using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using HalconDotNet;

namespace HalconTools
{
    public delegate void ScrewDelegate(ScrewResult result);

    public class ScrewAssistant
    {
        public event ScrewDelegate ScrewDone;

        /// <summary>HALCON image used for .</summary>
        public HImage mImage;
        public int mWidth;
        public int mHeight;

        public HWndCtrl viewController;
        public ROIController roiController;

        public ScrewParam mScrewPara = new ScrewParam();
        public ScrewResult mScrewResult = new ScrewResult();

        //中间参数
        public HXLDCont XLDThresholdSubPix = new HXLDCont();
        public HXLDCont XLDSelected = new HXLDCont();
        public HXLDCont XLDRoundness = new HXLDCont();

        public double row, col, radius;

        private HXLDCont tmpXLD = new HXLDCont();
        private HXLDCont tmpXLD2 = new HXLDCont();
        private HXLDCont tmpXLD3 = new HXLDCont();

        public ScrewAssistant()
        {
        }

        public ScrewAssistant(HWindowControl viewPort)
        {
            viewController = new HWndCtrl(viewPort);
            roiController = new ROIController();
        }

        public bool SetImage(string filename)
        {
            string tmp;

            try
            {
                mImage = new HImage(filename);
                mImage.GetImagePointer1(out tmp, out mWidth, out mHeight);
            }
            catch (HOperatorException e)
            {
                mImage = null;
                return false;
            }
            return true;
        }

        public bool SetImage(HImage image)
        {
            string tmp;

            try
            {
                mImage = image;
                mImage.GetImagePointer1(out tmp, out mWidth, out mHeight);
            }
            catch (HOperatorException e)
            {
                mImage = null;
                return false;
            }
            return true;
        }

        /// <summary>
        /// Writes the new image to graphic window
        /// </summary>
        public void UpdateImage()
        {
            viewController.resetAll();
            viewController.useROIController(roiController);
            viewController.setViewState(HWndCtrl.MODE_VIEW_NONE);

            viewController.addIconicVar(mImage);
            viewController.repaint();
        }

        public void UpdateObj(HObject obj)
        {
            viewController.resetAll();
            viewController.repaint();

            viewController.useROIController(roiController);
            viewController.setViewState(HWndCtrl.MODE_VIEW_NONE);

            viewController.changeGraphicSettings(GraphicsContext.GC_COLOR, "blue");
            viewController.changeGraphicSettings(GraphicsContext.GC_LINEWIDTH, 2);

            viewController.addIconicVar(obj);
            viewController.repaint();
        }

        public void UpdateObj(HObject obj, string color)
        {
            viewController.resetAll();
            viewController.repaint();

            viewController.useROIController(roiController);
            viewController.setViewState(HWndCtrl.MODE_VIEW_NONE);

            viewController.changeGraphicSettings(GraphicsContext.GC_COLOR, color);
            viewController.changeGraphicSettings(GraphicsContext.GC_LINEWIDTH, 2);

            viewController.addIconicVar(obj);
            viewController.repaint();
        }

        public void SetPara(ScrewParam para)
        {
            mScrewPara.ThresholdSubPix = para.ThresholdSubPix;
            mScrewPara.RoundnessMin = para.RoundnessMin;
            mScrewPara.RoundnessMax = para.RoundnessMax;
            mScrewPara.RadiusMin = para.RadiusMin;
            mScrewPara.RadiusMax = para.RadiusMax;
        }

        public HXLDCont ThresholdSubPix(HImage image)
        {
            tmpXLD = image.ThresholdSubPix(mScrewPara.ThresholdSubPix);

            return tmpXLD;
        }

        public HXLDCont RoundnessXLD(HXLDCont xld)
        {
            tmpXLD = xld.SelectShapeXld("circularity", "and", mScrewPara.RoundnessMin, mScrewPara.RoundnessMax);

            return tmpXLD;
        }

        public HXLDCont SelectXLD(HXLDCont xld)
        {
            tmpXLD2 = xld.SelectShapeXld("width", "and", mScrewPara.RadiusMin * 2, mScrewPara.RadiusMax * 2);
            tmpXLD3 = tmpXLD2.SelectShapeXld("height", "and", mScrewPara.RadiusMin * 2, mScrewPara.RadiusMax * 2);

            return tmpXLD3;
        }

        public HXLDCont FitCircle(HXLDCont xld)
        {
            double phistart,phiend;
            string tmps;

            xld.FitCircleContourXld("atukey", -1, 0, 0, 3, 2, out row, out col, out radius, out phistart, out phiend, out tmps);

            tmpXLD = new HXLDCont();
            tmpXLD.GenCircleContourXld(row, col, radius, 0, 6.28518, "positive", 1);

            return tmpXLD;
        }

        public void Run()
        {
            try
            {
                mScrewResult = new ScrewResult();

                XLDThresholdSubPix = ThresholdSubPix(mImage);
                XLDRoundness = RoundnessXLD(XLDThresholdSubPix);
                XLDSelected = SelectXLD(XLDRoundness);
                mScrewResult.CircleCont = FitCircle(XLDSelected);
                mScrewResult.row = row;
                mScrewResult.col = col;
                mScrewResult.radius = radius;

                if (ScrewDone != null)
                {
                    ScrewDone(mScrewResult);
                }
            }
            catch (Exception ex)
            {
                mScrewResult = null;

                if (ScrewDone != null) ScrewDone(mScrewResult);
            }
        }
    }
}