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

namespace XP.Hardware.MotionControl.Implementations
{
    /// <summary>
    /// 基于 PLC 的运动系统实现 | PLC-based Motion System Implementation
    /// 使用 MotionSignalNames 硬编码信号名称 | Uses MotionSignalNames for hardcoded signal names
    /// </summary>
    public class PlcMotionSystem : IMotionSystem
    {
        private readonly Dictionary<AxisId, ILinearAxis> _linearAxes = new();
        private readonly Dictionary<RotaryAxisId, IRotaryAxis> _rotaryAxes = new();
        private readonly ISafetyDoor _safetyDoor;
        private readonly IAxisReset _axisReset;

        public PlcMotionSystem(MotionControlConfig config, ISignalDataService signalService)
        {
            if (config == null) throw new ArgumentNullException(nameof(config));
            if (signalService == null) throw new ArgumentNullException(nameof(signalService));

            // 创建直线轴 | Create linear axes
            if (config.LinearAxes.TryGetValue(AxisId.SourceZ, out var sz))
                _linearAxes[AxisId.SourceZ] = new PlcLinearAxis(AxisId.SourceZ, sz.Min, sz.Max, sz.Origin, signalService,
                    MotionSignalNames.SourceZ_Pos, MotionSignalNames.SourceZ_Target, MotionSignalNames.SourceZ_Speed,
                    MotionSignalNames.SourceZ_JogPos, MotionSignalNames.SourceZ_JogNeg,
                    MotionSignalNames.SourceZ_Home, MotionSignalNames.SourceZ_Stop);

            if (config.LinearAxes.TryGetValue(AxisId.DetectorZ, out var dz))
                _linearAxes[AxisId.DetectorZ] = new PlcLinearAxis(AxisId.DetectorZ, dz.Min, dz.Max, dz.Origin, signalService,
                    MotionSignalNames.DetZ_Pos, MotionSignalNames.DetZ_Target, MotionSignalNames.DetZ_Speed,
                    MotionSignalNames.DetZ_JogPos, MotionSignalNames.DetZ_JogNeg,
                    MotionSignalNames.DetZ_Home, MotionSignalNames.DetZ_Stop);

            if (config.LinearAxes.TryGetValue(AxisId.StageX, out var sx))
                _linearAxes[AxisId.StageX] = new PlcLinearAxis(AxisId.StageX, sx.Min, sx.Max, sx.Origin, signalService,
                    MotionSignalNames.StageX_Pos, MotionSignalNames.StageX_Target, MotionSignalNames.StageX_Speed,
                    MotionSignalNames.StageX_JogPos, MotionSignalNames.StageX_JogNeg,
                    MotionSignalNames.StageX_Home, MotionSignalNames.StageX_Stop);

            if (config.LinearAxes.TryGetValue(AxisId.StageY, out var sy))
                _linearAxes[AxisId.StageY] = new PlcLinearAxis(AxisId.StageY, sy.Min, sy.Max, sy.Origin, signalService,
                    MotionSignalNames.StageY_Pos, MotionSignalNames.StageY_Target, MotionSignalNames.StageY_Speed,
                    MotionSignalNames.StageY_JogPos, MotionSignalNames.StageY_JogNeg,
                    MotionSignalNames.StageY_Home, MotionSignalNames.StageY_Stop);

            // 创建旋转轴 | Create rotary axes
            if (config.RotaryAxes.TryGetValue(RotaryAxisId.DetectorSwing, out var ds))
                _rotaryAxes[RotaryAxisId.DetectorSwing] = new PlcRotaryAxis(RotaryAxisId.DetectorSwing, ds.Min, ds.Max, ds.Enabled, signalService,
                    MotionSignalNames.DetSwing_Angle, MotionSignalNames.DetSwing_Target, MotionSignalNames.DetSwing_Speed,
                    MotionSignalNames.DetSwing_JogPos, MotionSignalNames.DetSwing_JogNeg,
                    MotionSignalNames.DetSwing_Home, MotionSignalNames.DetSwing_Stop);

            if (config.RotaryAxes.TryGetValue(RotaryAxisId.StageRotation, out var sr))
                _rotaryAxes[RotaryAxisId.StageRotation] = new PlcRotaryAxis(RotaryAxisId.StageRotation, sr.Min, sr.Max, sr.Enabled, signalService,
                    MotionSignalNames.StageRot_Angle, MotionSignalNames.StageRot_Target, MotionSignalNames.StageRot_Speed,
                    MotionSignalNames.StageRot_JogPos, MotionSignalNames.StageRot_JogNeg,
                    MotionSignalNames.StageRot_Home, MotionSignalNames.StageRot_Stop);

            if (config.RotaryAxes.TryGetValue(RotaryAxisId.FixtureRotation, out var fr))
                _rotaryAxes[RotaryAxisId.FixtureRotation] = new PlcRotaryAxis(RotaryAxisId.FixtureRotation, fr.Min, fr.Max, fr.Enabled, signalService,
                    MotionSignalNames.FixRot_Angle, MotionSignalNames.FixRot_Target, MotionSignalNames.FixRot_Speed,
                    MotionSignalNames.FixRot_JogPos, MotionSignalNames.FixRot_JogNeg,
                    MotionSignalNames.FixRot_Home, MotionSignalNames.FixRot_Stop);

            // 创建安全门 | Create safety door
            _safetyDoor = new PlcSafetyDoor(signalService);

            // 创建轴复位 | Create axis reset
            _axisReset = new PlcAxisReset(signalService);
        }

        /// <inheritdoc/>
        public ISafetyDoor SafetyDoor => _safetyDoor;
        /// <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($"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($"未找到旋转轴 {axisId} | Rotary axis {axisId} not found");
        }

        /// <inheritdoc/>
        public void UpdateAllStatus()
        {
            foreach (var axis in _linearAxes.Values) axis.UpdateStatus();
            foreach (var axis in _rotaryAxes.Values) axis.UpdateStatus();
            _safetyDoor.UpdateStatus();
            _axisReset.UpdateStatus();
        }
    }
}