using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using System;
using System.IO;
using System.Threading;
using System.Text;
using UnityEngine.UI;
using System.Threading.Tasks;


#if !UNITY_EDITOR
using System.Threading.Tasks;
#endif

public class TCPSocketScript : MonoBehaviour//hololens为客户端连接电脑
{
    public string host;
    public int port;
    public string replyStr;
    public static string textStr;
    private bool firstReply = true;

    [System.NonSerialized]
    public static string[] textStrArray;

    private Text tips;
#if !UNITY_EDITOR
    private bool _useUWP = true;
    private Windows.Networking.Sockets.StreamSocket socket;
    private Task exchangeTask;
#endif

    //笔记：
    //这个是用来判断平台的语句。内部的内容只会在unity编辑器中执行。如果你打包了，他就不会被执行。
#if UNITY_EDITOR
    private bool _useUWP = false;
    System.Net.Sockets.TcpClient client;
    System.Net.Sockets.NetworkStream stream;
    private Thread exchangeThread;
    private Text text;
    
#endif

    private byte[] bytes = new byte[256];
    private StreamWriter writer;
    private StreamReader reader;

    public static float needle_x;
    public static float needle_y;
    public static float needle_z;

    public static float needle_q0;
    public static float needle_qx;
    public static float needle_qy;
    public static float needle_qz;

    public static float ribs339_x;
    public static float ribs339_y;
    public static float ribs339_z;

    public static float ribs339_q0;
    public static float ribs339_qx;
    public static float ribs339_qy;
    public static float ribs339_qz;

    public static float probe340_x;
    public static float probe340_y;
    public static float probe340_z;

    public static float probe340_q0;
    public static float probe340_qx;
    public static float probe340_qy;
    public static float probe340_qz;

    public static Quaternion needle_qua;
    public static Quaternion ribs339_qua;
    public static Quaternion probe340_qua;

    public static Vector3 needle_posi;
    public static Vector3 ribs339_posi;
    public static Vector3 probe340_posi;

    public static Matrix4x4 Tptmodel_ndi;//工具端
    public static Matrix4x4 Tprobe_ndi;
    public static Matrix4x4 T339_ndi;
    public static Matrix4x4 Tndi_ptmodel;

    public void Connect(string host, int port)
    {

        if (_useUWP)
        {
            ConnectUWP(host, port);
        }
        else
        {
            ConnectUnity(host, port);
        }
    }


#if UNITY_EDITOR
    private void ConnectUWP(string host, int port)
#else
    private async void ConnectUWP(string host, int port)
#endif

    {
#if UNITY_EDITOR
        print("UWP TCP clinet used in Unity!");
#else
     
        try
        {
            //笔记：UWP，异步，TCP
            if (exchangeTask != null) StopExchange();
        
            socket = new Windows.Networking.Sockets.StreamSocket();
            Windows.Networking.HostName serverHost = new Windows.Networking.HostName(host);
            string portStr = Convert.ToString(port);

            await socket.ConnectAsync(serverHost, portStr);
     
            Stream streamOut = socket.OutputStream.AsStreamForWrite();
            writer = new StreamWriter(streamOut) { AutoFlush = true };
     
            Stream streamIn = socket.InputStream.AsStreamForRead();
            reader = new StreamReader(streamIn);

            RestartExchange();
        
        }


        catch (Exception e)
        {
           print("error"+e);
        }
#endif
    }

    private void ConnectUnity(string host, int port)
    {
#if !UNITY_EDITOR
        print("Unity TCP client used in UWP!");

#else
        try
        {
            if (exchangeThread != null) StopExchange();

            client = new System.Net.Sockets.TcpClient(host, port);
            stream = client.GetStream();
            reader = new StreamReader(stream);
            writer = new StreamWriter(stream) { AutoFlush = true };

            RestartExchange();
            print("Connected!"); 


        }
        catch (Exception e)
        {
            //TODO:
            print("error" + e);
        }

#endif
    }


    private bool exchanging = false;
    private bool exchangeStopRequested = false;
    private string lastPacket = null;



    public void RestartExchange()
    {
#if UNITY_EDITOR
        //笔记：多线程
        if (exchangeThread != null) StopExchange();
        exchangeStopRequested = false;
        exchangeThread = new System.Threading.Thread(ExchangePackets);

        exchangeThread.Start();



#else
        if (exchangeTask != null) StopExchange();
        exchangeStopRequested = false;
        exchangeTask = Task.Run(() => ExchangePackets());


#endif
    }


    public void ExchangePackets()
    {
        while (!exchangeStopRequested)
        {
            if (writer == null || reader == null) continue;
            exchanging = true;

            string received = "";
            received = reader.ReadLine();//Server一定要发送有\n的内容！！
            textStr = received;
            print(received);
            //TODO：这里的received就是接收到的信息
            writer.Write(replyStr+"\n");
            //Debug.Log("Sent data!");

#if UNITY_EDITOR
            //byte[] bytes = new byte[client.SendBufferSize];
            //int recv = 0;

            //recv = stream.Read(bytes, 0, client.SendBufferSize);
            //received += Encoding.UTF8.GetString(bytes, 0, recv);


#else
            //笔记：读取发送来的信息
            //TODO：没有接收到数据
            //received = reader.ReadLine();

          
#endif

            lastPacket = received;
            // Debug.Log("Read data:" + received);
            exchanging = false;

        }

    }

    
    
    private void ReportDataToTrackingManager(string data)
    {
        if (data == null)
        {
            Debug.Log("Received a frame but data was null");
            return;
        }

        if (firstReply == true) 
        {
            

            //text.text = textStr;

            firstReply = false;
        }




        //笔记：ndi发送的位姿数据
        string[] ccc = data.Split(new string[] { "\t" }, StringSplitOptions.None);
        int c_length = ccc.GetLength(0);
        //print(c_length);

        if (c_length > 0)
        {
            for (int i = 0; i < c_length; i++)
            {
                try
                {
                    textStrArray[i] = ccc[i];
                    ReportStringToTrackingManager(ccc);
                }

                catch (Exception e)
                {
                    Debug.Log(" ReportDataToTrackingManager" + e);

                }

            }
        }
    }

    //NDI右手坐标系的四元数——Unity左手坐标系的四元数——左手坐标系的矩阵
    //Quaternion ConvertToUnity(Quaternion input)
    //{
    //    return new Quaternion(
    //         input.y,   // -(  right = -left  )
    //        -input.z,   // -(     up =  up     )
    //        -input.x,   // -(forward =  forward)
    //         input.w
    //    );
    //}

    private void ReportStringToTrackingManager(string[] rigidBodyString)
    {
        //var ddd=rigidBodyString[].Split(new string[] { "," }, StringSplitOptions.None);
        if (rigidBodyString.Length > 3)//过滤掉\n等字符
        {
            try
            {
                ////肺部
                //if (rigidBodyString[1+0*8] != "MISSING")
                //{
                //    //转化成m
                //    ribs339_x = float.Parse(rigidBodyString[6 + 0 * 8]) / 1000;
                //    ribs339_y = float.Parse(rigidBodyString[7 + 0 * 8]) / 1000;
                //    ribs339_z = float.Parse(rigidBodyString[8 + 0 * 8]) / 1000;

                //    ribs339_q0 = float.Parse(rigidBodyString[2 + 0 * 8]);
                //    ribs339_qx = float.Parse(rigidBodyString[3 + 0 * 8]);
                //    ribs339_qy = float.Parse(rigidBodyString[4 + 0 * 8]);
                //    ribs339_qz = float.Parse(rigidBodyString[5 + 0 * 8]);

                //    ribs339_qua = new Quaternion(ribs339_qx, ribs339_qy, ribs339_qz, ribs339_q0).normalized;
                //    ribs339_posi = new Vector3(ribs339_x, ribs339_y, ribs339_z);
                //    T339_ndi = Matrix4x4.TRS(ribs339_posi, ribs339_qua, new Vector3(1, 1, 1));


                //    //T339_ndi      
                //    //Vector3 trans_339 = ribs339_posi;
                //    //Quaternion qua_339 = ribs339_qua.normalized;


                //}

                //针
                if (rigidBodyString[1 + 0 * 8] != "MISSING")
                {
                    //转化成m
                    probe340_x = float.Parse(rigidBodyString[6 + 0 * 8]) / 1000;
                    probe340_y = float.Parse(rigidBodyString[7 + 0 * 8]) / 1000;
                    probe340_z = float.Parse(rigidBodyString[8 + 0 * 8]) / 1000;

                    probe340_q0 = float.Parse(rigidBodyString[2 + 0 * 8]);
                    probe340_qx = float.Parse(rigidBodyString[3 + 0 * 8]);
                    probe340_qy = float.Parse(rigidBodyString[4 + 0 * 8]);
                    probe340_qz = float.Parse(rigidBodyString[5 + 0 * 8]);

                    probe340_qua = new Quaternion(probe340_qx, probe340_qy, probe340_qz, probe340_q0).normalized;
                    probe340_posi = new Vector3(probe340_x, probe340_y, probe340_z);
                    Tprobe_ndi = Matrix4x4.TRS(probe340_posi,probe340_qua,new Vector3(1,1,1));

                    //Tprobe_ndi 
                    //Vector3 trans_340 = probe340_posi;
                    //Quaternion qua_340 = probe340_qua.normalized;

                }

                //工具端
                if (rigidBodyString[1 + 1 * 8] != "MISSING")
                {

                    needle_x = float.Parse(rigidBodyString[6 + 1 * 8]) / 1000;
                    needle_y = float.Parse(rigidBodyString[7 + 1 * 8]) / 1000;
                    needle_z = float.Parse(rigidBodyString[8 + 1 * 8]) / 1000;

                    needle_q0 = float.Parse(rigidBodyString[2 + 1 * 8]);
                    needle_qx = float.Parse(rigidBodyString[3 + 1 * 8]);
                    needle_qy = float.Parse(rigidBodyString[4 + 1 * 8]);
                    needle_qz = float.Parse(rigidBodyString[5 + 1 * 8]);


                    needle_qua = new Quaternion(needle_qx, needle_qy, needle_qz, needle_q0).normalized;
                    needle_posi = new Vector3(needle_x, needle_y, needle_z);

                    // Tptmodel_ndi
                    //Vector3 trans_pt = needle_posi;
                    //Quaternion qua_pt = needle_qua.normalized;


                    //Tndi_ptmodel
                    Tptmodel_ndi = Matrix4x4.TRS(needle_posi, needle_qua, new Vector3(1, 1, 1));
                    Tndi_ptmodel = Tptmodel_ndi.inverse;

                    tips.text = needle_posi.x.ToString() + ","
                                + needle_posi.y.ToString() + ","
                                + needle_posi.z.ToString() + ","
                                + needle_qua.w.ToString() + ","
                                + needle_qua.x.ToString() + ","
                                + needle_qua.y.ToString() + ","
                                + needle_qua.z.ToString();

                }


            }
            catch (Exception err)
            {
                Debug.Log("ReportStringToTrackingManager" + err.ToString());
            }


        }

    }

    public void StopExchange()
    {
        exchangeStopRequested = true;

#if UNITY_EDITOR
        if (exchangeThread != null)
        {
            exchangeThread.Abort();
            stream.Close();
            client.Close();
            writer.Close();
            reader.Close();

            stream = null;
            exchangeThread = null;

        }
#else
        if (exchangeTask != null) {
            exchangeTask.Wait();
            socket.Dispose();
            writer.Dispose();
            reader.Dispose();

            socket = null;
            exchangeTask = null;
        }
#endif
        writer = null;
        reader = null;
    }


    
    // Start is called before the first frame update
    public void Start()
    {
        print("UDP!!!");
        //tips = GameObject.Find("ModelTarget/PolarisProbe/Canvas/Text").GetComponent<Text>();
        //string port = "26";
        //string host = "192.168.3.10";  //连电脑的IP地址 SYBT
        //string host = "10.135.217.20";  //连电脑的IP地址

        //text = GameObject.Find("TextMeshPro11").GetComponent<Text>();
        Connect(host, port);

    }

    // Update is called once per frame
    public void Update()
    {

        //笔记：解析lastPacket
        ReportDataToTrackingManager(lastPacket);
        //tips = GameObject.Find("ModelTarget/PolarisProbe/Canvas/Text").GetComponent<Text>();

    }

    public void OnDestroy()
    {
        StopExchange();
    }
}