using HalconDotNet;
using Rs.Camera;
using Rs.Controls;
using Rs.Framework;
using Rs.Motion;
using Rs.MotionPlat.Commom;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Flow.Space
{
    enum CameraTriggerTestStep
    {
        gotoTriggerStartPos,
        waitGotoTriggerStartPos,
        gotoTriggerEndPos,
        waitGotoTriggerEndPos,
        waitGrabOk
    }
    public class CameraTriggerTest:BaseFlow
    {
        public event Action<List<MatchResult>> OnMatchResult;
        //goto trigger start postion 
        private static CameraTriggerTest instance;
        public static CameraTriggerTest Instance
        {
            get
            {
                if(instance == null)
                    instance = new CameraTriggerTest();
                return instance;
            }
        }

        static int grabNum = 0;
        CameraTriggerTestStep step;
        HObject[] imgs;
        public override void Run()
        {
            switch (step)
            {
                case CameraTriggerTestStep.gotoTriggerStartPos:
                    AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("Nozzle1CenterX") + 50, GlobalVar.WholeSpeed);
                    AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("Nozzle1CenterY"), GlobalVar.WholeSpeed);
                    step = CameraTriggerTestStep.waitGotoTriggerStartPos;
                    break;
                case CameraTriggerTestStep.waitGotoTriggerStartPos:
                    if(Ops.IsStop("LoadX", "LoadY"))
                    {
                        IoManager.Instance.WriteOut("下左相机光源触发", 1);
                        HikCamera.Instance.SetExposure("locationCamera", 50);
                        HikCamera.Instance.SetGain("locationCamera", 15);
                        List<double> grabPos = new List<double>();
                        for(int i=1;i<10;i++)
                        {
                            grabPos.Add(SysConfigParam.GetValue<double>($"Nozzle{i}CenterX"));
                        }
                        AxisControl.LoadX.SetPosCompare(1, grabPos.ToArray());
                        HikCamera.Instance.SetTrigger("locationCamera", ETriggerMode.Auto);

                        step = CameraTriggerTestStep.gotoTriggerEndPos;

                    }
                    break;
                case CameraTriggerTestStep.gotoTriggerEndPos:
                    AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("Nozzle9CenterX")-50, GlobalVar.WholeSpeed);
                    step = CameraTriggerTestStep.waitGotoTriggerEndPos;
                    break;
                case CameraTriggerTestStep.waitGotoTriggerEndPos:
                    if (Ops.IsStop(AxisControl.LoadX))
                    {
                        IoManager.Instance.WriteOut("下左相机光源触发", 0);
                        AxisControl.LoadX.ClearCompare(1);
                        Thread.Sleep(1000);
                        step = CameraTriggerTestStep.waitGrabOk;
                    }
                    break;
                case CameraTriggerTestStep.waitGrabOk:
                    imgs = ImageProcess.GetAutoImage();
                    if(imgs != null && imgs.Length==9)
                    {
                        ImageProcess.ClearAutoTrigger();
                        List<MatchResult>  result = VisionProcess.Instance.MatchDownCam(imgs);
                        if(result.Where(r=>r.IsOK==true).Count()==imgs.Length)
                        {
                            OnMatchResult?.Invoke(result);
                            step = CameraTriggerTestStep.gotoTriggerStartPos;
                        }
                        else
                        {
                            MessageQueue.Instance.Warn("拍照定位失败");
                            step = CameraTriggerTestStep.gotoTriggerStartPos;
                        }
                    }
                    break;
            }
        }
    }
}