using HalconDotNet;
using ImageToolKits;
using MaiMuAOI.SysCtrl;
using MaiMuControl.Device;
using MaiMuControl.Device.AxisDev;
using MaiMuControl.Device.CamDev;
using MaiMuControl.Utils;
using Newtonsoft.Json;
using OpenCvSharp;
using ProductionControl.UI;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using ToolKits.EnumTool;
using static MaiMuAOI.ImageProcessing.DefectLib;
using static MaiMuAOI.ImageProcessing.SizeLib;

namespace MaiMuAOI.SysUI.DefectPicShow
{
    public partial class DebugTestFrm : Form
    {
        private SizeLibProp Sizeprop = new SizeLibProp();
        private DefectLibProp Defectprop = new DefectLibProp(ConfMgr.Instance.SysConfigParams.Defect_CutSize,
            ConfMgr.Instance.SysConfigParams.Defect_ReSize, ConfMgr.Instance.SysConfigParams.Defect_Thresholds);

        SynchronizationContext SyncContext1 = null;
        SynchronizationContext SyncContext2 = null;
        public DebugTestFrm()
        {
            InitializeComponent();
            UIStyle.SetUIStyle(this);
            this.uiTitel1.FatherForm = this;
        }

        private void DebugTestFrm_Load(object sender, EventArgs e)
        {
            this.Left = 600;
            //显示tS曲线
            cbTS.Items.Clear();
            Type VelType = typeof(VelocityCurveType);
            foreach (object s in Enum.GetValues(VelType))
            {
                string st = EnumExtension.GetEnumDescription((VelocityCurveType)s);
                cbTS.Items.Add(st);
            }
            cbTS.Text = cbTS.Items[0].ToString();
            cbTS.SelectedIndex = 0;

            cbDir.Items.Clear();
            cbDir.Items.Add("相对运动");
            cbDir.Items.Add("绝对运动");
            cbDir.Text = cbDir.Items[0].ToString();
            cbDir.SelectedIndex = 0;

            cbAxisName.Items.Clear();
            cbAxisName.Items.Add("X1轴");
            cbAxisName.Items.Add("X2轴");
            cbAxisName.Items.Add("Y轴");
            cbAxisName.Items.Add("Z轴");
            cbAxisName.Text = cbAxisName.Items[0].ToString();
            cbAxisName.SelectedIndex = 0;

            cbCH.Items.Clear();
            Type lightenum = typeof(LightChannelEnum);
            foreach (object s in Enum.GetValues(lightenum))
            {
                string st = EnumExtension.GetEnumDescription((LightChannelEnum)s);
                cbCH.Items.Add(st);
            }
            cbCH.Text = cbCH.Items[0].ToString();
            cbCH.SelectedIndex = 0;

            cbLensMotor.SelectedIndex = 8;

            timer2.Enabled = true;

            if(SysMgr.Instance.QGSts())
                button5.Text = "气缸松开";
            else
                button5.Text = "气缸加紧";

            if (SysMgr.Instance.ThicknessSts())
                BtnHeightAck.Text = "高度传感器上升";
            else
                BtnHeightAck.Text = "高度传感器下降";

            this.propertyGrid1.SelectedObject = Sizeprop;
            this.propertyGrid2.SelectedObject = Defectprop;

            //Sizeprop.deserialize("");
            this.propertyGrid1.Refresh();
            //DATA 
            SysMgr.Instance.SizeLib.finishEvent += new System.Action<SizeTask>((task) =>
            {
                Sizeprop.PT1 = task.PT1;
                Sizeprop.PT2 = task.PT2;
                Sizeprop.Shanxian = task.Shanxian;
                //prop.RowP= task.RowP;
                Sizeprop.Circle_Ymm = task.Circle_Ymm;
                Sizeprop.Circle_Xmm = task.Circle_Xmm;
                Sizeprop.offsetX = task.offsetX;
                Sizeprop.offsetY = task.offsetY;
                Sizeprop.MarkPointList = task.MarkPointList;
                Sizeprop.resultInfo = task.isSucceed ? "成功" : task.resultInfo;
                this.refreshUI1();
            });

            //Defectprop.deserialize("");
            this.propertyGrid2.Refresh();
            //DATA 
            SysMgr.Instance.DefectLib.finishEvent += new System.Action<DefectTask>((task) =>
            {
                DateTime t1 = DateTime.Now;
                var t2 = t1 - task.nowTime;
                var t3 = t2.Milliseconds;
                Defectprop.InformationList = JsonConvert.SerializeObject(task.informationList);
                Defectprop.resultInfo = task.isSucceed ? "成功" : task.resultInfo;
                this.refreshUI2();
            });
        }

        private void refreshUI1()
        {
            SyncContext1.Post(m =>
            {
                var result = m as string;
                propertyGrid1.Refresh();
                //txtLog.Text = szLog;//不显示 
                //tbtnJogOnOff.Text = (prop.AxState == AxisState.STA_AX_EXT_JOG) ? "关闭Jog" : "开启Jog";
                //tbtnLeft.Enabled = tbtnRight.Enabled = (prop.AxState == AxisState.STA_AX_EXT_JOG);
            }, "异步操作完成结果");


        }
        private void refreshUI2()
        {
            SyncContext2.Post(m =>
            {
                var result = m as string;
                propertyGrid2.Refresh();
                //txtLog.Text = szLog;//不显示 
                //tbtnJogOnOff.Text = (prop.AxState == AxisState.STA_AX_EXT_JOG) ? "关闭Jog" : "开启Jog";
                //tbtnLeft.Enabled = tbtnRight.Enabled = (prop.AxState == AxisState.STA_AX_EXT_JOG);
            }, "异步操作完成结果");
        }
        #region 前部相机
        private void btnTrg_Click(object sender, EventArgs e)
        {
            SysMgr.Instance.CamDevFront.ClearImageQueue();
            Acquisition acq = SysMgr.Instance.CamDevFront.Snap(1, 5000);
            if (acq.GrabStatus != "GrabPass")
            {
                ;
            }
            //ShowImage(acq.Image.CopyObj(1, -1));
            ShowImage1(acq.Image);
        }

        private void ShowImage1(HObject image)
        {
            lock (this)
            {
                Mat img = CamDev.HImageToMat(image);
                //imageBox1.ColorName = "red";
                imageBox1.SetInteractive(false);
                if (imageBox1.Image == null)
                    imageBox1.RefreshWindow(img, ImageBox.ImageModeEnum.Zoom);//可以不显示区域
                else
                    imageBox1.RefreshWindow(img, ImageBox.ImageModeEnum.Part);//可以不显示区域
                imageBox1.SetInteractive(true);
                //imageBox1.ColorName = "green";
            }
        }
        private void btnGrab_Click(object sender, EventArgs e)
        {
            if (this.btnGrab.Text == "连续拍照")
            {
                this.btnTrg.Enabled = false;
                this.btnGrab.Text = "停止拍照";
                timer1.Enabled = true;
            }
            else
            {
                this.btnTrg.Enabled = true;
                this.btnGrab.Text = "连续拍照";
                timer1.Enabled = false;

            }
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            SysMgr.Instance.CamDevFront.ClearImageQueue();
            Acquisition acq = SysMgr.Instance.CamDevFront.Snap(1, 100);
            if (acq.GrabStatus != "GrabPass")
            {
                return;

                //MessageBox.Show( "获取图片失败！", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
            //ShowImage(acq.Image.CopyObj(1, -1));
            ShowImage1(acq.Image);
        }

        private void button2_Click(object sender, EventArgs e)
        {
            if (!SysMgr.Instance.CamDevFront.SetExposure((double)numExposure.Value))
            {
                stslog.Text = "曝光设置失败！";
                return;
            }
            if (!SysMgr.Instance.CamDevFront.SetGain((double)numGain.Value))
            {
                stslog.Text = "增益设置失败！";
                return;
            }
            stslog.Text = "曝光-增益-帧率设置成功";
        }
        private void button6_Click(object sender, EventArgs e)
        {
            SysMgr.Instance.CamDevFront.CloseCamera();
            button2.Enabled = false;
            btnTrg.Enabled = false;
            btnGrab.Enabled = false;
        }

        private void button7_Click(object sender, EventArgs e)
        {
            try
            {
                Sizeprop.resultInfo = "";
                SysMgr.Instance.SizeLib.add(new SizeTask()
                {
                    engineName = Sizeprop.EngineName,
                    file_path = Sizeprop.BmpPath,
                    //bmp =read2Bmp(prop.BmpPath),
                    index = Sizeprop.Index,
                    //finishEvent = (res) =>
                    //{ 
                    //}
                });
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message, "失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }
        #endregion

        #region 后部相机
        private void ShowImage2(HObject image)
        {
            lock (this)
            {
                Mat img = CamDev.HImageToMat(image);
                imageBox2.SetInteractive(false);
                if (imageBox2.Image == null)
                    imageBox2.RefreshWindow(img, ImageBox.ImageModeEnum.Zoom);//可以不显示区域
                else
                    imageBox2.RefreshWindow(img, ImageBox.ImageModeEnum.Part);//可以不显示区域
                imageBox2.SetInteractive(true);
            }
        }
        private void btnTrg2_Click(object sender, EventArgs e)
        {
            SysMgr.Instance.CamDevBack.ClearImageQueue();
            Acquisition acq = SysMgr.Instance.CamDevBack.Snap(1, 5000);
            if (acq.GrabStatus != "GrabPass")
            {
                ;
            }
            ShowImage2(acq.Image);
        }

        private void timer3_Tick(object sender, EventArgs e)
        {
            SysMgr.Instance.CamDevBack.ClearImageQueue();
            Acquisition acq = SysMgr.Instance.CamDevBack.Snap(1, 100);
            if (acq.GrabStatus != "GrabPass")
            {
                return;
            }
   
            ShowImage2(acq.Image);
        }
        private void BtnGrab2_Click(object sender, EventArgs e)
        {
            if (this.BtnGrab2.Text == "连续拍照")
            {
                this.btnTrg2.Enabled = false;
                this.BtnGrab2.Text = "停止拍照";
                timer3.Enabled = true;
            }
            else
            {
                this.btnTrg2.Enabled = true;
                this.BtnGrab2.Text = "连续拍照";
                timer3.Enabled = false;

            }
        }
        private void BtnSet2_Click(object sender, EventArgs e)
        {
            if (!SysMgr.Instance.CamDevBack.SetExposure((double)numExp2.Value))
            {
                stslog.Text = "曝光设置失败！";
                return;
            }
            if (!SysMgr.Instance.CamDevBack.SetGain((double)numGain2.Value))
            {
                stslog.Text = "增益设置失败！";
                return;
            }
            stslog.Text = "曝光-增益-帧率设置成功";
        }
        private void BtnDisCam2_Click(object sender, EventArgs e)
        {
            SysMgr.Instance.CamDevBack.CloseCamera();
            BtnGrab2.Enabled = false;
            btnTrg2.Enabled = false;
            BtnSet2.Enabled = false;
        }
        private bool verifyThresholdsCount(string szThresholdsClass, int iThresholdsClassCount)
        {
            return szThresholdsClass.Trim().TrimEnd(new char[] { ',', ';' })
                .Split(new char[] { ',', ';' }).Count() == iThresholdsClassCount;

        }
        private void button8_Click(object sender, EventArgs e)
        {
            if (!Util.IsNumber(Defectprop.ThresholdsClass.Replace("-", "").Replace(",", "").Replace(";", "").Replace(".", "")))
            {
                MessageBox.Show("输入种类阀值与数量不一致！", "失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
                return;
            }
            if (!verifyThresholdsCount(Defectprop.ThresholdsClass, Defectprop.ThresholdsClassCount))
            {
                MessageBox.Show("输入种类阀值与数量不一致！", "失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
                return;
            }
            try
            {
                SysMgr.Instance.DefectLib.loadModelFile(Defectprop.ModelPath);

                Defectprop.resultInfo = "";
                SysMgr.Instance.DefectLib.add(new DefectTask()
                {
                    nowTime = DateTime.Now,
                    bmp = new Mat(Defectprop.BmpPath),
                    cut_size = Defectprop.CutSize,
                    resize = Defectprop.Resize,
                    thresholds = Defectprop.Thresholds,
                    thresholdsClass = Defectprop.ThresholdsClass,
                    //finishEvent = (res) =>
                    //{ 
                    //}
                });
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message, "失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }
        #endregion

        #region 轴移动
        private void btnMove_Click(object sender, EventArgs e)
        {
            if (SysMgr.Instance.AxisDev != null)
            {
                //测厚气缸缩回
                if(!SysMgr.Instance.ThicknessIsSafe())
                {
                    stslog.Text = "高度传感器不在安全位置";
                    return;
                }
                VelocityCurveParams _VelParams = new VelocityCurveParams();
                int axisNo = cbAxisName.SelectedIndex;
                _VelParams.Acc = (double)numAcc.Value;
                _VelParams.Dec = (double)numDec.Value;
                _VelParams.StartVel = (double)numST.Value;
                _VelParams.RunVel = (double)numET.Value;
                _VelParams.JerkT_S = cbTS.SelectedIndex;
                _VelParams.MM2PulseNum = SysMgr.Instance.GetMMtoPlus((AxisName)axisNo);
                if (cbDir.Text == "绝对运动")
                {
                    stslog.Text = "绝对运动:" + numDist.Value.ToString();
                    SysMgr.Instance.AxisDev.MoveAbsValue(axisNo, _VelParams, (double)numDist.Value);
                }
                else if (cbDir.Text == "相对运动")
                {
                    stslog.Text = "相对运动:" + numDist.Value.ToString();
                    SysMgr.Instance.AxisDev.MoveRelValue(axisNo, _VelParams, (double)numDist.Value);
                }
            }
        }
        private void btnJogP_MouseDown(object sender, MouseEventArgs e)
        {
            if (!SysMgr.Instance.ThicknessIsSafe())
            {
                stslog.Text = "高度传感器不在安全位置";
                return;
            }
            Button btn = sender as Button;
            int axisNo = cbAxisName.SelectedIndex;
            double val = 50;
            VelocityCurveParams velocityCurveParams = new VelocityCurveParams(100, 100, 0, 100, 1, SysMgr.Instance.GetMMtoPlus((AxisName)axisNo));
            if (btn.Name == "btnJogP")
                val = 50;
            else
                val = -50;
            SysMgr.Instance.AxisDev.MoveRelValue(axisNo, velocityCurveParams, val);
        }

        private void btnJogP_MouseUp(object sender, MouseEventArgs e)
        {
            int axisNo = cbAxisName.SelectedIndex;
            SysMgr.Instance.AxisDev.DecelStop(axisNo);
        }
        private void timer2_Tick(object sender, EventArgs e)
        {
            int axisNo = cbAxisName.SelectedIndex;
            try
            {
                numericUpDown1.Value = (decimal)SysMgr.Instance.AxisDev.GetFeedbackPos(axisNo) / SysMgr.Instance.GetMMtoPlus((AxisName)axisNo);
            }
            catch
            {
                numericUpDown1.Value = 0;
            }
        }
        #endregion

        #region 光源控制
        private void button4_Click(object sender, EventArgs e)
        {
            int ch = cbCH.SelectedIndex + 1;
            SysMgr.Instance.LightDev.SetLightDigitalValue(ch, (int)numericUpDown3.Value);
        }

        private void button1_Click(object sender, EventArgs e)
        {
            int ch = cbCH.SelectedIndex + 1;
            SysMgr.Instance.LightDev.OpenLight(ch);
        }

        private void button3_Click(object sender, EventArgs e)
        {
            int ch = cbCH.SelectedIndex + 1;
            SysMgr.Instance.LightDev.CloseLight(ch);
        }
        #endregion

        #region 产品加紧
        private void button5_Click(object sender, EventArgs e)
        {
            if (button5.Text == "气缸加紧")
            {
                button5.Text = "气缸松开";
                SysMgr.Instance.RunQG(true);
            }
            else
            {
                button5.Text = "气缸加紧";
                SysMgr.Instance.RunQG(false);
            }
        }

        #endregion

        #region 厚度
        private void BtnHeightAck_Click(object sender, EventArgs e)
        {
            if (BtnHeightAck.Text == "高度传感器下降")
            {
                BtnHeightAck.Text = "高度传感器上升";
                SysMgr.Instance.RunThickness(true);
            }
            else
            {
                BtnHeightAck.Text = "高度传感器下降";
                SysMgr.Instance.RunThickness(false);
            }
        }
        private void BtnReadHeight_Click(object sender, EventArgs e)
        {
            double val = SysMgr.Instance.ThicknessDev.GetValue();
            numHeightValue.Value = (decimal)val;
        }
        #endregion

        #region 张力
        private void btnReadTension_Click(object sender, EventArgs e)
        {
            double val = SysMgr.Instance.TensionDev.GetValue();
            numTensionValue.Value = (decimal)val;
        }
        #endregion

        #region 变焦
        private void btnLens_Click(object sender, EventArgs e)
        {
            int val = (int)SmallAxCmdPos.倍率0_58X;
            switch(cbLensMotor.SelectedIndex)
            {
                case 0:
                    val = (int)SmallAxCmdPos.倍率0_58X;
                    break;
                case 1:
                    val = (int)SmallAxCmdPos.倍率1_0X;
                    break;
                case 2:
                    val = (int)SmallAxCmdPos.倍率1_5X;
                    break;
                case 3:
                    val = (int)SmallAxCmdPos.倍率2_0X;
                    break;
                case 4:
                    val = (int)SmallAxCmdPos.倍率2_5X;
                    break;
                case 5:
                    val = (int)SmallAxCmdPos.倍率3_0X;
                    break;
                case 6:
                    val = (int)SmallAxCmdPos.倍率3_5X;
                    break;
                case 7:
                    val = (int)SmallAxCmdPos.倍率4_0X;
                    break;
                case 8:
                    val = (int)SmallAxCmdPos.倍率4_5X;
                    break;
                case 9:
                    val = (int)SmallAxCmdPos.倍率5_0X;
                    break;
                case 10:
                    val = (int)SmallAxCmdPos.倍率5_5X;
                    break;
                case 11:
                    val = (int)SmallAxCmdPos.倍率6_0X;
                    break;
                case 12:
                    val = (int)SmallAxCmdPos.倍率6_5X;
                    break;
                case 13:
                    val = (int)SmallAxCmdPos.倍率7_0X;
                    break;
                case 14:
                    val = (int)SmallAxCmdPos.倍率7_5X;
                    break;
            }
            SysMgr.Instance.LensMotorDev.MoveAbsPulse(0, new VelocityCurveParams(), val);
            //SysMgr.Instance.LensMotorDev.CheckDone(0, 10000);
        }

        private void btnLensM_Click(object sender, EventArgs e)
        {
            int val = (int)numLensPlus.Value;
            SysMgr.Instance.LensMotorDev.MoveAbsPulse(0, new VelocityCurveParams(), val);
        }

        #endregion


    }
}