using Plane.Copters;
using Plane.FormationCreator.Formation;
using Plane.FormationCreator.ViewModels;
using Plane.FormationCreator.Views;
using Plane.Windows.Messages;
using MahApps.Metro.Controls;
using MahApps.Metro.Controls.Dialogs;
using Microsoft.Practices.ServiceLocation;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Shapes;
using Plane.CommunicationManagement;

namespace Plane.FormationCreator
{
    /// <summary>
    /// Interaction logic for MainWindow.xaml
    /// </summary>
    public partial class MainWindow : MetroWindow
    {
        public MainWindow()
        {
            InitializeComponent();

            this.DataContext = ServiceLocator.Current.GetInstance<MainViewModel>();
            

            //ShowConnectDialog();
            //if (_copterManager.CoptersForControlling.Count <= 0)
            //{
            //    //App.Current.Shutdown();
            //}

        }
        private CommModuleManager _commModuleManager = CommModuleManager.Instance;
        private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
        private FlightTaskManager _flightTaskManager= ServiceLocator.Current.GetInstance<FlightTaskManager>();
        private void ShowConnectDialog(ConnectWindow loginWindow = null)
        {
            //var result = await this.ShowLoginAsync("登录", "请输入您的帐户 ID 和密码");
            if (loginWindow == null)
            {
                loginWindow = new ConnectWindow();
            }
            loginWindow.Show();
        }

        private void btnLogin_Click(object sender, RoutedEventArgs e)
        {
            var loginWindow = new ConnectWindow
            {
                WindowTransitionsEnabled = false,
                WindowStartupLocation = WindowStartupLocation.Manual
            };
            var point = PointToScreen(Mouse.GetPosition(this));
            point.X = Math.Min(point.X, SystemParameters.WorkArea.Width - loginWindow.Width - 30);
            point.Y = Math.Min(point.Y, SystemParameters.WorkArea.Height - loginWindow.Height - 30);
            loginWindow.Left = point.X;
            loginWindow.Top = point.Y;

            ShowConnectDialog(loginWindow);
        }

        private void btnConnect_Click(object sender, RoutedEventArgs e)
        {
            var connectWindow = new ConnectWindow
            {
                WindowTransitionsEnabled = false,
                WindowStartupLocation = WindowStartupLocation.Manual
            };
            var point = PointToScreen(Mouse.GetPosition(this));
            point.X = Math.Min(point.X, SystemParameters.WorkArea.Width - connectWindow.Width - 30);
            point.Y = Math.Min(point.Y+10, SystemParameters.WorkArea.Height - connectWindow.Height - 30);
            connectWindow.Left = point.X;
            connectWindow.Top = point.Y;

            ShowConnectDialog(connectWindow);
        }

        private void btnRefreshMap_Click(object sender, RoutedEventArgs e)
        {
            map.Refresh();
        }

        private void btnGoHome_Click(object sender, RoutedEventArgs e)
        {
            map.GoHome();
        }
        bool Shiftkeydown = false;
        private async void MetroWindow_PreviewKeyDown(object sender, KeyEventArgs e)
        {
            // 如果正在输入，忽略。
            if (e.OriginalSource is TextBox || e.OriginalSource is PasswordBox) return;

            var isInFastMode = AppEx.Current.IsInFastMode;
            bool isledon;
            switch (e.Key)
            {

                case Key.LeftCtrl:
                   {
                        var copters = _copterManager.AcceptingControlCopters;
                        Shiftkeydown = true;
                        _copterManager.shiftkeydown = true;
                        break;
                   }
                //开关SHOWLED
                case Key.C:
                    {

                        var copters = _copterManager.AcceptingControlCopters;
                        await Task.WhenAll(copters.Select(async copter =>
                        {
                            isledon =  copter.GetShowLEDAsync();
                            await copter.SetShowLEDAsync(!isledon);
                        })).ConfigureAwait(false);

                        break;
                    }
                //俯仰控制
                case Key.W:
                case Key.S:
                    {

                       if (Shiftkeydown &&(_flightTaskManager.CurrentRunningTask == null) && (_flightTaskManager.SelectedTask != null))
                        {

                            var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
                            bool copterisselect;
                            for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                            {
                                copterisselect = false;
                                selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
                                foreach (var capter in _copterManager.SelectedCopters)
                                {
                                    if (capter == selectedCopter)
                                        copterisselect = true;

                                }
                                if (copterisselect)
                                {
                                   // double tlat = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
                                            
                                  //  int tmplat = (int)(tlat * 100000);
                                   // tlat = (float)(tmplat * 1.0) / 100000;
                                   // _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = tlat;

                                    _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat+= e.Key == Key.W ? 0.00001 : -0.00001;
                                }
                            }

                           break;
                        }


                        var copters = _copterManager.AcceptingControlCopters;
                        if (isInFastMode)
                        {
                            await _commModuleManager.SetChannelsAsync(copters, ch2: e.Key == Key.W ? (ushort)1100 : (ushort)1900);
                        }
                        else
                        {
                            await _commModuleManager.SetChannelsAsync(copters, ch2: e.Key == Key.W ? (ushort)1350 : (ushort)1650);
                        }
                       
//                         await Task.WhenAll(copters.Select(async copter =>
//                         {
//                             if (isInFastMode)
//                             {
//                                 await copter.SetChannelsAsync(ch2: e.Key == Key.W ? (ushort)1100 : (ushort)1900);
//                             }
//                             else
//                             {
//                                 await copter.SetChannelsAsync(ch2: e.Key == Key.W ? (ushort)1350 : (ushort)1650);
//                             }
//                         })).ConfigureAwait(false);
                        break;
                    }
                //横滚控制
                case Key.A:
                case Key.D:
                    {


                        if (Shiftkeydown && (_flightTaskManager.CurrentRunningTask == null)&&(_flightTaskManager.SelectedTask!=null))
                        {

                            var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
                            bool copterisselect;
                            for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                            {
                                copterisselect = false;
                                selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
                                foreach (var capter in _copterManager.SelectedCopters)
                                {
                                    if (capter == selectedCopter)
                                        copterisselect = true;

                                }
                                if (copterisselect)
                                {
                                 //   double tlng = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
                                 //   int tmplng = (int)(tlng * 100000);
                                  //  tlng = (float)(tmplng * 1.0) / 100000;
                                 //   _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng = tlng;


                                    _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng += e.Key == Key.D ? 0.00001 : -0.00001;


                                }
                            }

                            break;
                        }













                        var copters = _copterManager.AcceptingControlCopters;
                        if (isInFastMode)
                        {
                            await _commModuleManager.SetChannelsAsync(copters, ch1: e.Key == Key.A ? (ushort)1100 : (ushort)1900);
                        }
                        else
                        {
                            await _commModuleManager.SetChannelsAsync(copters, ch1: e.Key == Key.A ? (ushort)1350 : (ushort)1650);
                        }
                        //                         await Task.WhenAll(copters.Select(async copter =>
                        //                         {
                        //                             if (isInFastMode)
                        //                             {
                        //                                 await copter.SetChannelsAsync(ch1: e.Key == Key.A ? (ushort)1100 : (ushort)1900);
                        //                             }
                        //                             else
                        //                             {
                        //                                 await copter.SetChannelsAsync(ch1: e.Key == Key.A ? (ushort)1350 : (ushort)1650);
                        //                             }
                        //                         })).ConfigureAwait(false);
                        break;
                    }
                //高度控制
                case Key.I:
                case Key.K:
                    {
                        var copters = _copterManager.AcceptingControlCopters;
                        if (isInFastMode)
                        {
                            await _commModuleManager.SetChannelsAsync(copters, ch3: e.Key == Key.K ? (ushort)1100 : (ushort)1900);
                        }
                        else
                        {
                            await _commModuleManager.SetChannelsAsync(copters, ch3: e.Key == Key.K ? (ushort)1350 : (ushort)1650);
                        }
                        /*
                        await Task.WhenAll(copters.Select(async copter =>
                        {
                            if (isInFastMode)
                            {
                                await copter.SetChannelsAsync(ch3: e.Key == Key.K ? (ushort)1100 : (ushort)1900);
                            }
                            else
                            {
                                await copter.SetChannelsAsync(ch3: e.Key == Key.K ? (ushort)1350 : (ushort)1650);
                            }
                        })).ConfigureAwait(false);
                        */

                        break;
                    }
                 //航向控制
                case Key.J:
                case Key.L:
                    {
                        var copters = _copterManager.AcceptingControlCopters;
                        await _commModuleManager.SetChannelsAsync(copters, ch4: e.Key == Key.J ? (ushort)1200 : (ushort)1800);
                        /*
                        await Task.WhenAll(copters.Select(async copter =>
                        {
                            //await copter.SetMobileControlAsync(yaw: (copter.Yaw + (e.Key == Key.J ? -20 : 20)) % 360);
                            await copter.SetChannelsAsync(ch4: e.Key == Key.J ? (ushort)1200 : (ushort)1800);
                        })).ConfigureAwait(false);
                        */
                        break;
                    }
                case Key.M: // 低速下降。
                    {
                        var copters = _copterManager.AcceptingControlCopters;
                        await Task.WhenAll(copters.Select(async copter =>
                        {
                            await copter.SetChannelsAsync(ch3: 1350);
                        })).ConfigureAwait(false);
                        break;
                    }
                case Key.N: // 飞行器着陆后，按此键将油门打到 1100.
                    {
                        var copters = _copterManager.AcceptingControlCopters;
                        await Task.WhenAll(copters.Select(async copter =>
                        {
                            await copter.SetChannelsAsync(ch3: 1100);
                        })).ConfigureAwait(false);
                        break;
                    }
                case Key.Back: // 锁定。
                    {
                        if (Alert.Show("您确定要上锁吗？飞行器将立即停止运转！", "警告", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
                        == MessageBoxResult.OK)
                        {
                            var copters = _copterManager.AcceptingControlCopters;
                            await Task.WhenAll(copters.Select(async copter =>
                            {
                                await copter.LockAsync();
                            })).ConfigureAwait(false);
                        }
                        break;
                    }
                //设置6通道
                case Key.P:
                    {
                        var copters = _copterManager.AcceptingControlCopters;
                        await Task.WhenAll(copters.Select(async copter =>
                        {
                            if (isInFastMode)
                            {
                                if (e.Key == Key.P)
                                {
                                    await copter.SetChannelsAsync(ch6: (ushort)1900);
                                }
                                
                            }
                            else
                            {
                                if (e.Key == Key.P)
                                {
                                    await copter.SetChannelsAsync(ch6: (ushort)1900);
                                }
                            }
                        })).ConfigureAwait(false);
                        break;
                    }
                //设置7通道
                case Key.O:
                    {
                        var copters = _copterManager.AcceptingControlCopters;
                        await Task.WhenAll(copters.Select(async copter =>
                        {
                            if (isInFastMode)
                            {
                                if (e.Key == Key.O)
                                {
                                    await copter.SetChannelsAsync(ch7: (ushort)1900);
                                }

                            }
                            else
                            {
                                if (e.Key == Key.O)
                                {
                                    await copter.SetChannelsAsync(ch7: (ushort)1900);
                                }
                            }
                        })).ConfigureAwait(false);
                        break;
                    }
            }
        }

        private async void MetroWindow_PreviewKeyUp(object sender, KeyEventArgs e)
        {
            // 如果正在输入，忽略。
            if (e.OriginalSource is TextBox || e.OriginalSource is PasswordBox) return;

            switch (e.Key)
            {
                case Key.LeftCtrl:
                    {
                        Shiftkeydown = false;
                        _copterManager.shiftkeydown = false;
                        break;
                    }
                case Key.W:
                case Key.S:
                    {
                        var copters = _copterManager.AcceptingControlCopters;
                        for (int i = 0; i < 3; i++)
                        {
                            await _commModuleManager.SetChannelsAsync(copters, ch2: 1500);
                            await Task.Delay(100);
                        }
                        
                        //                         await Task.WhenAll(copters.Select(async copter =>
                        //                         {
                        //                             await copter.SetChannelsAsync(ch2: 1500);
                        //                         })).ConfigureAwait(false);
                        break;
                    }
                case Key.A:
                case Key.D:
                    {
                        var copters = _copterManager.AcceptingControlCopters;
                        for (int i = 0; i < 3; i++)
                        {
                            await _commModuleManager.SetChannelsAsync(copters, ch1: 1500);
                            await Task.Delay(100);
                        }

                       
                        //                         await Task.WhenAll(copters.Select(async copter =>
                        //                         {
                        //                             await copter.SetChannelsAsync(ch1: 1500);
                        //                         })).ConfigureAwait(false);
                        break;
                    }
                case Key.I:
                case Key.K:
                    {
                        var copters = _copterManager.AcceptingControlCopters;
                        for (int i = 0; i < 3; i++)
                        {
                            await _commModuleManager.SetChannelsAsync(copters, ch3: 1500);
                            await Task.Delay(100);
                        }
                        
                        //                         await Task.WhenAll(copters.Select(async copter =>
                        //                         {
                        //                             await copter.SetChannelsAsync(ch3: 1500);
                        //                         })).ConfigureAwait(false);
                        break;
                    }
                case Key.J:
                case Key.L:
                    {
                        var copters = _copterManager.AcceptingControlCopters;
                        for (int i = 0; i < 3; i++)
                        {
                            await _commModuleManager.SetChannelsAsync(copters, ch4: 1500);
                            await Task.Delay(100);
                        }
                        
                        //                         await Task.WhenAll(copters.Select(async copter =>
                        //                         {
                        //                           //  await copter.SetMobileControlAsync(yaw: (copter.Yaw + (e.Key == Key.J ? -10 : 10)) % 360);
                        //                             await copter.SetChannelsAsync(ch4: 1500);
                        //                         })).ConfigureAwait(false);

                        break;
                    }
                case Key.M: // 停止低速下降。
                    {
                        var copters = _copterManager.AcceptingControlCopters;
                        await Task.WhenAll(copters.Select(async copter =>
                        {
                            await copter.SetChannelsAsync(ch3: 1500);
                        })).ConfigureAwait(false);
                        break;
                    }
            }
        }

        private void btnShowLog_Click(object sender, RoutedEventArgs e)
        {
            MainViewModel vm = DataContext as MainViewModel;
            LogWindow logWindows = new LogWindow(vm.Messages);
            logWindows.Show();
        }

        private void LogShowHide(object sender, MouseButtonEventArgs e)
        {
            if (logTextBox.Visibility == Visibility.Visible)
                logTextBox.Visibility = Visibility.Hidden;
            else
                logTextBox.Visibility = Visibility.Visible;
        }

        private void LogTextChange(object sender, TextChangedEventArgs e)
        {
            logTextBox.ScrollToEnd();
        }

        private void Map_Opacity_Click(object sender, RoutedEventArgs e)
        {
            if (map.Opacity == 1)
            {
                map.Opacity = 0.5;
            }
            else
            {
                map.Opacity = 1;
            }
        }

        private void btnAttribute_Click(object sender, RoutedEventArgs e)
        {
            CheckBox checkbox = sender as CheckBox;
            if (checkbox.IsChecked == false)
                attributeView.Visibility = Visibility.Collapsed;
            else
                attributeView.Visibility = Visibility.Visible;
        }

        private void btnGroup_Click(object sender, RoutedEventArgs e)
        {
            CheckBox checkbox = sender as CheckBox;
            if (checkbox.IsChecked == false)
                groupsView.Visibility = Visibility.Collapsed;
            else
                groupsView.Visibility = Visibility.Visible;
        }

        private void btnVirtualId_Click(object sender, RoutedEventArgs e)
        {
            CheckBox checkbox = sender as CheckBox;
            if (checkbox.IsChecked == false)
                configVirtualView.Visibility = Visibility.Collapsed;
            else
                configVirtualView.Visibility = Visibility.Visible;
        }
    }
}