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.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Rs.MotionPlat.Flow.Camera
{
    public class SlotProductHasOrNotResult
    {
        public bool HasProduct { get; set; } = false;
        public HObject SearchRegion { get; set; }
        public HObject SourceImage { get; set; }
    }
    /// <summary>
    /// 视觉管理类
    /// </summary>
    public static class VisionManager
    {
        private static ModelParameter stockTrayHasProductModel;
        private static ModelParameter upCameraScanBarCodeModel;
        static VisionManager()
        {
            //加载模板和参数
            //加载
            //stockTrayHasProductModel = new ModelParameter("料仓料盘产品有无");
            //upCameraScanBarCodeModel = new ModelParameter("周转盘产品定位");
        }

        /// <summary>
        /// StockTray盘是否有料
        /// 0 无料 1 有料 负数 错误返回错误码
        /// </summary>
        public static SlotProductHasOrNotResult StockTrayHasProduct()
        {
            SlotProductHasOrNotResult result = new SlotProductHasOrNotResult();
            string cameraName = "upCamera";
            //1、拍照
            string m_savePath = Path.Combine("Recipe", GlobalVar.CurRecipe, "料仓料盘产品有无");
            HOperatorSet.ReadRegion(out HObject searchRegion, Path.Combine(m_savePath , "搜索区域.reg"));
            if(searchRegion.IsInitialized())
            {
                result.SearchRegion = searchRegion;
                ImageProcess.ClearManualTrigger();
                HikCamera.Instance.SetTrigger(cameraName, ETriggerMode.Manual);
                HikCamera.Instance.SetExposure(cameraName, GlobalVar.UpCameraExposureTime);
                HikCamera.Instance.SetGain(cameraName, GlobalVar.UpCameraGain);
                AxisControl.LoadX.ComparePulse(2, false);
                //2、等待相机返回结果
                bool cameraOk = ImageProcess.manualTriggerEvent.WaitOne(3000);
                if (cameraOk)
                {
                    HObject hImage = new HObject();
                    HObject image = ImageProcess.GetManualImage();
                    if (cameraName == SysConfigParam.GetValue<string>("UpCameraName"))
                    {
                        HOperatorSet.RotateImage(image, out hImage, SysConfigParam.GetValue<double>("UpCameraRotate"), "constant");
                    }
                    result.SourceImage = hImage;
                    HOperatorSet.ReduceDomain(hImage, searchRegion, out HObject searchImg);
                    HOperatorSet.Threshold(searchImg, out HObject whiteRegion, new HTuple(GlobalVar.StockTrayHaveOrNotGrayMin), new HTuple(GlobalVar.StockTrayHaveOrNotGrayMax));
                    HOperatorSet.AreaCenter(whiteRegion, out HTuple area, out HTuple row, out HTuple column);
                    if (area.D > GlobalVar.StockTrayHaveOrNotGrayArea)
                    {
                        result.HasProduct = true;
                    }
                    else
                    {
                        result.HasProduct = false;
                    }
                }
            }
            //3、返回结果
            return result;
        }

        /// <summary>
        /// 周转盘是否有料
        /// 0 无料 1 有料 负数 错误返回错误码
        /// </summary>
        /// <returns></returns>
        public static SlotProductHasOrNotResult TurnoverTrayHasProduct(Action<HObject> checkFinishedEvent)
        {
            SlotProductHasOrNotResult result = new SlotProductHasOrNotResult();
            string cameraName = "upCamera";
            //1、拍照
            ImageProcess.ClearManualTrigger();
            string m_savePath = Path.Combine("Recipe", GlobalVar.CurRecipe, "周转盘产品有无");
            HOperatorSet.ReadRegion(out HObject searchRegion, Path.Combine(m_savePath, "搜索区域.reg"));
            result.SearchRegion = searchRegion;
            ImageProcess.ClearManualTrigger();
            HikCamera.Instance.SetTrigger(cameraName, ETriggerMode.Manual);
            HikCamera.Instance.SetExposure(cameraName, GlobalVar.UpCameraExposureTime);
            HikCamera.Instance.SetGain(cameraName, GlobalVar.UpCameraGain);
            AxisControl.LoadX.ComparePulse(2, false);
            
            //2、等待相机返回结果
            bool cameraOk = ImageProcess.manualTriggerEvent.WaitOne(3000);
            if (cameraOk)
            {
                HObject hImage = new HObject();
                HObject image = ImageProcess.GetManualImage();
                if (cameraName == SysConfigParam.GetValue<string>("UpCameraName"))
                {
                    HOperatorSet.RotateImage(image, out hImage, SysConfigParam.GetValue<double>("UpCameraRotate"), "constant");
                }
                checkFinishedEvent?.Invoke(hImage);
                result.SourceImage = hImage;
                if (searchRegion.IsInitialized())
                {
                    HOperatorSet.ReduceDomain(hImage, searchRegion, out HObject searchImg);
                    HOperatorSet.Threshold(searchImg, out HObject whiteRegion, new HTuple(GlobalVar.TurnoverTrayHaveOrNotGrayMin), new HTuple(GlobalVar.TurnoverTrayHaveOrNotGrayMax));
                    HOperatorSet.AreaCenter(whiteRegion, out HTuple area, out HTuple row1, out HTuple column1);
                    if(area.D>GlobalVar.TurnoverTrayHaveOrNotGrayArea)
                    {
                        result.HasProduct = true;
                    }
                    else
                    {
                        result.HasProduct = false;
                    }
                }
            }
            //3、返回结果
            return result;
        }

        /// <summary>
        /// 检测周转盘放料是否OK
        /// </summary>
        /// <returns></returns>
        public static VisionResult TurnoverTrayDumpProductOK(HObject image,bool bNeedLocation=true,bool bNeedScanBarcode=true,int slotIndex=0) 
        {
            upCameraScanBarCodeModel = new ModelParameter("周转盘产品定位");
            VisionResult vr = new VisionResult();
            vr.SourceImage = image;
            HObject searchImg = new HObject();
            if (upCameraScanBarCodeModel.SearchRegion.IsInitialized())
                HOperatorSet.ReduceDomain(image, upCameraScanBarCodeModel.SearchRegion, out searchImg);
            else
                searchImg = image;
            if(bNeedLocation)
            {
                HOperatorSet.GetShapeModelContours(out HObject modelContours, upCameraScanBarCodeModel.ModelID, 1);
                HOperatorSet.FindShapeModel(searchImg, upCameraScanBarCodeModel.ModelID,
                    AngleTool.Deg2Rad(double.Parse(upCameraScanBarCodeModel.AngleStart)),
                    AngleTool.Deg2Rad(Math.Abs((double.Parse(upCameraScanBarCodeModel.AngleExtent) - double.Parse(upCameraScanBarCodeModel.AngleStart)))),
                    new HTuple(double.Parse(upCameraScanBarCodeModel.Score)),
                    1,
                    0.5,
                    "least_squares",
                    0,
                    0.9,
                    out HTuple row, out HTuple column, out HTuple angle, out HTuple score);
                if (score.Length > 0)
                {
                    vr.OffsetX = (column.D - upCameraScanBarCodeModel.ModelMatchResult[1].D) * GlobalVar.UpCameraMmPerPixel;
                    vr.OffsetY = -1 * (row.D - upCameraScanBarCodeModel.ModelMatchResult[0].D) * GlobalVar.UpCameraMmPerPixel;
                    vr.OffsetR = AngleTool.Rad2Deg((angle.D - upCameraScanBarCodeModel.ModelMatchResult[2].D));
                    vr.SourceImage = image;
                    vr.SearchModelOK = true;
                    //if (Math.Abs(vr.OffsetX) < GlobalVar.TurnoverTrayLocateXRange 
                    //    && Math.Abs(vr.OffsetY) < GlobalVar.TurnoverTrayLocateYRange 
                    //    && Math.Abs(vr.OffsetR) < GlobalVar.TurnoverTrayLocateRRange)
                    //{
                    //    vr.SearchModelOK = true;
                    //}
                    
                }
                else
                {
                    vr.SearchModelOK = false;
                }
            }
            else
            {
                vr.SearchModelOK = true;
            }
            if(bNeedScanBarcode)
            {
                //只有定位成功的才去扫二维码
                if (vr.SearchModelOK && !GlobalVar.EnableScanBarCodeByDownCamera)
                {
                    string sn = FindCode(image, upCameraScanBarCodeModel.BarCodeRegion);
                    if (string.IsNullOrEmpty(sn))
                    {
                        vr.ScanBarCodeOK = false;
                    }
                    else
                    {
                        string dirname = $"d://images/{DateTime.Now.ToString("yyyyMMdd")}/scanbarcode";
                        if (!Directory.Exists(dirname))
                        {
                            Directory.CreateDirectory(dirname);
                        }
                        HOperatorSet.WriteImage(image, "bmp", 0, $"{dirname}//{sn}_{DateTime.Now.ToString("yyyyMMddHHmmssfff")}_{slotIndex}");
                        vr.ScanBarCodeOK = true;
                        vr.SN = sn;
                    }
                }
            }
            return vr;
        }


        public static VisionResult TurnoverTrayLocateAndScan(HObject image)
        {
            VisionResult vr = TurnoverTrayDumpProductOK(image);
            if(vr.SearchModelOK)
            {
                //扫码
            }
            return vr;
        }

        public static string FindCode(HObject images,HObject _barCodeRegion)
        {
            try
            {
                // HOperatorSet.GenRectangle1(out HObject searchRegion, new HTuple(1533), new HTuple(731), new HTuple(1751), new HTuple(1071));
                //HOperatorSet.GenRectangle1(out HObject searchRegion,row1, col1, row2, col2);
                
                HOperatorSet.ReduceDomain(images, _barCodeRegion, out HObject imgReduaced);
                //HOperatorSet.Emphasize(imgReduaced, out HObject imageEmphasize, new HTuple(7), new HTuple(7), new HTuple(1));
                //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[] { "enhanced_recognition", "maximum_recognition" };
                    foreach (string mode in modes)
                    {
                        HOperatorSet.CreateDataCode2dModel("Data Matrix ECC 200", "default_parameters", mode, out HTuple dataCodeHandle);
                        HOperatorSet.FindDataCode2d(imgReduaced, out xlds, dataCodeHandle, new HTuple(), new HTuple(), out HTuple resultHandles, out decodedDataStrings);

                        if (decodedDataStrings.Length > 0)
                        {
                            HOperatorSet.ClearDataCode2dModel(dataCodeHandle);
                            return decodedDataStrings.ToString().Replace("\"", "");
                        }
                        else
                        {
                            HOperatorSet.ClearDataCode2dModel(dataCodeHandle);
                            //增强对比度之后再识别一次
                            HOperatorSet.MultImage(imgReduaced, imgReduaced, out HObject imageMulti, new HTuple(0.005), new HTuple(0));
                            HOperatorSet.CreateDataCode2dModel("Data Matrix ECC 200", "default_parameters", mode, out dataCodeHandle);
                            HOperatorSet.FindDataCode2d(imageMulti, out xlds, dataCodeHandle, new HTuple(), new HTuple(), out resultHandles, out decodedDataStrings);
                            if (decodedDataStrings.Length > 0)
                            {
                                HOperatorSet.ClearDataCode2dModel(dataCodeHandle);
                                return decodedDataStrings.ToString().Replace("\"", "");
                            }
                            else
                            {
                                HOperatorSet.ClearDataCode2dModel(dataCodeHandle);
                            }
                            if (mode == "maximum_recognition")
                            {
                                string saveDir = $"d://images//{DateTime.Now.ToString("yyyyMMdd")}//Ng";
                                if(!Directory.Exists(saveDir))
                                {
                                    Directory.CreateDirectory(saveDir); 
                                }
                                HOperatorSet.WriteImage(images, "bmp", 0, $"{saveDir}/{DateTime.Now.ToString("yyyy-MM-dd HHmmss ffff")}");
                                HOperatorSet.ClearDataCode2dModel(dataCodeHandle);
                            }
                        }
                    }
                    
                    return "";
                }
                //else
                //{
                //    HOperatorSet.WriteImage(images, "bmp", 0, $"d://images/scanfail/{DateTime.Now.ToString("yyyy-MM-dd HHmmss ffff")}");
                //    mr.ScanOK = false;
                //}
            }
            catch (Exception ex)
            {
                LogHelper.Error(ex.Message, ex);
                return "";
            }
        }
    }
}