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.Security;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.Button;

namespace Rs.MotionPlat.SysConfig
{
    public partial class UpCameraAndClampCalibration : BaseForm
    {
        public UpCameraAndClampCalibration()
        {
            InitializeComponent();
            cameraTemplate1.ItemName = "上相机与吸嘴中心标定";
            cameraTemplate1.SetFindShapeMode(EFindShapeMode.SelfDefine);
            cameraTemplate1.FindShapeEvent += CameraTemplate1_FindShapeEvent;
        }

        private void CameraTemplate1_FindShapeEvent(ChoiceTech.Halcon.Control.HWindow_Final win, HObject sourceImage)
        {
            //HOperatorSet.Threshold(sourceImage, out HObject regions, 0, 150);
            //HOperatorSet.Connection(regions, out HObject connectedRegions);
            //HOperatorSet.SelectShape(connectedRegions, out HObject selectedRegion, "circularity", "and", 0.5, 1);
            //HOperatorSet.FillUp(selectedRegion, out HObject regionFillUp);
            //HOperatorSet.SmallestCircle(regionFillUp, out HTuple row,out HTuple column,out HTuple radius);
            //HOperatorSet.GenCrossContourXld(out HObject cross, row, column, 30, 0);
            //HOperatorSet.GenCircle(out HObject cicle,row,column,radius);
            //win.DispObj(cicle, "green");
            //win.DispObj(cross, "green");
        }

        private void UpCameraAndClampCalibration_Load(object sender, EventArgs e)
        {
            PositionHelper.BindPosition(groupBox1);
        }

        protected void Fetch_Position(object sender, EventArgs e)
        {
            PositionHelper.Teach(this, sender,"X,Y");
        }

        protected void GotoThis(object sender, EventArgs e)
        {
            if (Ops.IsHomed("LoadX", "LoadY"))
            {
                PositionHelper.Move2This(this, sender,"X,Y");
            }
        }
    }
}