using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
using Bro.M071.DBManager;
using Bro.M071.Model;
using Bro.M071.Model.Model;
using Bro.Process;
using HalconDotNet;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static Bro.Common.Helper.EnumHelper;

namespace Bro.M071.Process
{
    [Process("M071", EnumHelper.DeviceAttributeType.Device)]
    public partial class M071Process : ProcessControl
    {
        #region 构造函数
        public M071Process() : base() { }
        public M071Process(string productionCode) : base(productionCode) { }
        #endregion

        #region 配置
        M071Config Config
        {
            get => IConfig as M071Config;
        }
        #endregion

        #region 事件
        public event Action OnMeasureStart;
        public event Action OnClearBarcode;
        public event Action<IShapeElement> OnElementUpdated;
        public event Action<MachineState> OnMachineStateChanged;
        public event Action OnFullResetDone;
        #endregion

        public override void Open()
        {
            InitialSetting();

            base.Open();

            SwitchBeep(false);
            SwitchLightGreen(false);
            SwitchLightRed(false);
            SwitchLightYellow(false);

            Reset(null, null, null);
            FullReset(null);
        }

        private void InitialSetting()
        {
            //数据库迁移检查
            DatabaseInitialize.Initialize();

            MotionCardSettingCheck();

            Config.SnapshotPointCollection.ForEach(u =>
            {
                u.GetHalconToolPathList().ForEach(path =>
                {
                    LoadHalconTool(path, u.Id);
                });
            });

            Config.KeyUnitCollection.ForEach(u =>
            {
                if (!u.IsEnabled)
                    return;

                var snapshotPoint = Config.SnapshotPointCollection.FirstOrDefault(s => s.Id == u.SnapshotPointId && s.IsEnabled);
                if (snapshotPoint == null)
                    throw new ProcessException($"{u.AliasName}未设置可用拍照点位");

                if (u.ImageSeq < 1)
                    throw new ProcessException($"{u.AliasName}图片序号小于1");

                var algo = Config.KeyAlgorithemCollection.FirstOrDefault(a => a.Id == u.KeyAlgorithemId);
                if (algo == null)
                    throw new ProcessException($"{u.AliasName}未设置检测算法");

                u.KeyAlgorithemPath = algo.AlgorithemPath;
                LoadHalconTool(u.KeyAlgorithemPath, u.AliasName);

                var resultSet = Config.KeyResultCollection.FirstOrDefault(r => r.Id == u.KeyResultId);
                if (resultSet == null)
                    throw new ProcessException($"{u.AliasName}未设置检测结果配置");

                u.KeyResultList = new List<string>(resultSet.Results);
            });

            Config.MeasurementUnitCollection.ForEach(u =>
            {
                if (!u.IsEnabled)
                    return;

                var spec = Config.MeasureTypeCollection.FirstOrDefault(s => s.Code == u.MeasureType);
                if (spec == null)
                    throw new ProcessException($"{u.GetDisplayText()}未设置检测类型");

                u.Spec = new MeasureType();
                u.Spec.DataFrom(spec);

                LoadHalconTool(u.Spec.AlgorithemPath, u.Id);

                u.KeyUnitCollection.ForEach(b =>
                {
                    var keyRespone = Config.KeyUnitCollection.Where(ku => ku.IsEnabled && ku.Key == b.Key).ToList();
                    if (keyRespone.Count == 0)
                        throw new ProcessException($"{u.GetDisplayText()}对应的单键不存在或不可用");

                    if (b.KeyResultId == "All")
                    {
                        keyRespone.SelectMany(kr => kr.KeyResultList).ToList().ForEach(r =>
                          {
                              b.MeasureValueDict[r] = null;
                          });
                    }
                    else
                    {
                        b.MeasureValueDict[b.KeyResultId] = null;
                    }
                });
            });
        }

        #region 流程中抛出异常
        public override void ExceptionRaisedInMonitor(Exception ex)
        {
            if (ex is ProcessException pEx)
            {
                if (pEx.Level >= ExceptionLevel.Fatal)
                {
                    RaisedAlarm(pEx.Message);
                    MachineState = MachineState.Alarm;
                }
            }
            else
            {
                RaisedAlarm(ex.Message);
                MachineState = MachineState.Alarm;
            }
        }
        #endregion

        public string BarCode { get; set; }

        List<ProductionMeasurement> productionList = new List<ProductionMeasurement>();

        [ProcessMethod("", "StartJob", "开始扫描", InvokeType.TestInvoke)]
        public ProcessResponse StartJob(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        {
            if (MachineState != MachineState.Ready)
                throw new ProcessException("机台未就绪，请勿开始测量", null, ExceptionLevel.Fatal);

            if (string.IsNullOrWhiteSpace(BarCode))
            {
                OnClearBarcode?.Invoke();
                throw new ProcessException("未输入产品条码，请勿开始测量");
            }

            MachineState = MachineState.Running;
            OnMeasureStart?.BeginInvoke(null, null);

            var measurements = Config.MeasurementUnitCollection.Where(u => u.IsEnabled).ToList().DeepSerializeClone();
            measurements.ForEach(m =>
            {
                m.InitialKeyUnitMeasureChanged();
            });

            var pMeasure = new ProductionMeasurement()
            {
                Barcode = BarCode,
                Measurements = measurements,
                StartTime = DateTime.Now,
            };

            var existedProduction = productionList.FirstOrDefault(u => u.Barcode == pMeasure.Barcode);
            if (existedProduction != null)
            {
                productionList.Remove(existedProduction);
                existedProduction.Dispose();
                existedProduction = null;
            }

            productionList.Add(pMeasure);

            pMeasure.InitialMeasurementsPropertyChanged();
            pMeasure.PropertyChanged += MeasureProduction_PropertyChanged;

            Config.SnapshotPointCollection.Where(u => u.IsEnabled).ToList().ForEach(s =>
                  {
                      _pauseHandle.WaitHandle.WaitOne();

                      IDevice device = DeviceCollection.FirstOrDefault(u => u.Id == s.MotionOp.Device);
                      if (device == null)
                          throw new ProcessException($"{s.Name}拍照点位未设置运动设备");

                      IMotionCard motionDevice = device as IMotionCard;

                      if (motionDevice == null)
                          throw new ProcessException($"{s.Name}拍照点位设置{device.Name}不是运动设备");

                      var response = motionDevice.Run(s.MotionOp.OpConfig);
                      if (!response.Result)
                      {
                          throw new ProcessException($"{device.Name}异常，{response.Message}", null, ExceptionLevel.Fatal);
                      }

                      CameraBase camera = DeviceCollection.FirstOrDefault(u => u.Id == s.CameraOp.Device) as CameraBase;
                      if (camera == null)
                          return;

                      IImageSet set = null;
                      try
                      {
                          set = CollectHImage(camera, s.CameraOp.OpConfig);
                      }
                      catch (ProcessException pEx)
                      {
                          pEx.Level = ExceptionLevel.Fatal;
                          throw pEx;
                      }

                      if (set == null)
                      {
                          return;
                      }

                      RunImageHandle(camera, s.CameraOp.OpConfig, set, s.Id, s.Name, pMeasure.Measurements);
                  });

            BarCode = "";
            LogAsync(DateTime.Now, $"{pMeasure.Barcode}测量动作完成", "");

            return new ProcessResponse(true);
        }

        #region 双手启动
        bool isLeftStart = false;
        bool IsLeftStart
        {
            get => isLeftStart;
            set
            {
                isLeftStart = value;
                StartCheck();
            }
        }

        bool isRightStart = false;
        bool IsRightStart
        {
            get => isRightStart;
            set
            {
                isRightStart = value;
                StartCheck();
            }
        }

        private void StartCheck()
        {
            if (isRightStart && isLeftStart)
            {
                StartJob(null, null, null);
            }
        }

        [ProcessMethod("", "Start_Left", "左手启动", InvokeType.TestInvoke)]
        public ProcessResponse Start_Left(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        {
            if (opConfig.InputPara != null && opConfig.InputPara.Count > 0)
            {
                IsLeftStart = opConfig.InputPara[0] == 1;
            }

            return new ProcessResponse();
        }

        [ProcessMethod("", "Start_Right", "右手启动", InvokeType.TestInvoke)]
        public ProcessResponse Start_Right(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        {
            if (opConfig.InputPara != null && opConfig.InputPara.Count > 0)
            {
                IsRightStart = opConfig.InputPara[0] == 1;
            }

            return new ProcessResponse();
        }
        #endregion

        #region 私有方法
        private void MeasureProduction_PropertyChanged(object sender, PropertyChangedEventArgs e)
        {
            if (sender is ProductionMeasurement pMeasure)
            {
                lock (pMeasure)
                {
                    //检查是否全部完成
                    pMeasure.Measurements.ForEach(m =>
                    {
                        if (m.KeyUnitCollection.All(k => k.IsDone != null))
                        {
                            if (!m.IsUpdated)
                            {
                                if (m.KeyUnitCollection.Any(k => k.IsDone == false))
                                {
                                    m.Spec.ActualValue = -999;
                                }
                                else
                                {
                                    string toolKey = m.Id + "|" + m.Spec.AlgorithemPath;
                                    if (!_halconToolDict.ContainsKey(toolKey))
                                    {
                                        LogAsync(DateTime.Now, $"{m.GetDisplayText()}{m.Spec.Code}算法未初始化", "");
                                        m.Spec.ActualValue = -999;
                                    }
                                    else
                                    {
                                        var array = m.KeyUnitCollection.SelectMany(u => u.MeasureValueDict.Values.ToList().ConvertAll(v => v ?? -999)).ToArray();
                                        _halconToolDict[toolKey].InputTupleDic["INPUT_Params"] = new HTuple(array);
                                        if (!_halconToolDict[toolKey].RunProcedure(out string error))
                                        {
                                            LogAsync(DateTime.Now, $"{m.GetDisplayText()}{m.Spec.Code}算法异常,{error}", "");
                                            m.Spec.ActualValue = -999;
                                        }
                                        else
                                        {
                                            m.Spec.ActualValue = _halconToolDict[toolKey].GetResultTuple("OUTPUT_Result").D;
                                            LogAsync(DateTime.Now, $"{m.GetDisplayText()}数据{m.Spec.ActualValue}，结果{(m.Spec.MeasureResult == null ? "TBD" : (m.Spec.MeasureResult == true ? "OK" : "NG"))}", "");
                                        }
                                    }
                                }

                                LogAsync(DateTime.Now, $"{m.GetDisplayText()}检测结果", $"{((m.Spec.MeasureResult ?? false) ? "OK" : "NG")}");

                                IShapeElement indicator = null;
                                pMeasure.ElementList.Add(indicator);
                                //输出图形基元到界面 
                                OnElementUpdated?.BeginInvoke(indicator, null, null);

                                SaveKeyImages(pMeasure.Barcode, m);

                                m.IsUpdated = true;
                            }
                        }
                    });

                    if (!pMeasure.Measurements.All(m => m.IsUpdated))
                    {
                        return;
                    }
                }

                pMeasure.EndTime = DateTime.Now;
                bool pResult = pMeasure.Measurements.All(u => u.Spec.MeasureResult == true);
                pMeasure.PResult = pResult ? "OK" : "NG";
                OnUpdateResult?.Invoke(DateTime.Now, pResult ? 1 : 0);
                OnUpdateCT?.Invoke((float)(pMeasure.EndTime.Value - pMeasure.StartTime.Value).TotalSeconds);

                LogAsync(DateTime.Now, $"{pMeasure.Barcode} 检测完成，结果 {pMeasure.PResult}", "");

                if (MachineState == MachineState.Running)
                    MachineState = MachineState.Ready;

                var measurementUnitResultAndKeyUnitDataSet = GetMeasurementUnitResultAndKeyUnitData(pMeasure);

                //MES输出 todo

                //Excel报表输出 （单个产品的excel导出）
                ExportProductionExcel(measurementUnitResultAndKeyUnitDataSet);
                //数据库保存 
                SaveProductionData(measurementUnitResultAndKeyUnitDataSet);

                SaveWholeImage(pMeasure);

                productionList.RemoveAll(p => p.Barcode == pMeasure.Barcode);
                pMeasure.Dispose();
            }
        }

        KeyUnitDataManager keyUnitDataManager = new KeyUnitDataManager();
        MeasurementUnitResultManager measurementUnitResultManager = new MeasurementUnitResultManager();
        MeasurementAndKeyDataRelationManager measurementAndKeyDataRelationManager = new MeasurementAndKeyDataRelationManager();
        ProductionMeasurementRecordsManager productionMeasurementRecordsManager = new ProductionMeasurementRecordsManager();

        static object dataSaveLock = new object();

        private async void SaveProductionData(ProductionMeasurementUnitResultAndKeyUnitDataSet measurementUnitResultAndKeyUnitDataSet)
        {
            await Task.Run(() =>
            {
                try
                {
                    lock (dataSaveLock)
                    {
                        // 获取 产品数据 并保存
                        var productionMeasurementRecords = measurementUnitResultAndKeyUnitDataSet.ProductionMeasurementRecord;
                        productionMeasurementRecordsManager.CreateModel(productionMeasurementRecords);

                        // 获取 原始数据 并保存
                        var keyUnitDatas = measurementUnitResultAndKeyUnitDataSet.KeyUnitDataList;
                        keyUnitDataManager.BatchAddKeyUnitData(keyUnitDatas);

                        // 获取 检测结果数据 并保存
                        var measurementUnitResults = measurementUnitResultAndKeyUnitDataSet.MeasurementUnitResultList;
                        measurementUnitResultManager.BatchAddMeasurementUnitResult(measurementUnitResults);

                        // 获取 关系数据并保存
                        var measurementAndKeyDataRelationList = measurementUnitResultAndKeyUnitDataSet.MeasurementAndKeyDataRelationList;
                        measurementAndKeyDataRelationManager.BatchAddMeasurementAndKeyDataRelation(measurementAndKeyDataRelationList);
                    }
                }
                catch (Exception ex)
                {
                    LogAsync(DateTime.Now, "数据保存异常", ex.GetExceptionMessage());
                }
            });
        }

        private ProductionMeasurementUnitResultAndKeyUnitDataSet GetMeasurementUnitResultAndKeyUnitData(ProductionMeasurement pData)
        {
            ProductionMeasurementUnitResultAndKeyUnitDataSet measurementUnitResultAndKeyUnitDataSet = new ProductionMeasurementUnitResultAndKeyUnitDataSet();

            try
            {

                //产品数据 
                ProductionMeasurementRecords productionMeasurementRecords = new ProductionMeasurementRecords();
                //关系数据
                List<MeasurementAndKeyDataRelation> measurementAndKeyDataRelationList = new List<MeasurementAndKeyDataRelation>();
                //原始数据
                List<KeyUnitData> keyUnitDatas = new List<KeyUnitData>();
                // 单个产品的测量汇总
                List<MeasurementUnitResult> measurementUnitResults = new List<MeasurementUnitResult>();

                productionMeasurementRecords.ProductionBarcode = pData.Barcode;
                productionMeasurementRecords.ProductionCode = ProductionCode;
                productionMeasurementRecords.ProductionResult = pData.PResult;
                productionMeasurementRecords.OperationStartTime = pData.StartTime.GetValueOrDefault();
                productionMeasurementRecords.OperationEndTime = pData.EndTime.GetValueOrDefault();

                measurementUnitResultAndKeyUnitDataSet.ProductionMeasurementRecord = productionMeasurementRecords;

                foreach (var MeasurementUnitResult in pData.Measurements)//获取到单个测量项结果
                {
                    MeasurementUnitResult measurementUnitResult = new MeasurementUnitResult();
                    measurementUnitResult.ProductionMeasurementRecordsId = productionMeasurementRecords.ID;
                    measurementUnitResult.MeasurementName = MeasurementUnitResult.Name;
                    measurementUnitResult.MeasurementType = MeasurementUnitResult.MeasureType;
                    measurementUnitResult.MeasurementValue = "";
                    measurementUnitResult.MeasurementResult = MeasurementUnitResult.Spec.MeasureResult.Value ? "OK" : "NG";

                    measurementUnitResults.Add(measurementUnitResult);

                    foreach (var keyUnit in MeasurementUnitResult.KeyUnitCollection)//获取单个键的测量结果
                    {
                        foreach (var keyValue in keyUnit.MeasureValueDict)//获取单个键的单个测量item 结果
                        {
                            KeyUnitData keyUnitData = new KeyUnitData();
                            keyUnitData.Key = keyUnit.Key;
                            keyUnitData.MeasurementItem = keyValue.Key;
                            keyUnitData.ItemValue = keyValue.Value.ToString();
                            keyUnitDatas.Add(keyUnitData);

                            MeasurementAndKeyDataRelation measurementAndKeyDataRelation = new MeasurementAndKeyDataRelation();
                            measurementAndKeyDataRelation.MeasurementUnitResultId = measurementUnitResult.ID;
                            measurementAndKeyDataRelation.KeyUnitDataId = keyUnitData.ID;
                            measurementAndKeyDataRelationList.Add(measurementAndKeyDataRelation);

                        }
                    }
                }
                measurementUnitResultAndKeyUnitDataSet.ProductionMeasurementRecord = productionMeasurementRecords;
                measurementUnitResultAndKeyUnitDataSet.MeasurementAndKeyDataRelationList = measurementAndKeyDataRelationList;
                measurementUnitResultAndKeyUnitDataSet.KeyUnitDataList = keyUnitDatas;
                measurementUnitResultAndKeyUnitDataSet.MeasurementUnitResultList = measurementUnitResults;
            }
            catch (Exception ex)
            {
                LogAsync(DateTime.Now, "数据获取异常", ex.GetExceptionMessage());
            }
            return measurementUnitResultAndKeyUnitDataSet;
        }

        private async void ExportProductionExcel(ProductionMeasurementUnitResultAndKeyUnitDataSet measurementUnitResultAndKeyUnitDataSet)
        {
            await Task.Run(() =>
            {
                ExcelExportSet excelExportDto = new ExcelExportSet();
                excelExportDto.Worksheets = new List<string>() { "原始数据", "检测结果" };
                var keyUnitColumns = new Dictionary<string, string>()
                {
                    {"Key", "键"},
                    {"MeasurementItem", "检测项"},
                    {"ItemValue", "检测值"}
                };
                var measurementUnitResultColumns = new Dictionary<string, string>()
                {
                    {"MeasurementName", "检测名称"},
                    {"MeasurementType", "检测类型"},
                    {"MeasurementValue", "检测值"},
                    {"MeasurementResult", "检测结果"},
                };
                excelExportDto.WorksheetColumns[excelExportDto.Worksheets[0]] = keyUnitColumns;
                excelExportDto.WorksheetColumns[excelExportDto.Worksheets[1]] = measurementUnitResultColumns;

                excelExportDto.WorksheetDataTable[excelExportDto.Worksheets[0]] = ExcelExportHelper.ListToDataTable(measurementUnitResultAndKeyUnitDataSet.KeyUnitDataList, keyUnitColumns);
                excelExportDto.WorksheetDataTable[excelExportDto.Worksheets[1]] = ExcelExportHelper.ListToDataTable(measurementUnitResultAndKeyUnitDataSet.MeasurementUnitResultList, measurementUnitResultColumns); ;

                byte[] filecontent = ExcelExportHelper.ExportExcel(excelExportDto, false);
                string dir = Path.Combine(Config.ImageSaveFolder, DateTime.Now.ToString("yyyyMMdd"));
                if (!Directory.Exists(dir))
                {
                    Directory.CreateDirectory(dir);
                }

                FileStream fs = new FileStream(Path.Combine(dir, $"{measurementUnitResultAndKeyUnitDataSet.ProductionMeasurementRecord.ProductionBarcode}_{DateTime.Now.ToString("HHmmss")}.xlsx"), FileMode.Create, FileAccess.Write);
                fs.Write(filecontent, 0, filecontent.Length);
                fs.Flush();
                fs.Close();
            });
        }

        #region 图像保存
        private void SaveWholeImage(ProductionMeasurement pMeasure)
        {
            try
            {
                Bitmap backImage = (Bitmap)Bitmap.FromFile(Config.BackgroundImagePath);

                Bitmap map = new Bitmap(backImage.Width, backImage.Height);
                using (Graphics g = Graphics.FromImage(map))
                {
                    g.DrawImage(backImage, new PointF(0, 0));

                    pMeasure.ElementList.ForEach(e =>
                    {
                        e.Draw(g);
                    });
                }

                string dir = Path.Combine(Config.ImageSaveFolder, "TopView", DateTime.Now.ToString("yyyyMMdd"));
                if (!Directory.Exists(dir))
                {
                    Directory.CreateDirectory(dir);
                }

                map.Save(Path.Combine(dir, $"{pMeasure.Barcode}_{DateTime.Now.ToString("HHmmss")}.bmp"));
            }
            catch (Exception ex)
            {
                LogAsync(DateTime.Now, "整体图片保存异常", ex.GetExceptionMessage());
            }
        }

        private void SaveKeyImages(string barCode, MeasurementUnit measureUnit)
        {
            string measureName = measureUnit.GetDisplayText();
            if (Config.ImageSaveOption.IsSaveOriginImage)
            {
                measureUnit.KeyUnitCollection.ForEach(u => u.ImageSaveStatus++);

                string dir = Path.Combine(Config.ImageSaveFolder, "Origin", DateTime.Now.ToString("yyyyMMdd"), barCode, measureUnit.MeasureType);
                if (!Directory.Exists(dir))
                {
                    Directory.CreateDirectory(dir);
                }

                SaveKeyImages(measureUnit, measureName, dir);
            }

            string result = (measureUnit.Spec.MeasureResult ?? false) ? "OK" : "NG";
            if (Config.ImageSaveOption.AddtionalSaveType.ToUpper().Contains(result))
            {
                measureUnit.KeyUnitCollection.ForEach(u => u.ImageSaveStatus++);

                string dir = Path.Combine(Config.ImageSaveFolder, result, DateTime.Now.ToString("yyyyMMdd"), barCode, measureUnit.MeasureType);
                if (!Directory.Exists(dir))
                {
                    Directory.CreateDirectory(dir);
                }

                SaveKeyImages(measureUnit, measureName, dir);
            }
        }

        private async void SaveKeyImages(MeasurementUnit measureUnit, string measureName, string dir)
        {
            await Task.Run(() =>
            {
                measureUnit.KeyUnitCollection.ForEach(u =>
                {
                    int i = 0;
                    u.KeyImages?.ForEach(image =>
                    {
                        string fileName = Path.Combine(dir, $"{measureName}_{u.Key}{(i == 0 ? "" : $"-{i}")}_{DateTime.Now.ToString("HHmmss")}.tiff");
                        image.WriteImage("tiff", 0, fileName);
                        i++;
                    });

                    u.ImageSaveStatus--;
                });
            });
        }
        #endregion

        private async void RunImageHandle(CameraBase camera, IOperationConfig opConfig, IImageSet imgSet, string snapshotId, string snapshotName, List<MeasurementUnit> measureList)
        {
            await Task.Run(() =>
             {
                 var keys = Config.KeyUnitCollection.Where(u => u.IsEnabled && u.SnapshotPointId == snapshotId);
                 var keyBindCollection = measureList.SelectMany(u => u.KeyUnitCollection).Where(u => keys.Any(k => k.Key == u.Key)).ToList();

                 string toolKey = (opConfig as CameraOprerationConfigBase).AlgorithemPath;
                 HObject images = imgSet.HImage;
                 LaserScanParam scanParam = JsonConvert.DeserializeObject<LaserScanParam>(imgSet.ImageData);

                 if (!string.IsNullOrWhiteSpace(toolKey))
                 {
                     toolKey = snapshotId + "|" + toolKey;
                     if (!_halconToolDict.ContainsKey(toolKey))
                     {
                         LogAsync(DateTime.Now, $"{snapshotName}未初始化取图算法配置", "");
                         keyBindCollection.ForEach(k => k.FillKeyValues(null));
                         return;
                     }

                     _halconToolDict[toolKey].InputImageDic["INPUT_Image"] = imgSet.HImage;
                     if (!_halconToolDict[toolKey].RunProcedure(out string error))
                     {
                         LogAsync(DateTime.Now, $"{snapshotName}取图算法异常，{error}", "");
                         keyBindCollection.ForEach(k => k.FillKeyValues(null));
                         return;
                     }

                     images = _halconToolDict[toolKey].GetResultObject("OUTPUT_Images");
                 }

                 HOperatorSet.CountObj(images, out HTuple count);

                 if (count == 0)
                 {
                     LogAsync(DateTime.Now, $"{snapshotName}取图算法未输出图像", "");
                     keyBindCollection.ForEach(k => k.FillKeyValues(null));
                     return;
                 }

                 var excludeKeys = keys.Where(u => u.ImageSeq > count).ToList();
                 if (excludeKeys.Count > 0)
                 {
                     LogAsync(DateTime.Now, $"{string.Join(" ", excludeKeys.Select(u => u.AliasName))}未在图片获取序列中", "");
                     keyBindCollection.Where(k => excludeKeys.Any(u => u.Key == k.Key)).ToList().ForEach(k =>
                          {
                              k.FillKeyValues(null);
                          });
                 }

                 Parallel.For(1, count.I, (i) =>
                 {
                     HOperatorSet.SelectObj(images, out HObject image, i);

                     keys.Where(u => u.ImageSeq == i).ToList().ForEach(k =>
                         {
                             Dictionary<string, double> resultDict = null;

                             var keyBindList = keyBindCollection.Where(u => u.Key == k.Key).ToList();

                             string keyToolKey = k.AliasName + "|" + k.KeyAlgorithemPath;
                             if (!_halconToolDict.ContainsKey(keyToolKey))
                             {
                                 LogAsync(DateTime.Now, $"{k.AliasName}检测算法未初始化", "");
                             }
                             else
                             {
                                 _halconToolDict[keyToolKey].InputImageDic["INPUT_Image"] = image;
                                 _halconToolDict[keyToolKey].InputTupleDic["INPUT_Resolution_X"] = scanParam.Resolution_X;
                                 _halconToolDict[keyToolKey].InputTupleDic["INPUT_Resolution_Z"] = scanParam.Resolution_Z;
                                 if (!_halconToolDict[keyToolKey].RunProcedure(out string error))
                                 {
                                     LogAsync(DateTime.Now, $"{k.AliasName}检测算法异常，{error}", "");
                                 }
                                 else
                                 {
                                     var results = _halconToolDict[keyToolKey].GetResultTuple("OUTPUT_Results").HTupleToDouble();
                                     if (results.Count == 0 || results.Any(u => u < 0))
                                     {
                                         LogAsync(DateTime.Now, $"{k.AliasName}检测结果异常", "");
                                     }
                                     else
                                     {
                                         resultDict = k.KeyResultList.ToDictionary(u => u, u =>
                                              {
                                                  int index = k.KeyResultList.IndexOf(u);
                                                  return results[index];
                                              });
                                     }
                                 }
                             }

                             keyBindList.ForEach(kb =>
                             {
                                 kb.KeyImages.Add(image.Clone() as HImage);
                                 kb.FillKeyValues(resultDict);
                             });
                         });

                     image.Dispose();
                 });

                 //if (count.I != 1)
                 //{
                 //    hImage?.Dispose();
                 //    hImage = null;
                 //}
             });
        }
        #endregion
    }
}