using HalconDotNet;
using Rs.Controls;
using Rs.Framework;
using Rs.MotionPlat.Commom;
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.Tasks;
using System.Windows.Forms;

namespace Rs.MotionPlat.SysConfig
{
    public partial class NozzleDistance : BaseForm
    {
        public NozzleDistance()
        {
            InitializeComponent();
            cameraTemplate1.ItemName = "吸嘴间距标定";
            cameraTemplate1.SetFindShapeMode(EFindShapeMode.SelfDefine);
            cameraTemplate1.FindShapeEvent += CameraTemplate1_FindShapeEvent;
            //cameraTemplate1.ManualGrab += CameraTemplate1_ManualGrab;
        }

        private void CameraTemplate1_ManualGrab()
        {
            AxisControl.LoadX.ComparePulse(1);
        }

        private void CameraTemplate1_FindShapeEvent(ChoiceTech.Halcon.Control.HWindow_Final arg1, HalconDotNet.HObject arg2)
        {
            HOperatorSet.Threshold(arg2, out HObject Region, new HTuple(0), new HTuple(100));
            HOperatorSet.Connection(Region, out HObject connectedRegion);
            if(connectedRegion.IsInitialized()&&connectedRegion.CountObj()>0)
            {
                HOperatorSet.SelectShape(connectedRegion, out HObject selectedRegion, "area","and", new HTuple(2000), new HTuple(3000));
                if(selectedRegion.IsInitialized()&&selectedRegion.CountObj()>0)
                {
                    HOperatorSet.SelectShape(selectedRegion, out HObject lastRegion, "circularity", "and", new HTuple(0.8), new HTuple(1));
                    if(lastRegion.IsInitialized()&&lastRegion.CountObj()>0)
                    {
                        HOperatorSet.SmallestCircle(lastRegion, out HTuple row, out HTuple column, out HTuple radius);
                        HOperatorSet.GenCrossContourXld(out HObject cross, row, column, new HTuple(20), new HTuple(0));
                        arg1.DispObj(cross, "green");
                    }
                }
            }
        }

        private void NozzleDistance_Load(object sender, EventArgs e)
        {
            foreach (var item in groupBox1.Controls)
            {
                if(item is TextBox)
                {
                    TextBox txt=(TextBox)item;
                    txt.Text = SysConfigParam.GetValue<double>(txt.Name.Replace("txt", "")).ToString("0.000");
                }
            }
        }

        private void NozzleDistance_FormClosing(object sender, FormClosingEventArgs e)
        {
            cameraTemplate1.RemoveGrabEvent();
        }

        protected void Fetch_Position(object sender, EventArgs e)
        {
            AxisControl.LoadX.GetEncoderPosition(out double curX);
            AxisControl.LoadY.GetEncoderPosition(out double curY);
            Button btn=(Button)sender;
            string txtCenterX=$"txt{btn.Name.Replace("btnFetchPostion","")}CenterX";
            string txtCenterY = $"txt{btn.Name.Replace("btnFetchPostion", "")}CenterY";
            foreach (var item in groupBox1.Controls)
            {
                if (item is TextBox)
                {
                    TextBox txt = (TextBox)item;
                    if(txt.Name==txtCenterX)
                    {
                        txt.Text = curX.ToString("0.000");
                    }
                    if(txt.Name== txtCenterY)
                    {
                        txt.Text = curY.ToString("0.000");
                    }
                }
            }
            SysConfigParam.Update(txtCenterX.Replace("txt", ""), curX.ToString());
            SysConfigParam.Update(txtCenterY.Replace("txt", ""), curY.ToString());
        }

        protected void GotoThis(object sender, EventArgs e)
        {
            if (Ops.IsHomed("LoadX", "LoadY"))
            {
                double targetX = 0.0; double targetY = 0.0;
                Button btn = (Button)sender;
                string txtCenterX = $"txt{btn.Name.Replace("btnGoto", "")}CenterX";
                string txtCenterY = $"txt{btn.Name.Replace("btnGoto", "")}CenterY";
                Control[] ctls = groupBox1.Controls.Find(txtCenterX, true);
                if(ctls!=null&&ctls.Length>0)
                {
                    targetX = double.Parse(ctls[0].Text);
                }
                else
                {
                    Msg.ShowError("未找到运动目的地");
                    return;
                }
                ctls = groupBox1.Controls.Find(txtCenterY, true);
                if (ctls != null && ctls.Length > 0)
                {
                    targetY = double.Parse(ctls[0].Text);
                }
                else
                {
                    Msg.ShowError("未找到运动目的地");
                    return;
                }
                AxisControl.LoadX.MovePos(targetX, 10);
                AxisControl.LoadY.MovePos(targetY, 10);
            }
            else
            {
                Msg.ShowInfo("轴未回原，请回原后再运动");
            }
            
            
        }
    }
}