using ChoiceTech.Halcon.Control;
using HalconDotNet;
using Rs.Controls;
using Rs.Framework;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Rs.MotionPlat.Commom
{

    public class MatchResult
    {
        bool _disposed = false;
        public MatchResult(HTuple modelParm) {
            HOperatorSet.GenEmptyObj(out _Himage);
            _Himage.Dispose();
            ModelParam=modelParm;
            if(ModelParam != null )
            {
                ModelRow = ModelParam[0];
                ModelCol = ModelParam[1];
                ModelAngle = ModelParam[2];
                ModelScore = ModelParam[3];
            }
        }

        ~MatchResult()
        {
            if(_Himage!=null)
            {
                _Himage.Dispose();
                _Himage = null;
            }
        }

        public MatchResult() { }


        private HObject _Himage;

        public HObject Himage
        {
            get { return _Himage; }
            set { _Himage = value; }
        }

        public HTuple ModelParam { get; set; }
        public double ModelRow { get; set; } = 0.0;
        public double ModelCol { get; set; } = 0.0;
        public double ModelAngle { get; set; } = 0.0;
        public double ModelScore { get; set; } = 0.0;
        public HObject ContourXld { get; set; }
        public double Row { get; set; } = 0.0;
        public double Col { get; set; } = 0.0;
        public double Angle { get; set; } = 0.0;
        public double Score { get; set; } = 0.0;
        public string SN { get; set; }
        public bool IsOK { get; set; } = false;
        public bool LocationOk { get; set; } = false;
        public bool ScanOK { get; set; } = false;

        private double _OffsetRow;

        public double OffsetRow
        {
            get {
                if (LocationOk)
                    return -1 * (Row - ModelRow) * GlobalVar.DownCameraMmPerPixel;
                else
                    return 0;
            }
        }

        private double _OffsetCol;

        public double OffsetCol
        {
            get {
                if (LocationOk)
                    return -1*(Col - ModelCol) * GlobalVar.DownCameraMmPerPixel; 
                else return 0;
            }
        }

        public double OffsetA
        {
            get {
                if (LocationOk)
                    return (-1 * AngleTool.Rad2Deg(Angle - ModelAngle));
                else return 0;
            }
        }
    }
    /// <summary>
    /// 视觉处理类
    /// </summary>
    public class VisionProcess
    {
        private HTuple downCamModelID;
        private HObject downCamSearchRegion;
        private string AngleStart;
        private string AngleExtent;
        private string Score;
        private HTuple modelParam;
        private VisionProcess() {

            //先加载模板
            IniHelper ini = new IniHelper(Path.Combine("Recipe",GlobalVar.CurRecipe,"下定位相机", "default.ini"));
            AngleStart = ini.ReadValue("ModelParam", "AngleStart", "-10");
            AngleExtent = ini.ReadValue("ModelParam", "AngleExtent", "10");
            Score = ini.ReadValue("ModelParam", "Score", "0.5");
            string paramPath = Path.Combine("Recipe", GlobalVar.CurRecipe, "下定位相机", "param.tup");
            HOperatorSet.ReadTuple(paramPath, out modelParam);

            string filePath = Path.Combine("Recipe", GlobalVar.CurRecipe, "下定位相机", "model.shm");
            HOperatorSet.ReadShapeModel(filePath, out downCamModelID);
            HOperatorSet.ReadRegion(out downCamSearchRegion, Path.Combine("Recipe", GlobalVar.CurRecipe, "下定位相机" + "\\search.reg"));
        }

        public void Reload()
        {
            //先加载模板
            IniHelper ini = new IniHelper(Path.Combine("Recipe", GlobalVar.CurRecipe, "下定位相机", "default.ini"));
            AngleStart = ini.ReadValue("ModelParam", "AngleStart", "-10");
            AngleExtent = ini.ReadValue("ModelParam", "AngleExtent", "10");
            Score = ini.ReadValue("ModelParam", "Score", "0.5");
            string paramPath = Path.Combine("Recipe", GlobalVar.CurRecipe, "下定位相机", "param.tup");
            HOperatorSet.ReadTuple(paramPath, out modelParam);

            string filePath = Path.Combine("Recipe", GlobalVar.CurRecipe, "下定位相机", "model.shm");
            HOperatorSet.ReadShapeModel(filePath, out downCamModelID);
            HOperatorSet.ReadRegion(out downCamSearchRegion, Path.Combine("Recipe", GlobalVar.CurRecipe, "下定位相机" + "\\search.reg"));
        }

        private static VisionProcess _instance;
        public static VisionProcess Instance
        {
            get
            {
                if(_instance == null)
                    _instance = new VisionProcess();
                return _instance;
            }
        }

       static int grabNum = 0;

        public List<MatchResult> MatchDownCam(HObject[] images,bool needRotate=true)
        {
            string paramPath = Path.Combine("Recipe", GlobalVar.CurRecipe, "下定位相机", "param.tup");
            HOperatorSet.ReadTuple(paramPath, out modelParam);
            HObject hImage = new HObject();
            List<MatchResult > matches = new List<MatchResult>();
            foreach (var image in images)
            {
                if(image==null)
                    continue;
                if(needRotate)
                {
                    HOperatorSet.RotateImage(image, out hImage, SysConfigParam.GetValue<double>("DownLocationCameraRotate"), "constant");
                    image.Dispose();
                }
                else
                {
                    hImage = image.Clone();
                    image.Dispose();
                }
                if (downCamSearchRegion.IsInitialized())
                {
                    MatchResult mr = new MatchResult(modelParam);
                    HOperatorSet.ReduceDomain(hImage, downCamSearchRegion, out HObject searchImg);
                    HOperatorSet.GetShapeModelContours(out HObject modelContours, downCamModelID, 1);
                    HOperatorSet.FindShapeModel(searchImg, downCamModelID, AngleTool.Deg2Rad(double.Parse(AngleStart)), AngleTool.Deg2Rad(Math.Abs((double.Parse(AngleExtent) - double.Parse(AngleStart)))), new HTuple(0.5), 1, 0.5, "least_squares", 0, 0.9, out HTuple row, out HTuple column, out HTuple angle, out HTuple score);
                    if (score != null && score.Length > 0)
                    {
                        HOperatorSet.VectorAngleToRigid(0, 0, 0, row[0].D, column[0].D, angle[0].D, out HTuple homMat2D);
                        HOperatorSet.AffineTransContourXld(modelContours, out HObject contoursAffineTrans, homMat2D);
                        mr.ContourXld= contoursAffineTrans; 
                        mr.Row = row.DArr[0];
                        mr.Col = column.DArr[0];
                        mr.Angle = angle.DArr[0];
                        mr.Score = score.DArr[0];
                        mr.Himage = hImage;
                        mr.LocationOk = true;
                        if(GlobalVar.EnableScanBarCodeByDownCamera)
                        {
                            FindCode(hImage, ref mr);
                        }
                        string dirname = $"d://images/{DateTime.Now.ToString("yyyyMMdd")}";
                        if(!Directory.Exists(dirname))
                        {
                            Directory.CreateDirectory(dirname);
                        }
                        if (!GlobalVar.EnableScanBarCodeByDownCamera)
                        {
                            mr.IsOK = true;
                        }
                        else
                        {
                            if (mr.ScanOK)
                            {
                                mr.IsOK = true;
                                //HOperatorSet.WriteImage(hImage, "bmp", 0, $"{dirname}//{mr.SN.Replace("\\", "").Replace("\"", "") + "_" + DateTime.Now.ToString("yyyyMMddHHmmssfff")}");
                            }
                            else
                            {

                                //HOperatorSet.WriteImage(hImage, "bmp", 0, $"{dirname}//{DateTime.Now.ToString("yyyyMMddHHmmssfff")}");
                            }
                        }
                        
                        matches.Add(mr);
                    }
                    else
                    {
                        mr.ScanOK = false;
                        mr.LocationOk = false;
                        mr.IsOK = false;
                        mr.Row = 0;
                        mr.Col = 0;
                        mr.Angle = 0;
                        mr.Score = 0;
                        mr.Himage = hImage;
                        matches.Add(mr);
                    }
                }
            }
            return matches;
        }

        public void FindCode(HObject images,ref MatchResult mr)
        { 
            try
            {
                // HOperatorSet.GenRectangle1(out HObject searchRegion, new HTuple(1533), new HTuple(731), new HTuple(1751), new HTuple(1071));
                HOperatorSet.GenRectangle1(out HObject searchRegion, new HTuple(SysConfigParam.GetValue<int>("CodeRow1")), new HTuple(SysConfigParam.GetValue<int>("CodeColumn1")), new HTuple(SysConfigParam.GetValue<int>("CodeRow2")), new HTuple(SysConfigParam.GetValue<int>("CodeColumn2")));
                
                HOperatorSet.ReduceDomain(images, searchRegion, out HObject imgReduaced);
                HOperatorSet.CropDomain(imgReduaced, out HObject imagePart);
                HOperatorSet.WriteImage(imagePart, "bmp", 0, "d://images/11");
                HOperatorSet.Threshold(imagePart, out HObject region, new HTuple(200), new HTuple(255));
                HOperatorSet.Connection(region, out HObject connectedRegions);
                HOperatorSet.FillUp(connectedRegions, out HObject regionFillUp);
                HOperatorSet.ShapeTrans(regionFillUp, out HObject regionTrans, "rectangle1");
                HOperatorSet.SelectShape(regionTrans, out HObject selectedRegions, "area", "and", new HTuple(7000), new HTuple(9000));
                HOperatorSet.SelectShape(selectedRegions, out HObject searchRegions, "outer_radius", "and", new HTuple(50), new HTuple(70));
                if(searchRegions.IsInitialized()&& searchRegions.CountObj()==1)
                {
                    //找到了二维码区域
                    HOperatorSet.DilationRectangle1(searchRegions, out HObject regionDilation, new HTuple(40), new HTuple(40));
                    HOperatorSet.ReduceDomain(imagePart, regionDilation, out HObject imageReduacedQrcode);
                    HOperatorSet.InvertImage(imageReduacedQrcode, out HObject imageInvert);
                    HOperatorSet.ScaleImage(imageInvert, out HObject imageScaled, 2, 0);
                    HOperatorSet.WriteImage(imageScaled, "bmp", 0, "d://images/22");
                    //HOperatorSet.ZoomImageFactor(imageScaled, out HObject imageZoomed, new HTuple(10), new HTuple(10), "constant");
                    HTuple decodedDataStrings = "";
                    HObject xlds = new HObject();

                    string[] modes = new string[] {"standard_recognition","enhanced_recognition","maximum_recognition" };
                    foreach (string mode in modes)
                    {
                        HOperatorSet.CreateDataCode2dModel("Data Matrix ECC 200", "default_parameters", mode, out HTuple dataCodeHandle);
                        HOperatorSet.FindDataCode2d(imageScaled, out xlds, dataCodeHandle, new HTuple(), new HTuple(), out HTuple resultHandles, out decodedDataStrings);

                        if (decodedDataStrings.Length > 0)
                        {
                            mr.SN = decodedDataStrings.ToString().Replace("\"", "");
                            mr.ScanOK = true;
                            HOperatorSet.ClearDataCode2dModel(dataCodeHandle);
                            return;
                        }
                        else
                        {
                            if (mode == "maximum_recognition")
                            {
                                HOperatorSet.WriteImage(images, "bmp", 0, $"d://images/scanfail/{DateTime.Now.ToString("yyyy-MM-dd HHmmss ffff")}");
                                mr.ScanOK = false;
                                HOperatorSet.ClearDataCode2dModel(dataCodeHandle);
                            }
                        }
                    }
                }
                else
                {
                    HOperatorSet.WriteImage(images, "bmp", 0, $"d://images/scanfail/{DateTime.Now.ToString("yyyy-MM-dd HHmmss ffff")}");
                    mr.ScanOK = false;
                }


                


                //HOperatorSet.WriteImage(imagePart, "bmp", 0, "d://images/11");
                //HOperatorSet.Threshold(imagePart, out HObject region, new HTuple(180), new HTuple(255));
                //HOperatorSet.Connection(region, out HObject connectedRegion);
                //HOperatorSet.FillUp(connectedRegion, out HObject regionFillUp);
                //HOperatorSet.ClosingRectangle1(regionFillUp, out HObject regionClosing, new HTuple(70), new HTuple(70));
                //HOperatorSet.SelectShape(regionClosing, out HObject selectedRegions, "area", "and", new HTuple(6000), new HTuple(8000));
                //if (selectedRegions.IsInitialized() && selectedRegions.CountObj()==1)
                //{
                //    HOperatorSet.DilationRectangle1(selectedRegions, out HObject regionDilation, new HTuple(20), new HTuple(20));
                //    HOperatorSet.ReduceDomain(imagePart, regionDilation, out HObject imageScan);
                //    HOperatorSet.InvertImage(imageScan, out HObject imageInvert);
                //    HOperatorSet.ScaleImage(imageInvert, out HObject imageScaled, 2, 0);
                //    //HOperatorSet.WriteImage(imageScaled, "bmp", 0, "d://images/22");
                //    //HOperatorSet.ZoomImageFactor(imageScaled, out HObject imageZoomed, new HTuple(10), new HTuple(10), "constant");
                //    HTuple decodedDataStrings = "";
                //    HObject xlds = new HObject();

                //    string[] modes = new string[] { "maximum_recognition" };
                //    foreach (string mode in modes)
                //    {
                //        HOperatorSet.CreateDataCode2dModel("Data Matrix ECC 200", "default_parameters", mode, out HTuple dataCodeHandle);
                //        HOperatorSet.FindDataCode2d(imageScaled, out xlds, dataCodeHandle, new HTuple(), new HTuple(), out HTuple resultHandles, out decodedDataStrings);

                //        if (decodedDataStrings.Length > 0)
                //        {
                //            mr.SN = decodedDataStrings.ToString().Replace("\"", "");
                //            mr.ScanOK = true;
                //            HOperatorSet.ClearDataCode2dModel(dataCodeHandle);
                //            return;
                //        }
                //        else
                //        {
                //            if (mode == "maximum_recognition")
                //            {
                //                mr.ScanOK = false;
                //                HOperatorSet.ClearDataCode2dModel(dataCodeHandle);
                //            }
                //        }
                //    }
                //}
                //else
                //{
                //    mr.ScanOK = false;
                //}
            }
            catch (Exception ex)
            {
                LogHelper.Error(ex.Message, ex);
            }
        }
    }
}