using AutomaticController;
using CommunityToolkit.Mvvm.ComponentModel;
using CommunityToolkit.Mvvm.Input;
using LiveCharts;
using LiveCharts.Wpf;
using Simulator.Models;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Runtime.Intrinsics.X86;
using System.Text;
using System.Threading.Tasks;

namespace Simulator.ViewModels
{
    internal partial class MovingSetpointPIDViewModel : ObservableObject
    {
        [ObservableProperty]
        private MovingPIDSetpointModel _setpointModel;

        [ObservableProperty]
        private ObservableCollection<double> _processHistory;
        [ObservableProperty]
        private ObservableCollection<double> _setpointHistory;

        [ObservableProperty]
        private SeriesCollection _series;


        [ObservableProperty]
        private double _kp;
        [ObservableProperty]
        private double _ki;
        [ObservableProperty]
        private double _kd;

        private readonly int SIMULATION_COUNT = 200;


        public MovingSetpointPIDViewModel()
        {
            Kp = 0.5;
            Ki = 0.1;
            Kd = 0.2;

            SetpointModel = new MovingPIDSetpointModel()
            {
                Controller = new PIDController(Kp, Kd, Ki),
                Setpoints = new List<double>()
            };

            // Generate setpoints
            for (int i = 0; i < SIMULATION_COUNT; i++)
            {
                double cos = Math.Cos(0.5 / (2 * Math.PI) * i);
                SetpointModel.Setpoints.Add(cos);
            }

            ProcessHistory = new ObservableCollection<double>();
            SetpointHistory = new ObservableCollection<double>();
            Series = new SeriesCollection()
            {
                new LineSeries()
                {
                    Title = "Actual",
                    Values = new ChartValues<double>(),
                    PointGeometrySize = 5
                },
                new LineSeries()
                {
                    Title = "Setpoint",
                    Values = new ChartValues<double>(),
                    PointGeometrySize = 5
                },
            };
#if DEBUG
            Simulate();
#endif
        }

        [RelayCommand]
        public void Simulate()
        {
            SetpointModel.Controller.Kp = Kp;
            SetpointModel.Controller.Ki = Ki;
            SetpointModel.Controller.Kd = Kd;

            ProcessHistory.Clear();
            SetpointHistory.Clear();
            Series[0].Values.Clear();
            Series[1].Values.Clear();

            InsertData(SetpointModel.Setpoints[0], 0d);

            for (int i = 1; i < SIMULATION_COUNT; i++)
            {
                double current = ProcessHistory.LastOrDefault();
                double output = SetpointModel.Controller.Compute(SetpointModel.Setpoints[i], current);
                double actual = current + output;

                InsertData(SetpointModel.Setpoints[i], actual);
            }
        }

        private void InsertData(double setpoint, double actual)
        {
            Series[1].Values.Add(setpoint);
            Series[0].Values.Add(actual);

            SetpointHistory.Add(setpoint);
            ProcessHistory.Add(actual);
        }
    }
}