using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using o0._9Axis;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using MathNet.Numerics.LinearAlgebra;

public class MagJsonConvert
{
    public static MagnetometerAutoCalibrater Parse(string jsonStr)
    {
        JObject jo = JObject.Parse(jsonStr);
        jo.Remove("Complete");
        JToken jt_e = jo.GetValue("EllipsoidFitting");
        jo.Remove("EllipsoidFitting");
        JToken jt_v = jo.GetValue("VectorByBlock");
        jo.Remove("VectorByBlock");
        int FitCountLeft = jo.GetValue("FitCountLeft").Value<int>();
        jo.Remove("FitCountLeft");
        MagnetometerAutoCalibrater calibrater = jo.ToObject<MagnetometerAutoCalibrater>();
        calibrater.FitCountLeft = FitCountLeft;
        calibrater.EllipsoidFitting = ToEllipsoidFitting(jt_e);
        foreach (JProperty item in jt_v)
        {
            calibrater.VectorByBlock[ToVectorInt(JArray.Parse(item.Name))] = ToVectorDouble(item.Value as JArray);    
        }
        return calibrater;
    }

    public static string ToJson(MagnetometerAutoCalibrater calibrater)
    {
        return JsonConvert.SerializeObject(calibrater);
    }

    private static EllipsoidFitting ToEllipsoidFitting(JToken jToken) 
    {
        var Center = ToVectorDouble(jToken["Center"] as JArray);
        var CorrectMatrix = ToMatrixDouble(jToken["CorrectMatrixArray"] as JArray);
        var Radius = ToVectorDouble(jToken["Radius"] as JArray);
        return new EllipsoidFitting(Center, CorrectMatrix, Radius);
    }

    private static Matrix<double> ToMatrixDouble(JArray arr) 
    {
        int rcCount = arr.Count;
        Matrix<double> matrix = CreateMatrix.Dense<double>(rcCount, rcCount);
        for (var i = 0; i < rcCount; ++i)
            for (var j = 0; j < rcCount; ++j)
                matrix[i, j] = arr[i][j].Value<double>();
        return matrix;
    }

    private static o0.Geometry.Vector<double> ToVectorDouble(JArray arr) 
    {
        return new o0.Geometry.Vector<double>(
            arr[0].Value<double>(), arr[1].Value<double>(), arr[2].Value<double>());
    }

    private static o0.Geometry.Vector<int> ToVectorInt(JArray arr) 
    {
        return new o0.Geometry.Vector<int>(
            arr[0].Value<int>(), arr[1].Value<int>(), arr[2].Value<int>());
    }
}