using DG.Tweening;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
using Newtonsoft.Json;
using System.IO;
using UnityEngine.EventSystems;
using UnityEngine.UI;

using static RobotManager;
using static ResolutionTest;
using TMPro;

public enum ColorEnum
{
    red,
    blue,
    green
}
/// <summary>
/// 机器人电机数据
/// </summary>
public class RobotMotorValues
{
    public int index;
    public int time;
    public int[] values;
}
public class Robot : MonoBehaviour
{
    public Queue<GameObject> gameque = new Queue<GameObject>();
    public Scrollbar myScrollbar;
    public float scrovalue;
    int number = 0;
    Tween tween;
    bool camIsOpen;//相机是否打开
    public bool Isflag;//是否改动滑动条
    public int id;
    /// <summary>
    /// 原始动作消息队列
    /// </summary>
    public Queue<MonsData> actionque;
    public int robot_id;
    public string myname;
    /// <summary>
    /// 伺服电机转动速度
    /// </summary>
    public float HVBUSSERVO_Speed = 0.1f;
    /// <summary>
    /// 当前动作
    /// </summary>
    public List<Motion> _motions = null;
    /// <summary>
    /// 动作队列
    /// </summary>
    public Queue<List<Motion>> motion_queue = new Queue<List<Motion>>();
    /// <summary>
    /// 电机
    /// </summary>
    public List<HVBUSSERVO> HVBUSSERVOs;
    /// <summary>
    /// 刚体组件
    /// </summary>
    public Rigidbody Rigidbody;
    /// <summary>
    /// 测试数据
    /// </summary>
    public string hvbdata;

    /// <summary>
    /// 是否正在播放动作
    /// </summary>
    public bool isPlaying = false;
    /// <summary>
    /// 重心 示意
    /// </summary>
    public Transform CenterOfMass;

    public AudioSource audioSource;

    private TextMeshPro NameText; 
    private void Awake()
    {
        animatorfla = true;
        actionque = new Queue<MonsData>();
        HVBUSSERVOs = GetComponentsInChildren<HVBUSSERVO>().ToList();
        audioSource = GetComponent<AudioSource>();

        if (transform.Find("NameText") != null)
        {
            NameText = transform.Find("NameText").GetComponent<TextMeshPro>();
        }
    }
    private void OnEnable()
    {
        Rigidbody = GetComponent<Rigidbody>();
    }

    void Start()
    {
        ReSort();
        _motions = null;
    }

    Queue<string> _colors = new Queue<string>();
    // Update is called once per frame
    void Update()
    {
        if (gameObject.transform.position.y < -0.5f)
        {
            ConsolePanel.ConsoleOutput(number + "号机器人掉下舞台，已销毁", "warning");
            RobotManager.robotgames.Remove(gameObject);
            RobotManager.robots.Remove(this);

            Destroy(gameObject);
        }
        //动作测试
        //if (Input.GetKeyDown(KeyCode.Space))
        //{
        //    DoMotions();
        //}

        if (motion_queue.Count > 0 && _motions == null)
        {
            _motions = motion_queue.Dequeue();
            DoMotions();
        }

        if (MotionsQueue.Count > 0 && current_motion == null)
        {

            current_motion = MotionsQueue.Dequeue();

            DoBusServo(current_motion, EnqueArray);
        }
        if (actionque.Count != 0)
        {
            if (animatorfla)
            {
                MonsData mon = actionque.Dequeue();
                PlayMotion(mon, id);
                animatorfla = false;
            }
        }
    }
    /// <summary>
    /// 动作持续时间
    /// </summary>
    float action_duration;
    /// <summary>
    /// 更新动作
    /// </summary>
    /// <param name="_motions"></param>
    /// <param name="_duration">动作结束后的持续时间</param>
    /// <param name="_callback"></param>
    public MonsData _currmon = null;
    /// <summary>
    /// 更新动作
    /// </summary>
    /// <param name="_motions"></param>
    /// <param name="_mon"></param>
    /// <param name="_callback"></param>
    public void UpdateMotions(List<Motion> _motions, MonsData _mon = null, Action _callback = null)
    {
        isPlaying = true;
        if (_mon != null)
        {

            for (int i = 0; i < _mon.loop_times; i++)
            {
                motion_queue.Enqueue(_motions);
            }
        }
        else
        {
            motion_queue.Enqueue(_motions);
        }
        _callback?.Invoke();
    }
    public void ClearQueue()
    {
        _motions = null;
        gameque.Clear();
        //   motion_queue.Clear();
        tween.Kill();

    }
    MonsData mon;
    /// <summary>
    /// 解析原始数据
    /// </summary>
    /// <param name="monsData"></param>
    /// <param name="number"></param>
    private void PlayMotion(MonsData monsData, int number)
    {
        action_duration = monsData.duration;
        mon = monsData;
        var group=RobotManager.instance.all_motions.Find(a => a.motionName == mon.action);
        if(group!=null)
        {
            UpdateMotions(group.motionList, mon);
        }
    }
    /// <summary>
    /// 拍照
    /// </summary>
    public bool OpenCamera()
    {
        RobotUIManager.instance.AssignmentCam();
        return camIsOpen;
    }

    /// <summary>
    /// 执行第一条动作元
    /// </summary>
    private void DoMotions()
    {
        i = 1;
        current_motion = null;

        MotionsQueue.Enqueue(_motions[0]);


    }
    int i = 1;//动作序号
    /// <summary>
    /// 动作元
    /// </summary>
    Queue<Motion> MotionsQueue = new Queue<Motion>();
    /// <summary>
    /// 当前动作元
    /// </summary>
    public Motion current_motion = null;

    int num = 0;
    private void EnqueArray()
    {
        Debug.Log("取出新动作:" + i);
        if (i < _motions.Count)
        {
            MotionsQueue.Enqueue(_motions[i]);
            current_motion = null;
            i += 1;

        }
        else //此处表示当前动作结束
        {
            if (motion_queue.Count == 0)
            {
                Invoke("OnActionEnd", action_duration);

            }
            else
                // UpdateMotions(RobotManager.standMon[0].motionList, null);
                _motions = null;
            //RobotManager.time = 0;
        }
    }
    public bool animatorfla = true;
    /// <summary>
    /// 动作结束执行
    /// </summary>
    private void OnActionEnd()
    {
        isPlaying = false;
        animatorfla = true;
        _motions = null;
        if (Isflag)
        {
            for (int i = 0; i < CustomPanel.instance.items.Count; i++)
            {
                CustomPanel.instance.items[i].IsActivation(true);
            }
        }

    }
    /// <summary>
    /// 电机执行
    /// </summary>
    /// <param name="motion"></param>
    /// <param name="callback"></param>
    public void DoBusServo(Motion motion, Action callback)
    {
        Debug.Log("执行动作");

        float t = 0;
        tween = DOTween.To(() => t, (x) => t = x, motion.duration_time, motion.duration_time).OnComplete(() => { callback?.Invoke(); });

        HVBUSSERVOs[0].UpdateValue(motion.id_1, motion.duration_time, Isflag);
        HVBUSSERVOs[1].UpdateValue(motion.id_2, motion.duration_time, Isflag);
        HVBUSSERVOs[2].UpdateValue(motion.id_3, motion.duration_time, Isflag);
        HVBUSSERVOs[3].UpdateValue(motion.id_4, motion.duration_time, Isflag);
        HVBUSSERVOs[4].UpdateValue(motion.id_5, motion.duration_time, Isflag);
        HVBUSSERVOs[5].UpdateValue(motion.id_6, motion.duration_time, Isflag);
        HVBUSSERVOs[6].UpdateValue(motion.id_7, motion.duration_time, Isflag);
        HVBUSSERVOs[7].UpdateValue(motion.id_8, motion.duration_time, Isflag);
        HVBUSSERVOs[8].UpdateValue(motion.id_9, motion.duration_time, Isflag);
        HVBUSSERVOs[9].UpdateValue(motion.id_10, motion.duration_time, Isflag);
        HVBUSSERVOs[10].UpdateValue(motion.id_11, motion.duration_time, Isflag);
        HVBUSSERVOs[11].UpdateValue(motion.id_12, motion.duration_time, Isflag);
        HVBUSSERVOs[12].UpdateValue(motion.id_13, motion.duration_time, Isflag);
        HVBUSSERVOs[13].UpdateValue(motion.id_14, motion.duration_time, Isflag);
        HVBUSSERVOs[14].UpdateValue(motion.id_15, motion.duration_time, Isflag);
        HVBUSSERVOs[15].UpdateValue(motion.id_16, motion.duration_time, Isflag);
        //   HVBUSSERVOs[16].UpdateValue(motion.id_17, motion.duration_time, Isflag);
        //  HVBUSSERVOs[17].UpdateValue(motion.id_18, motion.duration_time, Isflag);
        HVBUSSERVOs[16].UpdateValue(500, motion.duration_time, Isflag);
        HVBUSSERVOs[17].UpdateValue(500, motion.duration_time, Isflag);

        if (gameque.Count > 0)
        {
            CustomPanel.FreshCurrItem(gameque.Dequeue());
            number++;
            myScrollbar.value = 1 - number * scrovalue;
        }
    }
    /// <summary> 
    /// 根据颜色播放对应的动作   
    /// </summary>
    public void PlayColorAction(string color)
    {
        if (!isPlaying)
        {
            if (!_colors.Contains(color))
            {
                _colors.Enqueue(color);
            }

            //匹配对应动作
            string actionName = "";
            if (color == "red")
            {
                actionName = "back";
            }
            else if (color == "blue")
            {
                actionName = "wave";
            }
            else if (color == "green")
            {
                actionName = "put_down";
            }
            else
            {
                Debug.Log("无此颜色");
                return;
            }

            MotionGroup group = RobotManager.instance.all_motions.Find(a => a.motionName == actionName);
            if (group != null)
            {
                UpdateMotions(group.motionList);
            }
            else
            {
                Debug.Log("无此动作文件：" + actionName);
            }
        }
    }
 
    /// <summary>
    /// 对电机按编号重新排序
    /// </summary>
    private void ReSort()
    {
        HVBUSSERVOs = GetComponentsInChildren<HVBUSSERVO>().ToList();

        HVBUSSERVO temp;
        bool swapped;
        for (int i = 0; i < HVBUSSERVOs.Count; i++)
        {
            swapped = false;
            for (int j = 0; j < HVBUSSERVOs.Count - 1 - i; j++)
            {
                if (HVBUSSERVOs[j].indexNo > HVBUSSERVOs[j + 1].indexNo)
                {
                    temp = HVBUSSERVOs[j];
                    HVBUSSERVOs[j] = HVBUSSERVOs[j + 1];
                    HVBUSSERVOs[j + 1] = temp;

                    if (!swapped)
                        swapped = true;
                }
                if (!swapped)
                    continue;
            }
        }
    }


    /// <summary>
    /// 设置颜色
    /// </summary>
    /// <param name="color"></param>
    public void SetColor(Color color)
    {

        List<Material> materials = new List<Material>();
        List<Transform> gamelist = GetComponentsInChildren<Transform>().ToList();
        for (int i = 1; i < gamelist.Count; i++)
        {
            List<Material> list = gamelist[i].transform.GetComponent<Renderer>().materials.ToList();
            materials.AddRange(list);
        }

        for (int i = 0; i < materials.Count; i++)
        {
            materials[i].color = color;
        }

        ConsolePanel.ConsoleOutput("机器人颜色设置成功！", "log");
    }

    internal void RefreshCur(List<GameObject> items, Scrollbar _scrollbar)
    {
        myScrollbar = _scrollbar;
        myScrollbar.value = 1;
        scrovalue = 1f / items.Count;
        number = 0;
        gameque.Clear();
        for (int i = 0; i < items.Count; i++)
        {
            gameque.Enqueue(items[i].gameObject);
        }
    }

    /// <summary>
    /// 开始录音
    /// </summary>
    public void StartRedord()
    {
        GetComponent<MicroPhoneManager>().StartRecordAudio();
    }
    /// <summary>
    /// 停止录音
    /// </summary>
    public bool StopRecord()
    {
        bool flag = GetComponent<MicroPhoneManager>().StopRecordAudio();
        return flag;
    }
    /// <summary>
    /// 试听
    /// </summary>
    public void Audition()
    {
        GetComponent<MicroPhoneManager>().PlayRecordAudio();
    }
    public void ENDAudition()
    {
        GetComponent<MicroPhoneManager>().StopRecordAudio();
    }
    /// <summary>
    /// 开始识别录音
    /// </summary>
    public void Recognition()
    {
        byte[] audiodata = MicroPhoneManager.instance.GetClipData();
        IFlytekManager.instance.AudioToText(audiodata, DebugAudioText);
    }
    //识别成功，显示识别文字
    public void DebugAudioText(string audio_text)
    {
        RecordDebugPanel.instance.Init(audio_text);
        for (int i = 0; i < RobotManager.instance.all_motions.Count; i++)
        {
            if (audio_text == RobotManager.instance.all_motions[i].motionName)
            {
                motion_queue.Clear();
                _motions = null;
                UpdateMotions(RobotManager.instance.all_motions[i].motionList);
            }
        }
    }
    /// <summary>
    /// 重新录音
    /// </summary>
    public void Anew()
    {
        RobotUI.Instance.ClosePanel(RobotePanelEnum.RecordEndPanel.ToString());
        GetComponent<MicroPhoneManager>().StartRecordAudio();
        RobotUI.Instance.OpenPanel(RobotePanelEnum.RecordKingPanel.ToString());
    }

    /// <summary>
    /// 关闭麦克风
    /// </summary>
    public void EndRecord()
    {
        GetComponent<MicroPhoneManager>().StopRecordAudio();
    }

    /// <summary>
    /// 设置机器人名字
    /// </summary>
    /// <param name="name"></param>
    public void SetName(string name)
    {
        myname = name;
        if (name.Length>10)       
         NameText.text = name.Substring(0, 10);
       else NameText.text = name;
        string Log = "名称：" + name + "设置成功！";
        ConsolePanel.ConsoleOutput(Log, "log");
    }
    /// <summary>
    /// 点头
    /// </summary>
    [ContextMenu("点头")]
    public void NodHead(int time)
    {
        if (time > 0)
        {
            if (!isPlaying)
            {
                isPlaying = true;
                HVBUSSERVOs[16].UpdateValue(500, 0.5f, false);
                DoNod(time);
            }
        }
    }

    private void DoNod(int time)
    {
        HVBUSSERVOs[17].UpdateValue(1000, 1, false, () =>
        {
            HVBUSSERVOs[17].UpdateValue(0, 1, false, () => 
            {
                time--;
                if(time<=0)
                {
                    //结束动作
                    HVBUSSERVOs[17].UpdateValue(500, 0.5f, false, () =>
                    {
                        isPlaying = false;
                    });
                }
                else
                {
                    DoNod(time);
                }
            });
        });
    }

    /// <summary>
    /// 摇头
    /// </summary>
    [ContextMenu("摇头")]
    public void ShakeHead(int time)
    {
        if(time > 0) 
        {
            if (!isPlaying)
            {
                isPlaying = true;
                HVBUSSERVOs[17].UpdateValue(500, 0.5f, false);
                DoShake(time);
            }
        }
    }

    private void DoShake(int time)
    {
        HVBUSSERVOs[16].UpdateValue(1000, 1, false, () =>
        {
            HVBUSSERVOs[16].UpdateValue(0, 1, false, () =>
            {
                time --;
                if(time <=0) 
                {
                    HVBUSSERVOs[16].UpdateValue(500, 0.5f, false, () =>
                    {
                        isPlaying = false;
                    });
                }
                else
                {
                    DoShake(time);
                }
            });
        });
    }
}