using HalconDotNet;
using Rs.Camera;
using Rs.Framework;
using Rs.Motion.Base;
using Rs.MotionPlat.Flow;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Rs.MotionPlat
{
    public partial class FormMain : BaseForm
    {
        IAxis axis = null;
        HWindow winHandle = null;
        HObject hImage = null;
        HObject hmodelImage = null;
        HTuple h1;
        HTuple modelID;
        HObject final_Region = new HObject();
        BindingList<MessageItem> runInfoList = new BindingList<MessageItem>();
        BindingList<MessageItem> errorInfoList = new BindingList<MessageItem>();
        public FormMain()
        {
            InitializeComponent();
            this.tabControlEx1.TabPages.RemoveAt(1);
            HikCamera.Instance.GrabOkEvent += Instance_GrabOkEvent;
            winHandle = hWindow_Final1.hWindowControl.HalconWindow;
            h1 = hWindow_Final1.HWindowHalconID;
            HOperatorSet.GenEmptyObj(out final_Region);
            HOperatorSet.GenEmptyObj(out hmodelImage);
            modelID = new HTuple();
            HOperatorSet.ReadShapeModel("Model/model.shm", out modelID);
            HOperatorSet.ReadImage(out HObject image1, "productImage/1.bmp");
            showImage1.DispFitImage(image1);
            HOperatorSet.ReadImage(out HObject image2, "productImage/2.bmp");
            showImage2.DispFitImage(image2);
            HOperatorSet.ReadImage(out HObject image3, "productImage/3.bmp");
            showImage3.DispFitImage(image3);
        }

        bool cameraFinished = false;
        int testNum = 0;
        int speed = 50;
        private void Instance_GrabOkEvent(int arg1, HalconDotNet.HObject arg2)
        {
            hWindow_Final1.HobjectToHimage(arg2);
            hImage = arg2;
            HOperatorSet.FindShapeModel(hImage, modelID, -0.39, 0.79, 0.5, 1, 0.5, "least_squares", 0, 0.9, out HTuple row, out HTuple column, out HTuple angle, out HTuple score);
            if (score.Length>0)
            {
                Invoke(new Action(() => {
                    textBox1.Text = score.DArr[0].ToString("0.000");
                    textBox2.Text = row.DArr[0].ToString("0.000");
                    textBox3.Text = column.DArr[0].ToString("0.000");

                    string msg = $"{testNum},{speed},{textBox2.Text},{textBox3.Text},{textBox1.Text}\r\n";
                    File.AppendAllText("log.txt", msg);
                    MessageQueue.Instance.Insert(msg);
                }));
            }
            else
            {
                string msg = $"{testNum},{speed},丢步\r\n";
                File.AppendAllText("log.txt", msg);
                MessageQueue.Instance.Warn("未找到");
            }
            cameraFinished = true;
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            //获取运行信息
            while (MessageQueue.Instance.HaveMessage())
            {
                MessageItem runInfo = MessageQueue.Instance.GetMessage();
                if (runInfo != null)
                {
                    while (runInfoList.Count > 500)
                    {
                        //runInfoList.Clear();
                        {
                            runInfoList.RemoveAt(runInfoList.Count - 1);
                        }
                    }
                    runInfoList.Insert(0, runInfo);
                }
                    
                MessageItem errorInfo = MessageQueue.Instance.GetWarn();
                if (errorInfo != null)
                    errorInfoList.Insert(0, errorInfo);
            }
        }

        private void FormMain_Load(object sender, EventArgs e)
        {
            dgv_runinfo.DataSource = runInfoList;
            dgv_errinfo.DataSource = errorInfoList;
            timer1.Interval = 500;
            timer1.Enabled = true;
            HObject img = new HObject();
            //HOperatorSet.CloseWindow(hWindow_Final1.HWindowHalconID);
            //HOperatorSet.OpenWindow(0, 0, hWindow_Final1.Width, hWindow_Final1.Height, winHandle,"visible", "", out h1);
            //HOperatorSet.openwi
            string filepath = @"C:\Users\Administrator\MVS\Data\22.bmp";
            if(File.Exists(filepath))
            {
                HOperatorSet.ReadImage(out HObject image, filepath);
                hWindow_Final1.HobjectToHimage(image);
                //hSmartWindowControl1.HalconWindow.SetDraw("margin");
            }

        }

        
        private void btnStart_Click(object sender, EventArgs e)
        {
            axis = AxisControl.VacZ7;
            axis.Enable();
            AxisControl.VacR7.Enable();
            int workStep = 0;
            Task.Run(() => {

                while (true)
                {
                    switch (workStep)
                    {
                        case 0://到起点
                            if(testNum>100)
                            {
                                testNum = 0;
                                speed += 1;
                            }
                            else
                            {
                                testNum++;
                            }
                            axis.MovePos(2, speed);
                            workStep++;
                            break;
                        case 1:
                            axis.IsStop(out bool bStop);
                            if (bStop)
                            {
                                workStep++;
                                Thread.Sleep(100);
                                //设置
                                //double targetPos = -105;
                                //targetPos-
                                //axis.SetPosCompare(1, new double[] { -20, -80 });
                            }
                            break;
                        case 2:
                            axis.MovePos(15, speed);
                            workStep++;
                            break;
                        case 3:
                            axis.IsStop(out bStop);
                            if (bStop)
                            {
                                workStep++;
                                Thread.Sleep(100);
                                HikCamera.Instance.Grab("MV-CA050-10GM (00C32922251)");
                            }
                            break;
                        case 4:
                            if (cameraFinished)
                            {
                                cameraFinished = false;
                                workStep = 0;
                            }
                            break;
                        default:
                            break;
                    }
                }
            });
        
    }


        private void button3_Click(object sender, EventArgs e)
        {

        }
        private void button1_Click(object sender, EventArgs e)
        {

        }

        

        private void btnWholeHome_Load(object sender, EventArgs e)
        {
            HomeFlow.Instance.StartGoHome();
        }

        private void btnSpaceRun_BtnClick(object sender, EventArgs e)
        {
            if(MachineManage.Instance.MachineStatus== EMachineStatus.Homed)
            {
                SpaceFlow.Instance.Start();
            }
            else if( MachineManage.Instance.MachineStatus== EMachineStatus.Stop)
            {
                SpaceFlow.Instance.Restart();
            }
        }

        private void btnStop_BtnClick(object sender, EventArgs e)
        {
            SpaceFlow.Instance.Stop();
        }
    }
}