agrobot_base/AgroBase/OperationControl/Controls/ManualControlPad.xaml.cs

using OperationControl.Models;
using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Windows;
using System.Windows.Input;
using System.Windows.Media.Animation;
using UserControl = System.Windows.Controls.UserControl;
using KeyEventArgs = System.Windows.Input.KeyEventArgs;
using Binding = System.Windows.Data.Binding;
using Application = System.Windows.Application;
using Point = System.Windows.Point;
using Size = System.Windows.Size;

namespace OperationControl.Controls
{
    /// <summary>
    /// Interaction logic for ManualControlPad.xaml
    /// </summary>
    public partial class ManualControlPad : UserControl, INotifyPropertyChanged
    {
        public ObservableCollection<string> MoveModes { get; } = new();
        private HashSet<Key> _pressedKeys = new();
        private AgroBase.Models.Enums.BotoesJoystick _lastMovKey = AgroBase.Models.Enums.BotoesJoystick.Vazio;
        private AgroBase.Models.Enums.BotoesJoystick _lastDirKey = AgroBase.Models.Enums.BotoesJoystick.Vazio;

        public ManualControlPad()
        {
            InitializeComponent();

            MoveModes.Clear();
            foreach (var t in Enum.GetNames(typeof(AgroBase.Models.Enums.TipoMovimentoDirecional)))
            {
                MoveModes.Add(t);
            }
            MoveTypeControl = MoveType;

            Loaded += (_, __) => UpdateThumb();
            SizeChanged += (_, __) => { if (ManualContainer.Height > 0) AnimateManual(true, instant: true); };

            EmergencyClicked += ManualControlPad_EmergencyClicked;
            PauseClicked += ManualControlPad_PauseClicked;
            ReferenceClicked += ManualControlPad_ReferenceClicked;
            CommandChanged += ManualControlPad_CommandChanged;
        }









        // ======= Header displays (bind do app) =======
        public bool EmergencyActivated { get => (bool)GetValue(EmergencyActivatedProperty); set => SetValue(EmergencyActivatedProperty, value); }
        public static readonly DependencyProperty EmergencyActivatedProperty = DependencyProperty.Register(nameof(EmergencyActivated), typeof(bool), typeof(ManualControlPad), new PropertyMetadata(false));
        public bool PauseActivated { get => (bool)GetValue(PauseActivatedProperty); set => SetValue(PauseActivatedProperty, value); }
        public static readonly DependencyProperty PauseActivatedProperty = DependencyProperty.Register(nameof(PauseActivated), typeof(bool), typeof(ManualControlPad), new PropertyMetadata(false));
        public bool RefActivated { get => (bool)GetValue(RefActivatedProperty); set => SetValue(RefActivatedProperty, value); }
        public static readonly DependencyProperty RefActivatedProperty = DependencyProperty.Register(nameof(RefActivated), typeof(bool), typeof(ManualControlPad), new PropertyMetadata(false));

        public double SpeedSpKmh { get => (double)GetValue(SpeedSpKmhProperty); set => SetValue(SpeedSpKmhProperty, value); }
        public static readonly DependencyProperty SpeedSpKmhProperty = DependencyProperty.Register(nameof(SpeedSpKmh), typeof(double), typeof(ManualControlPad), new PropertyMetadata(0d));
        public double SpeedCurKmh { get => (double)GetValue(SpeedCurKmhProperty); set => SetValue(SpeedCurKmhProperty, value); }
        public static readonly DependencyProperty SpeedCurKmhProperty = DependencyProperty.Register(nameof(SpeedCurKmh), typeof(double), typeof(ManualControlPad), new PropertyMetadata(0d));

        public double AngleSpDeg { get => (double)GetValue(AngleSpDegProperty); set => SetValue(AngleSpDegProperty, value); }
        public static readonly DependencyProperty AngleSpDegProperty = DependencyProperty.Register(nameof(AngleSpDeg), typeof(double), typeof(ManualControlPad), new PropertyMetadata(0d));
        public double AngleCurDeg { get => (double)GetValue(AngleCurDegProperty); set => SetValue(AngleCurDegProperty, value); }
        public static readonly DependencyProperty AngleCurDegProperty = DependencyProperty.Register(nameof(AngleCurDeg), typeof(double), typeof(ManualControlPad), new PropertyMetadata(0d));

        public AgroBase.Models.Enums.TipoMovimentoDirecional MoveType { get => (AgroBase.Models.Enums.TipoMovimentoDirecional)GetValue(MoveTypeProperty); set => SetValue(MoveTypeProperty, value); }
        public static readonly DependencyProperty MoveTypeProperty = DependencyProperty.Register(nameof(MoveType), typeof(AgroBase.Models.Enums.TipoMovimentoDirecional), typeof(ManualControlPad), new PropertyMetadata(AgroBase.Models.Enums.TipoMovimentoDirecional.RodasDianteiras));

        // ======= Ajustes (painel manual) =======
        public double SpeedControl { get => (double)GetValue(SpeedControlProperty); set => SetValue(SpeedControlProperty, value); }
        public static readonly DependencyProperty SpeedControlProperty = DependencyProperty.Register(nameof(SpeedControl), typeof(double), typeof(ManualControlPad), new FrameworkPropertyMetadata(0d, FrameworkPropertyMetadataOptions.BindsTwoWayByDefault));

        public double AngleControl { get => (double)GetValue(AngleControlProperty); set => SetValue(AngleControlProperty, value); }
        public static readonly DependencyProperty AngleControlProperty = DependencyProperty.Register(nameof(AngleControl), typeof(double), typeof(ManualControlPad), new FrameworkPropertyMetadata(0d, FrameworkPropertyMetadataOptions.BindsTwoWayByDefault));

        public AgroBase.Models.Enums.TipoMovimentoDirecional MoveTypeControl { get => (AgroBase.Models.Enums.TipoMovimentoDirecional)GetValue(MoveTypeControlProperty); set => SetValue(MoveTypeControlProperty, value); }
        public static readonly DependencyProperty MoveTypeControlProperty = DependencyProperty.Register(nameof(MoveTypeControl), typeof(AgroBase.Models.Enums.TipoMovimentoDirecional), typeof(ManualControlPad), new PropertyMetadata(AgroBase.Models.Enums.TipoMovimentoDirecional.RodasDianteiras));

        public double MaxSteerDeg { get => (double)GetValue(MaxSteerDegProperty); set => SetValue(MaxSteerDegProperty, value); }
        public static readonly DependencyProperty MaxSteerDegProperty = DependencyProperty.Register(nameof(MaxSteerDeg), typeof(double), typeof(ManualControlPad), new FrameworkPropertyMetadata(30d, FrameworkPropertyMetadataOptions.BindsTwoWayByDefault));

        // Joystick cmds (-1..+1)
        double _steerCmd, _throttleCmd;
        public double SteerCmd { get => _steerCmd; private set { _steerCmd = Math.Clamp(value, -1, 1); Raise(nameof(SteerCmd)); CommandChanged?.Invoke(this, EventArgs.Empty); UpdateThumb(); } }
        public double ThrottleCmd { get => _throttleCmd; private set { _throttleCmd = Math.Clamp(value, -1, 1); Raise(nameof(ThrottleCmd)); CommandChanged?.Invoke(this, EventArgs.Empty); UpdateThumb(); } }

        // ===== Eventos públicos =====
        public event PropertyChangedEventHandler PropertyChanged; void Raise(string n) => PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(n));
        public event EventHandler EmergencyClicked;
        public event EventHandler PauseClicked;
        public event EventHandler ReferenceClicked;
        public event EventHandler CommandChanged;

        // Botões
        void OnEmergencyClick(object s, RoutedEventArgs e) => EmergencyClicked?.Invoke(this, EventArgs.Empty);
        void OnRefClick(object s, RoutedEventArgs e) => ReferenceClicked?.Invoke(this, EventArgs.Empty);
        void OnPauseClick(object s, RoutedEventArgs e) => PauseClicked?.Invoke(this, EventArgs.Empty);

        // Modo Manual → anima painel
        void OnManualToggle(object s, RoutedEventArgs e)
        {
            bool manual_on = TgManual.IsChecked == true;
            AnimateManual(manual_on);
            if (!manual_on) { SteerCmd = 0; ThrottleCmd = 0; }
            Focus(); // captura teclado se precisar

            if (VariaveisControleOperacao.RoverEmFoco != null)
            {
                VariaveisControleOperacao.RoverEmFoco!.Controle.MovimentoAutomatico = !manual_on;
                VariaveisControleOperacao.RoverEmFoco!.Controle.DirecionalAutomatico = !manual_on;
                VariaveisControleOperacao.EnviarParametrosOperacao(new AgroBase.Models.Operacoes.OperacaoParametrosModel()
                {
                    Controle = VariaveisControleOperacao.RoverEmFoco?.Controle
                });
            }
        }

        void AnimateManual(bool open, bool instant = false)
        {
            // mede a altura real do conteúdo
            ManualInner.Measure(new Size(ActualWidth, double.PositiveInfinity));
            double target = open ? ManualInner.DesiredSize.Height : 0.0;

            // garante visibilidade antes de abrir
            if (open && ManualContainer.Visibility != Visibility.Visible)
                ManualContainer.Visibility = Visibility.Visible;

            if (instant)
            {
                ManualContainer.Height = target;
                if (!open) ManualContainer.Visibility = Visibility.Collapsed;
                return;
            }

            var hAnim = new DoubleAnimation
            {
                To = target,
                Duration = TimeSpan.FromMilliseconds(180),
                EasingFunction = new CubicEase { EasingMode = EasingMode.EaseInOut }
            };

            if (!open)
            {
                // ao finalizar o fechamento, colapsa para não ocupar espaço
                hAnim.Completed += (_, __) =>
                {
                    ManualContainer.Visibility = Visibility.Collapsed;
                };
            }

            ManualContainer.BeginAnimation(FrameworkElement.HeightProperty, hAnim);

            // se você estava ajustando um fundo externo, mantenha simétrico:
            cnvFundo.Height = 64 + target;  // remova se não for necessário
            /*var cAnim = new DoubleAnimation
            {
                To = 64 + target,
                Duration = TimeSpan.FromMilliseconds(180),
                EasingFunction = new CubicEase { EasingMode = EasingMode.EaseInOut }
            };
            cnvFundo.BeginAnimation(FrameworkElement.HeightProperty, cAnim);*/
        }

        // ====== Teclado (quando manual ON) ======
        protected override void OnPreviewKeyDown(KeyEventArgs e)
        {
            base.OnPreviewKeyDown(e);
            if (TgManual.IsChecked != true) return;

            // Se já está pressionada, IGNORA (é evento repetido)
            if (_pressedKeys.Contains(e.Key))
            {
                e.Handled = true;
                return;
            }

            // Marca como pressionada (primeira vez)
            _pressedKeys.Add(e.Key);

            switch (e.Key)
            {
                case Key.W:
                case Key.Up:
                    ThrottleCmd = 1;
                    break;

                case Key.S:
                case Key.Down:
                    ThrottleCmd = -1;
                    break;

                case Key.D:
                case Key.Right:
                    SteerCmd = 1;
                    break;

                case Key.A:
                case Key.Left:
                    SteerCmd = -1;
                    break;

                case Key.Space:
                    SteerCmd = 0;
                    ThrottleCmd = 0;
                    break;

                case Key.Escape:
                    TgManual.IsChecked = false;
                    OnManualToggle(null, null);
                    break;
            }

            e.Handled = true;
        }

        protected override void OnPreviewKeyUp(KeyEventArgs e)
        {
            base.OnPreviewKeyUp(e);
            if (TgManual.IsChecked != true) return;

            // Remove do set (agora pode receber keydown de novo)
            _pressedKeys.Remove(e.Key);

            switch (e.Key)
            {
                case Key.W:
                case Key.Up:
                case Key.S:
                case Key.Down:
                    ThrottleCmd = 0;
                    break;

                case Key.D:
                case Key.Right:
                case Key.A:
                case Key.Left:
                    SteerCmd = 0;
                    break;
            }
        }

        // ====== Mouse joystick ======
        bool _drag;
        void Pad_MouseDown(object s, System.Windows.Input.MouseButtonEventArgs e)
        { if (TgManual.IsChecked != true) return; _drag = true; CaptureMouse(); UpdateFromMouse(e.GetPosition(Pad)); }
        void Pad_MouseMove(object s, System.Windows.Input.MouseEventArgs e)
        { if (_drag && TgManual.IsChecked == true) UpdateFromMouse(e.GetPosition(Pad)); }
        void Pad_MouseUp(object s, System.Windows.Input.MouseButtonEventArgs e)
        { _drag = false; ReleaseMouseCapture(); SteerCmd = 0; ThrottleCmd = 0; }

        void UpdateFromMouse(Point p)
        {
            double w = Pad.ActualWidth, h = Pad.ActualHeight;
            var cx = w * 0.5; var cy = h * 0.5;
            double dx = p.X - cx, dy = p.Y - cy;
            double r = Math.Min(w, h) * 0.5 - 10;
            double mag = Math.Sqrt(dx * dx + dy * dy);
            if (mag > r) { dx *= r / mag; dy *= r / mag; }
            SteerCmd = dx / r;
            ThrottleCmd = -dy / r; // cima +
        }
        void UpdateThumb()
        {
            if (Thumb == null || ThumbTT == null || Pad == null) return;

            double w = Pad.ActualWidth, h = Pad.ActualHeight;
            double r = Math.Min(w, h) * 0.5 - 10;

            ThumbTT.X = SteerCmd * r;      // direita +
            ThumbTT.Y = -ThrottleCmd * r;  // cima +
        }

        

        public void AtualizarDadosControle(double? angMax = null, double? angSp = null, double? angCur = null, AgroBase.Models.Enums.TipoMovimentoDirecional? tipoMov = null, double? velSp = null, double? velKmh = null, bool? emg = null, bool? pause = null, bool? refing = null)
        {
            if (angMax != null) MaxSteerDeg = (double)angMax;
            if (angSp != null) AngleSpDeg = (double)angSp;
            if (angCur != null) AngleCurDeg = (double)angCur;
            if (tipoMov != null) MoveType = (AgroBase.Models.Enums.TipoMovimentoDirecional)tipoMov;
            if (velSp != null) SpeedSpKmh = (double)velSp;
            if (velKmh != null) SpeedCurKmh = (double)velKmh;
            if (emg != null) EmergencyActivated = (bool)emg;
            if (pause != null) PauseActivated = (bool)pause;
            if (refing != null) RefActivated = (bool)refing;
        }



        private void ManualControlPad_EmergencyClicked(object? sender, EventArgs e)
        {
            EmergencyActivated = !EmergencyActivated;
            //VariaveisControleOperacao.EnviarComandoParada(emergencia: EmergencyActivated);
            _ = VariaveisControleOperacao.EnviarComandoParadaUDP(emergencia: EmergencyActivated);
        }

        private void ManualControlPad_PauseClicked(object? sender, EventArgs e)
        {
            if (VariaveisControleOperacao.RoverEmFoco?.DadosLeitura?.Operacao?.Iniciada ?? false)
            {
                //PauseActivated = !PauseActivated;
                //VariaveisControleOperacao.EnviarComandoParada(pausa: PauseActivated);

                if (System.Windows.MessageBox.Show("Deseja finalizar a operação em andamento?", "Finalizar Operação", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
                {
                    VariaveisControleOperacao.EnviarComandoIniciarOperacao(false);
                }
            }
            else
            {
                if (!(TgManual.IsChecked ?? false) && !(((App)Application.Current).Shell.Main?.MAP?.RuasMapaCarregado?.Any(x => x.Selected) ?? false))
                {
                    System.Windows.MessageBox.Show("Para iniciar a operação automática, é necessário carregar um mapa e selecionar as ruas onde o equipamento irá operar!", "Parametrização", MessageBoxButton.OK, MessageBoxImage.Warning);
                    return;
                }

                if (System.Windows.MessageBox.Show("Deseja iniciar a operação com os parâmetros atuais?", "Iniciar Operação", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
                {
                    bool simulador = VariaveisControleOperacao.RoverEmFoco?.DadosLeitura?.Gnss?.Iniciado != true;
                    VariaveisControleOperacao.EnviarComandoIniciarOperacao(true, simulador);
                }
            }
        }

        private void ManualControlPad_ReferenceClicked(object? sender, EventArgs e)
        {
            RefActivated = !RefActivated;
            VariaveisControleOperacao.EnviarComandoReferenciamento();
        }

        private void ManualControlPad_CommandChanged(object? sender, EventArgs e)
        {
            AgroBase.Models.Enums.BotoesJoystick dir =
                _steerCmd < 0 ? AgroBase.Models.Enums.BotoesJoystick.SEsquerda :
                _steerCmd > 0 ? AgroBase.Models.Enums.BotoesJoystick.SDireita :
                AgroBase.Models.Enums.BotoesJoystick.Vazio;
            if (_lastDirKey != dir)
            {
                //VariaveisControleOperacao.EnviarComandoDirecional(dir, Convert.ToInt32(AngleControl), MoveTypeControl);
                VariaveisControleOperacao.EnviarComandoDirecionalUDP(dir, dir == AgroBase.Models.Enums.BotoesJoystick.Vazio, Convert.ToInt32(AngleControl), MoveTypeControl);
                _lastDirKey = dir;
            }

            AgroBase.Models.Enums.BotoesJoystick mov =
                _throttleCmd < 0 ? AgroBase.Models.Enums.BotoesJoystick.Quadrado :
                _throttleCmd > 0 ? AgroBase.Models.Enums.BotoesJoystick.Xis :
                AgroBase.Models.Enums.BotoesJoystick.Vazio;
            if (_lastMovKey != mov)
            {
                //VariaveisControleOperacao.EnviarComandoMovimentacao(mov, Convert.ToInt32(SpeedControl));
                VariaveisControleOperacao.EnviarComandoMovimentacaoUDP(mov, mov == AgroBase.Models.Enums.BotoesJoystick.Vazio, Convert.ToInt32(SpeedControl), false);
                _lastMovKey = mov;
            }
        }

    }

    // ===== visuais
    public class BoolToOpacityConverter : System.Windows.Data.IValueConverter
    {
        public double EnabledOpacity { get; set; } = 1.0;
        public double DisabledOpacity { get; set; } = 0.35;
        public object Convert(object v, Type t, object p, System.Globalization.CultureInfo c) => (v is bool b && b) ? EnabledOpacity : DisabledOpacity;
        public object ConvertBack(object v, Type t, object p, System.Globalization.CultureInfo c) => Binding.DoNothing;
    }

}