using System;
using System.Collections.Generic;
using XP.Hardware.MotionControl.Abstractions;
using XP.Hardware.MotionControl.Abstractions.Enums;
using XP.Hardware.MotionControl.Config;

namespace XP.Hardware.MotionControl.Implementations
{
    /// <summary>
    /// 虚拟运动系统实现 | Simulated Motion System Implementation
    /// 根据 MotionControlConfig 创建虚拟轴实例，无需真实 PLC 硬件
    /// Creates simulated axis instances from MotionControlConfig, no real PLC required
    /// </summary>
    public class SimulatedMotionSystem : IMotionSystem
    {
        private readonly Dictionary<AxisId, ILinearAxis> _linearAxes = new();
        private readonly Dictionary<RotaryAxisId, IRotaryAxis> _rotaryAxes = new();
        private readonly ISafetyDoor _safetyDoor;
        private readonly IJoystick _joystick;
        private readonly IAxisReset _axisReset;

        /// <summary>
        /// 构造函数 | Constructor
        /// </summary>
        /// <param name="config">运动控制配置 | Motion control configuration</param>
        public SimulatedMotionSystem(MotionControlConfig config)
        {
            if (config == null) throw new ArgumentNullException(nameof(config));

            // 创建直线轴 | Create linear axes
            if (config.LinearAxes.TryGetValue(AxisId.SourceZ, out var sz))
                _linearAxes[AxisId.SourceZ] = new SimulatedLinearAxis(AxisId.SourceZ, sz.Min, sz.Max, sz.Origin);

            if (config.LinearAxes.TryGetValue(AxisId.DetectorZ, out var dz))
                _linearAxes[AxisId.DetectorZ] = new SimulatedLinearAxis(AxisId.DetectorZ, dz.Min, dz.Max, dz.Origin);

            if (config.LinearAxes.TryGetValue(AxisId.StageX, out var sx))
                _linearAxes[AxisId.StageX] = new SimulatedLinearAxis(AxisId.StageX, sx.Min, sx.Max, sx.Origin);

            if (config.LinearAxes.TryGetValue(AxisId.StageY, out var sy))
                _linearAxes[AxisId.StageY] = new SimulatedLinearAxis(AxisId.StageY, sy.Min, sy.Max, sy.Origin);

            // 创建旋转轴 | Create rotary axes
            if (config.RotaryAxes.TryGetValue(RotaryAxisId.DetectorSwing, out var ds))
                _rotaryAxes[RotaryAxisId.DetectorSwing] = new SimulatedRotaryAxis(RotaryAxisId.DetectorSwing, ds.Min, ds.Max, ds.Enabled);

            if (config.RotaryAxes.TryGetValue(RotaryAxisId.StageRotation, out var sr))
                _rotaryAxes[RotaryAxisId.StageRotation] = new SimulatedRotaryAxis(RotaryAxisId.StageRotation, sr.Min, sr.Max, sr.Enabled);

            if (config.RotaryAxes.TryGetValue(RotaryAxisId.FixtureRotation, out var fr))
                _rotaryAxes[RotaryAxisId.FixtureRotation] = new SimulatedRotaryAxis(RotaryAxisId.FixtureRotation, fr.Min, fr.Max, fr.Enabled);

            // 创建辅助设备 | Create helper devices
            _safetyDoor = new SimulatedSafetyDoor();
            _joystick = new SimulatedJoystick();
            _axisReset = new SimulatedAxisReset();
        }

        /// <inheritdoc/>
        public ISafetyDoor SafetyDoor => _safetyDoor;

        /// <inheritdoc/>
        public IJoystick Joystick => _joystick;

        /// <inheritdoc/>
        public IAxisReset AxisReset => _axisReset;

        /// <inheritdoc/>
        public IReadOnlyDictionary<AxisId, ILinearAxis> LinearAxes => _linearAxes;

        /// <inheritdoc/>
        public IReadOnlyDictionary<RotaryAxisId, IRotaryAxis> RotaryAxes => _rotaryAxes;

        /// <inheritdoc/>
        public ILinearAxis GetLinearAxis(AxisId axisId)
        {
            if (_linearAxes.TryGetValue(axisId, out var axis)) return axis;
            throw new KeyNotFoundException($"[Simulated] 未找到直线轴 {axisId} | Linear axis {axisId} not found");
        }

        /// <inheritdoc/>
        public IRotaryAxis GetRotaryAxis(RotaryAxisId axisId)
        {
            if (_rotaryAxes.TryGetValue(axisId, out var axis)) return axis;
            throw new KeyNotFoundException($"[Simulated] 未找到旋转轴 {axisId} | Rotary axis {axisId} not found");
        }

        /// <inheritdoc/>
        public void UpdateAllStatus()
        {
            // 虚拟运动系统无需从 PLC 轮询状态 | No PLC polling needed for simulated motion system
        }
    }
}