using ChoiceTech.Halcon.Control;
using HalconDotNet;
using Rs.Camera;
using Rs.Controls;
using Rs.DataAccess;
using Rs.Framework;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Flow;
using Rs.MotionPlat.Flow.Camera;
using Rs.MotionPlat.Flow.SubFlow;
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.Recipe
{
    public partial class TurnoverTrayHaveOrNot : BaseForm
    {
        private TraySlot selectedSlot;
        string m_trayName = "Turnover";
        SqliteHelper db = new SqliteHelper();
        /// <summary>
        /// 搜索区域
        /// </summary>
        HObject searchRegion;
        HTuple winHandle;
        HObject showImage;
        string dirPth = string.Empty;
        public TurnoverTrayHaveOrNot()
        {
            InitializeComponent();
        }

        private void BindPoints()
        {
            string querySql = $"select * from TrayPoints where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}' order by slotindex";
            DataTable dtBasePoints = db.GetDataTable(querySql);
            if (ObjectHelper.IsNotNullorEmpty(dtBasePoints))
            {
                dgvBasePoints.DataSource = dtBasePoints;
            }
        }
        private void TurnoverTrayHaveOrNot_Load(object sender, EventArgs e)
        {
            dirPth = Path.Combine("recipe", GlobalVar.CurRecipe, "周转盘产品有无");
            winHandle = hWindow_Final1.hWindowControl.HalconWindow;
            dgvBasePoints.AutoGenerateColumns = false;
            BindPoints();
            PositionHelper.BindPosition(groupBox4, "int");
            string filePath = Path.Combine(dirPth, "default.bmp");
            if(File.Exists(filePath))
            {
                HOperatorSet.ReadImage(out showImage, filePath);
                hWindow_Final1.HobjectToHimage(showImage);
                if (File.Exists(Path.Combine(dirPth, "搜索区域.reg")))
                {
                    //把区域都出来
                    HOperatorSet.ReadRegion(out searchRegion, Path.Combine(dirPth, "搜索区域.reg"));
                    //show region
                    HOperatorSet.SetDraw(winHandle, "margin");
                    HOperatorSet.SetColor(winHandle, "green");
                    hWindow_Final1.DispObj(searchRegion, "green");
                }
            }
        }

        private void rsTray1_SlotClickEvent(TraySlot arg1, MouseEventArgs arg2)
        {
            selectedSlot = arg1;
            contextMenuStrip1.Show(MousePosition.X, MousePosition.Y);
        }

        private void goToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (selectedSlot != null)
            {
                int nozzleIndex = 0;
                string querySql = $"select * from TrayPoints where trayname='{m_trayName}' and slotindex={selectedSlot.Index}";
                DataTable dtGoPosition = db.GetDataTable(querySql);
                if (ObjectHelper.IsNotNullorEmpty(dtGoPosition))
                {
                    double targetX = double.Parse(dtGoPosition.Rows[0]["X"].ToString());
                    double targetY = double.Parse(dtGoPosition.Rows[0]["Y"].ToString());
                    ToolStripMenuItem subMenu = sender as ToolStripMenuItem;
                    ToolStripMenuItem parentMenu = (ToolStripMenuItem)subMenu.OwnerItem;
                    if (parentMenu.Text.IndexOf("Nozzle") >= 0)
                    {
                        nozzleIndex = int.Parse(parentMenu.Text.Replace("Nozzle", "").Replace("GO", ""));
                        SlotPoint dist = TrayPointManager.GetDistToNozzle1(nozzleIndex);
                        targetX += dist.X;
                        targetY += dist.Y;
                    }
                    DialogResult dr = Msg.ShowQuestion($"Are you sure to move loadx to {targetX},loady to {targetY}?");
                    if (dr == DialogResult.OK)
                    {
                        Motion.ErrorCode errCode = AxisControl.GetAxis("LoadX").MovePos(targetX, 4);
                        if (errCode > Motion.ErrorCode.Ok)
                        {
                            Msg.ShowError($"axis loadx move fail,ret={errCode}");
                            return;
                        }
                        errCode = AxisControl.GetAxis("LoadY").MovePos(targetY, 4);
                        if (errCode > Motion.ErrorCode.Ok)
                        {
                            Msg.ShowError($"axis loady move fail,ret={errCode}");
                            return;
                        }
                    }
                }
            }
        }

        public void txtSysParam_KeyUp(object sender, KeyEventArgs e)
        {
            UpdateSysParam((TextBox)sender);
        }

        private void btnDrawRegion_Click(object sender, EventArgs e)
        {
            hWindow_Final1.Focus();

            HalconTool.SetDisplayFont(winHandle, 20, "sans", new HTuple("true"), new HTuple("false"));
            HalconTool.DispMessage(winHandle, "请在图像窗口中绘制ROI区域，点击右键结束", 20, 20, "red", "false");
            HOperatorSet.SetDraw(winHandle, "margin");
            HOperatorSet.SetColor(winHandle, "green");
            hWindow_Final1.DrawModel = true;

            HOperatorSet.GenEmptyObj(out searchRegion);
            HOperatorSet.DrawRectangle1(winHandle, out HTuple row1, out HTuple column1, out HTuple row2, out HTuple column2);
            HOperatorSet.GenRectangle1(out searchRegion, row1, column1, row2, column2);
            hWindow_Final1.DispObj(searchRegion, "green");
            hWindow_Final1.DrawModel = false;
        }

        private void btnSaveRegion_Click(object sender, EventArgs e)
        {

            if (searchRegion != null && searchRegion.IsInitialized())
            {
                if(!Directory.Exists(dirPth))
                {
                    Directory.CreateDirectory(dirPth);
                }
                HOperatorSet.WriteImage(showImage, "bmp", 0, Path.Combine(dirPth, "default.bmp"));
                HOperatorSet.WriteRegion(searchRegion, Path.Combine(dirPth, "搜索区域.reg"));
                Msg.ShowInfo("save success!!!");
            }
            else
            {
                Msg.ShowInfo("please select region");
            }
        }

        private void btnCheck_Click(object sender, EventArgs e)
        {
            if (searchRegion != null && searchRegion.IsInitialized())
            {
                SlotProductHasOrNotResult result = UpCameraCheckFlow.Instance.CheckTurnoverTrayHasProduct(null, 1, false);
                return;
                hWindow_Final1.ClearWindow();
                hWindow_Final1.HobjectToHimage(showImage);
                HOperatorSet.ReduceDomain(showImage, searchRegion, out HObject imageReduced);
                HOperatorSet.Threshold(imageReduced, out HObject resultRegion, GlobalVar.TurnoverTrayHaveOrNotGrayMin, GlobalVar.TurnoverTrayHaveOrNotGrayMax);
                HOperatorSet.AreaCenter(resultRegion, out HTuple area, out HTuple row, out HTuple col);
                HOperatorSet.SetDraw(winHandle, "fill");
                hWindow_Final1.DispObj(resultRegion, "green");
                lblCheckResult.Text = area.D.ToString("0.00");

                if(area.D>GlobalVar.TurnoverTrayHaveOrNotGrayArea)
                {
                    lblProductCheckResult.BackColor = Color.Green;
                    lblProductCheckResult.Text = "有产品";
                }
                else
                {
                    lblProductCheckResult.BackColor = Color.Red;
                    lblProductCheckResult.Text = "无产品";
                }
            }
        }

        private void btnGrab_Click(object sender, EventArgs e)
        {
            string cameraName = "upCamera";
            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);

            bool cameraOk = ImageProcess.manualTriggerEvent.WaitOne(3000);
            if (cameraOk)
            {
                HObject image = ImageProcess.GetManualImage();
                if (cameraName == SysConfigParam.GetValue<string>("UpCameraName"))
                {
                    HOperatorSet.RotateImage(image, out showImage, SysConfigParam.GetValue<double>("UpCameraRotate"), "constant");
                }
                hWindow_Final1.HobjectToHimage(showImage);
            }
        }
    }
}