog();
			i_Dlg.Title = "Save as PNG image";
			i_Dlg.Filter = "PNG Image|*.png";
			i_Dlg.DefaultExt = ".png";

			if (DialogResult.Cancel == i_Dlg.ShowDialog(this))
				return;

			Bitmap i_Bitmap = editor3D.GetScreenshot();
			try
			{
				i_Bitmap.Save(i_Dlg.FileName, ImageFormat.Png);
			}
			catch (Exception Ex)
			{
				MessageBox.Show(this, Ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
			}
		}

		private void comboMouse_SelectedIndexChanged(object sender, EventArgs e) //鼠标控制方式
		{
			switch (comboMouse.SelectedIndex)
			{
				case 0:
					editor3D.SetUserInputs(eMouseCtrl.L_Theta_R_Phi);
					labelMouseInfo.Text = "鼠标左键：升高，鼠标右键：旋转";
					break;

				case 1:
					editor3D.SetUserInputs(eMouseCtrl.L_Theta_L_Phi);
					labelMouseInfo.Text = "鼠标左键：升高和旋转";
					break;

				case 2:
					editor3D.SetUserInputs(eMouseCtrl.M_Theta_M_Phi);
					labelMouseInfo.Text = "鼠标中键：升高和旋转";
					break;

				default:
					Debug.Assert(false);
					break;
			}

			labelMouseInfo.Text += ",  鼠标左键 + SHIFT：移动、鼠标左键 + CTRL 或滚轮：缩放、鼠标左键 + ALT：选择";
		}

		private void comboColors_SelectedIndexChanged(object sender, EventArgs e)
		{
			me_ColorScheme = (eColorScheme)comboColors.SelectedIndex;

			//判断 points 是否为空，表示当前是否已经有真实数据
			if (etalon_points.Count > 0)
			{
				PointScatterPlot(etalon_points); //更新真实数据
			}
			//else
			//{
			//	DemoScatterPlot(false); //更新虚拟数据
			//}
		}

		private void btn_startmove_Click(object sender, EventArgs e) //开始运动
		{
			DebugDfn.AddLogText("开始运动");
			int timeout = 5000;

			Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_8, Axis.ACSC_NONE };

			//判断电机状态
			if (!mainFrom.totalAxisEnabled)
			{
				DebugDfn.AddLogText("存在电机未使能");

				_acs.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout); //Y轴
				// Wait axis 1 enabled during 5 sec
				_acs.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);

				_acs.WaitMotorEnabled(Axis.ACSC_AXIS_8, 1, timeout);

				DebugDfn.AddLogText("电机已启用");
			}

			// 创建多点运动
			double dwellTime = dwellTimes.Average()*1000; //将秒转换为毫秒
			DebugDfn.AddLogText("平均停顿时间（毫秒）：" + dwellTime);
			_acs.MultiPointM(MotionFlags.ACSC_NONE, axes, dwellTime);

			//判断是否有点
			if (filteredPoints.Count == 0)
			{
				DebugDfn.AddLogText("没有点");
				return;
			}

			// 添加符合条件的点到运动路径中
			foreach (var point in filteredPoints)
			{
				double[] points = new double[3];
				points[0] = point.Y;
				points[1] = point.X;
				points[2] = point.Z;
				_acs.AddPointM(axes, points);

			}
			// 打印添加点的数量
			DebugDfn.AddLogText("添加点的数量：" + filteredPoints.Count);

			// Finish the motion End of the multi-point motion
			_acs.EndSequenceM(axes);

			//启动统计
			mainFrom.StartCounting();
		}

		private void btn_stop_Click(object sender, EventArgs e) //停止运动
		{
			DebugDfn.AddLogText("停止运动");
			try
			{
				Axis[] m_arrAxisList = new Axis[] { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_8, Axis.ACSC_NONE };

				if (m_arrAxisList != null) _acs.HaltM(m_arrAxisList);

				DebugDfn.AddLogText("立即停止 已发送命令");
			}
			catch (Exception ex)
			{
				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
				Debug.WriteLine(ex.Message);
			}

			//停止统计
			mainFrom.StopCounting();
		}

		private void btn_etalon_import_Click(object sender, EventArgs e) //解析Etalon文件
		{
			//打开文件对号框，选择 mpf格式文件
			OpenFileDialog i_Dlg = new OpenFileDialog();
			i_Dlg.Title = "导入Etalon文件";
			i_Dlg.Filter = "Etalon文件|*.mpf";
			i_Dlg.DefaultExt = ".mpf";
			i_Dlg.Multiselect = false;

			if (DialogResult.Cancel == i_Dlg.ShowDialog(this))
				return;

			//读取文件
			string s_File = i_Dlg.FileName;

			//设置路径显示

			DebugDfn.AddLogText("导入Etalon文件：" + s_File);

			//解析文件
			parse_mpf_file(s_File);

			DebugDfn.AddLogText("Etalon文件解析完成");
		}

		private bool parse_mpf_file(string mpf_file_path)   // 编写解析mpf文件的函数
		{
			//; Machine: ZIM
			//; Position: 1
			//; Created: 2/15/2023 12:29:13 PM
			//; Program: TRAC-CAL V48, Build: 10, 5/13/2022 8:29:25 AM
			//; File: 'cncData.xml'
			//G71
			//G90
			//G500
			//G01 X8000.000 Y200.000 Z-1400.000  F2000  //坐标
			//G04 F=2									// 停顿时间
			//G01 X7800.000 Y300.000 Z-1400.000  F2000
			//G04 F=2
			//G01 X7600.000 Y400.000 Z-1400.000  F2000
			//G04 F=2
			//G01 X7400.000 Y500.000 Z-1400.000  F2000
			//G04 F=2
			//G01 X7200.000 Y600.000 Z-1400.000  F2000

			//判断文件是否存在
			if (!File.Exists(mpf_file_path))
			{
				MessageBox.Show("文件不存在");
				return false;
			}

			//清空之前的数据
			etalon_points.Clear();
			filteredPoints.Clear();
			dwellTimes.Clear();

			//读取文件
			string[] lines = File.ReadAllLines(mpf_file_path);
			Regex regex = new Regex(@"G01 X(?<X>[-+]?\d*\.?\d+) Y(?<Y>[-+]?\d*\.?\d+) Z(?<Z>[-+]?\d*\.?\d+)");
			Regex dwellRegex = new Regex(@"G04 F=(?<F>\d+)");

			foreach (string line in lines)
			{
				Match match = regex.Match(line);
				if (match.Success)
				{
					double x = double.Parse(match.Groups["X"].Value);
					double y = double.Parse(match.Groups["Y"].Value);
					double z = double.Parse(match.Groups["Z"].Value);
					etalon_points.Add(new Point(x, y, z));
				}

				Match dwellMatch = dwellRegex.Match(line);
				if (dwellMatch.Success)
				{
					int f = int.Parse(dwellMatch.Groups["F"].Value);
					dwellTimes.Add(f);
				}
			}

			// 输出解析结果
			//Console.WriteLine("Points:");
			//foreach (var point in etalon_points)
			//{
			//	Console.WriteLine($"X: {point.X}, Y: {point.Y}, Z: {point.Z}");
			//}

			//Console.WriteLine("Dwell Times:");
			//foreach (var dwellTime in dwellTimes)
			//{
			//	Console.WriteLine($"F: {dwellTime}");
			//}

			//过滤点集
			foreach (var point in etalon_points)
			{
				if (MainFrom.IsWithinLimit(point)) //判断点是否在行程范围内
				{
					filteredPoints.Add(point);
				}
			}

			//打印过滤后的点集大小
			DebugDfn.AddLogText("过滤后的点集大小：" + filteredPoints.Count);
			PointScatterPlot(filteredPoints);//绘制散点图
			return true;
		}

		private void PointScatterPlot(List<Point> points) //绘制散点图
		{
			comboColors.Enabled = true; // Some of the demos will disable this combobox
			me_ColorScheme = (eColorScheme)comboColors.SelectedIndex;

			checkMirrorX.Checked = editor3D.AxisX.Mirror;
			checkMirrorY.Checked = editor3D.AxisY.Mirror;

			// 3 pixels for line width and for circle radius
			const int SIZE = 3;

			cColorScheme i_Scheme = new cColorScheme(me_ColorScheme);
			cScatterData i_ShapeData = new cScatterData(i_Scheme);
			cLineData i_LineData = new cLineData(i_Scheme);
			List<cPoint3D> i_Points = new List<cPoint3D>();

			foreach (var point in points)
			{
				double d_X = point.X;
				double d_Y = point.Y;
				double d_Z = point.Z;

				cPoint3D i_Point = new cPoint3D(d_X, d_Y, d_Z, "Scatter Point");

				// You can store the returned shape in a variable and later modify it's properties
				cShape3D i_Shape = i_ShapeData.AddShape(i_Point, eScatterShape.Circle, SIZE, null);
			}

			// You can store the returned lines in a variable and later modify their properties
			cLine3D[] i_Lines = i_LineData.AddConnectedLines(i_Points, SIZE, null);

			// Depending on your use case you can also specify MaintainXY or MaintainXYZ here
			editor3D.Clear();
			editor3D.Normalize = eNormalize.Separate;
			editor3D.AddRenderData(i_ShapeData, i_LineData);

			editor3D.Selection.HighlightColor = Color.FromArgb(90, 90, 90);
			editor3D.Selection.Callback = OnSelectEvent;
			editor3D.Selection.MultiSelect = true;
			editor3D.Selection.Enabled = true;
			editor3D.UndoBuffer.Enabled = true;
			editor3D.Invalidate();
		}

		public class Point
		{
			public double X { get; }
			public double Y { get; }
			public double Z { get; }

			public Point(double x, double y, double z)
			{
				X = x;
				Y = y;
				Z = z;
			}
		}

		private void btn_clear_Click(object sender, EventArgs e) //清空绘图
		{
			editor3D.Clear();
			editor3D.Normalize = eNormalize.Separate;
			editor3D.Invalidate();
		}

		private void btn_draw_test_Click(object sender, EventArgs e)
		{
			DemoScatterPlot(false);
		}

		private void OnAnimationTimer(object sender, EventArgs e)
		{
			cScatterData i_ShapeData = new cScatterData();
			currentIndex = mainFrom.GetInPosCount();//获取当前点的数量


			if (currentIndex < filteredPoints.Count)
			{
				// 更新点的颜色
				for (int i = 0; i <= currentIndex; i++)
				{
					double d_X = filteredPoints[i].X;
					double d_Y = filteredPoints[i].Y;
					double d_Z = filteredPoints[i].Z;

					cPoint3D i_Point = new cPoint3D(d_X, d_Y, d_Z, "Scatter Point");
					SolidBrush i_brush = new SolidBrush(Color.Red);
					// You can store the returned shape in a variable and later modify it's properties
					cShape3D i_Shape = i_ShapeData.AddShape(i_Point, eScatterShape.Circle, 5, i_brush, null);
				}

				// 对于剩余部分的点，不做颜色更新
				for (int i = currentIndex; i < filteredPoints.Count; i++)
				{
					double d_X = filteredPoints[i].X;
					double d_Y = filteredPoints[i].Y;
					double d_Z = filteredPoints[i].Z;

					cPoint3D i_Point = new cPoint3D(d_X, d_Y, d_Z, "Scatter Point");
					SolidBrush i_brush = new SolidBrush(Color.Gray);
					// You can store the returned shape in a variable and later modify it's properties
					cShape3D i_Shape = i_ShapeData.AddShape(i_Point, eScatterShape.Circle, 3, i_brush, null);
				}

				//打印 所有点的数量和 currentIndex
				Console.WriteLine("所有点的数量：" + filteredPoints.Count + "当前点的数量：" + currentIndex);

				
			}
			

			editor3D.Clear();
			editor3D.Normalize = eNormalize.Separate;
			editor3D.AddRenderData(i_ShapeData);
			editor3D.Invalidate();
		}
	}
}