using ChoiceTech.Halcon.Control;
using HalconDotNet;
using Rs.Camera;
using Rs.Controls;
using Rs.Framework;
using Rs.Motion;
using Rs.Motion.GugaoEcat;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Flow;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using static System.Net.Mime.MediaTypeNames;

namespace Rs.MotionPlat.SysConfig
{
    public partial class LookCamera : BaseFormHeader
    {
        public LookCamera()
        {
            InitializeComponent();
        }

        private void btnUpCameraGrab_Click(object sender, EventArgs e)
        {
            Task.Run(() => {
                btnUpCameraGrab.Invoke(new Action(() => {
                    btnUpCameraGrab.Enabled = false;
                }));
                do
                {
                    try
                    {
                        ImageProcess.ClearManualTrigger();
                        HikCamera.Instance.SetExposure("upCamera", float.Parse(txtUpCameraExposureTime.Text));
                        HikCamera.Instance.SetGain("upCamera", float.Parse(txtUpCameraGain.Text));
                        HikCamera.Instance.SetTrigger("upCamera", ETriggerMode.Manual, ETriggerSource.Software);
                        //AxisControl.LoadX.ComparePulse(2, false);
                        Ops.On("上相机光源");
                        Thread.Sleep(500);
                        HikCamera.Instance.Grab("upCamera");
                        HObject image = null;
                        Stopwatch timer = new Stopwatch();
                        timer.Start();
                        while (image == null && timer.ElapsedMilliseconds < 3000)
                        {
                            image = ImageProcess.GetManualImage();
                            if (image != null && image.IsInitialized())
                            {
                                HOperatorSet.RotateImage(image, out image, SysConfigParam.GetValue<double>("UpCameraRotate"), "constant");
                                himgNozzle8.Invoke(new Action(() =>
                                {

                                    himgNozzle8.HobjectToHimage(image);
                                    HOperatorSet.GetImageSize(image, out HTuple imgWidth, out HTuple imgHeight);
                                    HOperatorSet.GenCrossContourXld(out HObject camCenter, imgHeight / 2, imgWidth / 2, Math.Max(imgHeight, imgWidth), 0);
                                    himgNozzle8.DispObj(camCenter);
                                }));

                                break;
                            }
                        }
                        Ops.Off("上相机光源");
                        Thread.Sleep(500);
                    }
                    catch (Exception)
                    {
                    }
                    
                }
                while (checkBox1.Checked);
                btnUpCameraGrab.Invoke(new Action(() => {
                    btnUpCameraGrab.Enabled = true;
                }));
            });
        }

       

        private void btnDownCameraGrab_Click(object sender, EventArgs e)
        {
            Task.Run(() => {
                btnDownCameraGrab.Invoke(new Action(() => {
                    btnDownCameraGrab.Enabled = false;
                }));
                do
                {
                    ImageProcess.ClearManualTrigger();
                    HikCamera.Instance.SetExposure("locationCamera", GlobalVar.FlyGrabExposureTime);
                    HikCamera.Instance.SetGain("locationCamera", GlobalVar.FlyGrabGain);
                    HikCamera.Instance.SetTrigger("locationCamera", ETriggerMode.Manual, ETriggerSource.Software);
                    Ops.On("下相机光源");
                    Thread.Sleep(500);
                    HikCamera.Instance.Grab("locationCamera");
                    //AxisControl.LoadX.ComparePulse(1, false);
                    HObject image = null;
                    Stopwatch timer = new Stopwatch();
                    timer.Start();  
                    while (image == null && timer.ElapsedMilliseconds<3000)
                    {
                        image = ImageProcess.GetManualImage();
                        if (image != null && image.IsInitialized())
                        {
                            HOperatorSet.RotateImage(image, out image, SysConfigParam.GetValue<double>("DownLocationCameraRotate"), "constant");
                            himgNozzle8.Invoke(new Action(() => {

                                himgNozzle8.HobjectToHimage(image);
                                HOperatorSet.GetImageSize(image, out HTuple imgWidth, out HTuple imgHeight);
                                HOperatorSet.GenCrossContourXld(out HObject camCenter, imgHeight / 2, imgWidth / 2, Math.Max(imgHeight, imgWidth), 0);
                                himgNozzle8.DispObj(camCenter);
                            }));

                            break;
                        }
                    }
                    Ops.Off("下相机光源");
                    Thread.Sleep(500);
                }
                while (checkBox1.Checked);
                btnDownCameraGrab.Invoke(new Action(() => {
                    btnDownCameraGrab.Enabled = true;
                }));
            });
        }

        private void button1_Click(object sender, EventArgs e)
        {
            //Task.Run(() => {
            //    SlotPoint sp1 = TrayPointManager.GetSlotPoint("Default", "Turnover", 1, EPointType.RUN);
            //    SlotPoint sp2 = TrayPointManager.GetSlotPoint("Default", "Turnover", 8, EPointType.RUN);

            //    int speed = 20;
            //    AxisControl.LoadX.MovePos(sp1.X - 50, speed);
            //    AxisControl.LoadY.MovePos(sp1.Y, speed);
            //    while (true)
            //    {
            //        if (Ops.IsStop(AxisControl.LoadX, AxisControl.LoadY))
            //        {
            //            break;
            //        }
            //    }
            //    ImageProcess.ClearAutoTrigger();
            //    HikCamera.Instance.SetExposure("upCamera", GlobalVar.FlyGrabExposureTime);
            //    HikCamera.Instance.SetGain("upCamera", 15);
            //    HikCamera.Instance.SetTrigger("upCamera", ETriggerMode.Auto);
            //    double[] targetPos = new double[8];
            //    for (int i = 0; i < 8; i++)
            //    {
            //        targetPos[i] = sp1.X + (i * 45);
            //    }
            //    AxisControl.LoadX.SetPosCompare(2, targetPos);

            //    AxisControl.LoadX.MovePos(sp2.X + 50, speed);
            //    //AxisControl.LoadY.MovePos(sp2.Y, 4);
            //    while (true)
            //    {
            //        if (Ops.IsStop(AxisControl.LoadX, AxisControl.LoadY))
            //        {
            //            break;
            //        }
            //    }
            //    HObject[] images = new HObject[8];
            //    while (true)
            //    {
            //        images = ImageProcess.GetAutoImage();
            //        if (images.Length == 8)
            //            break;
            //        // break;
            //    }
            //    int ix = 0;
            //    foreach (HObject image in images)
            //    {
            //        HOperatorSet.RotateImage(image, out HObject imagex, SysConfigParam.GetValue<double>("UpCameraRotate"), "constant");
            //        HOperatorSet.WriteImage(imagex, "bmp", 0, $"d://images//{ix}");
            //        ix++;
            //    }
            //});

        }

        private void button2_Click(object sender, EventArgs e)
        {
            Task.Run(() => {
                AxisControl.LoadX.ClearCompare(2);
                AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>($"Nozzle8CenterX") - 100, GlobalVar.WholeSpeed);
                AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>($"Nozzle8CenterY"), GlobalVar.WholeSpeed);
                while (true)
                {
                    if (Ops.IsStop("LoadX", "LoadY") || GlobalVar.VirtualAxis)
                    {
                        break;
                    }
                }
                ImageProcess.ClearAutoTrigger();
                HikCamera.Instance.SetTrigger("locationCamera", ETriggerMode.Auto);
                HikCamera.Instance.SetGain("locationCamera", 0);
                List<double> grabPoints = new List<double>();
                for (int i = 8; i >0; i--)
                {
                    grabPoints.Add(SysConfigParam.GetValue<double>($"Nozzle{i}CenterX"));
                }
                AxisControl.LoadX.SetPosCompare(1, grabPoints.ToArray());

                AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>($"Nozzle1CenterX") + 30, GlobalVar.FlyCameraSpeed);
                while (true)
                {
                    if (Ops.IsStop("LoadX") || GlobalVar.VirtualAxis)
                    {
                        break;
                    }
                }
                HObject[] images = new HObject[8];
                while (true)
                {
                    images = ImageProcess.GetAutoImage();
                    if (images.Length == 8)
                        break;
                    // break;
                }
                int ix = 0;
                foreach (HObject image in images)
                {
                    HOperatorSet.RotateImage(image, out HObject imagex, SysConfigParam.GetValue<double>("UpCameraRotate"), "constant");
                    HOperatorSet.WriteImage(imagex, "bmp", 0, $"d://images//a{ix}");
                    ix++;
                }
            });
            
        }

        private void LookCamera_Load(object sender, EventArgs e)
        {
            //获取屏幕的宽度
            int tWidth = Screen.PrimaryScreen.WorkingArea.Width;
            int tHeight = Screen.PrimaryScreen.WorkingArea.Height;
            this.Opacity = 1;
            this.Location = new Point(tWidth - Width, tHeight - Height);
        }

        private void txtUpCameraExposureTime_KeyUp(object sender, KeyEventArgs e)
        {
            if(e.KeyCode== Keys.Enter)
            {
                HikCamera.Instance.SetExposure("upCamera", float.Parse(txtUpCameraExposureTime.Text));
            }
        }

        private void txtUpCameraGain_KeyUp(object sender, KeyEventArgs e)
        {
            if (e.KeyCode == Keys.Enter)
            {
                HikCamera.Instance.SetGain("upCamera", float.Parse(txtUpCameraGain.Text));
            }
        }

        private void txtDownCameraExposureTime_KeyUp(object sender, KeyEventArgs e)
        {
            if (e.KeyCode == Keys.Enter)
            {
                HikCamera.Instance.SetExposure("locationCamera", float.Parse(txtDownCameraExposureTime.Text));
            }
        }

        private void txtDownCameraGain_KeyUp(object sender, KeyEventArgs e)
        {
            if (e.KeyCode == Keys.Enter)
            {
                HikCamera.Instance.SetGain("locationCamera", float.Parse(txtDownCameraGain.Text));
            }
        }
    }
}