using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
using Bro.Process;
using HalconDotNet;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

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<string> OnBarcodeChanged;
        public event Action<IShapeElement> OnElementUpdated;
        #endregion

        public override void Open()
        {
            InitialSetting();

            base.Open();
        }

        private void InitialSetting()
        {
            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.AlignName}未设置可用拍照点位");

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

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

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

                var resultSet = Config.KeyResultCollection.FirstOrDefault(r => r.Id == u.KeyResultId);
                if (resultSet == null)
                    throw new ProcessException($"{u.AlignName}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.KeyResult == "All")
                    {
                        keyRespone.SelectMany(kr => kr.KeyResultList).ToList().ForEach(r =>
                          {
                              b.MeasureValueDict[r] = null;
                          });
                    }
                    else
                    {
                        b.MeasureValueDict[b.KeyResult] = null;
                    }
                });
            });
        }

        #region InitialHalconTool
        //protected override void InitialHalconTool()
        //{
        //    base.InitialHalconTool();

        //    Config.SnapshotPointCollection.ForEach(u =>
        //    {
        //        u.GetHalconToolPathList().ForEach(path =>
        //        {
        //            if (!string.IsNullOrWhiteSpace(path))
        //            {
        //                string directoryPath = Path.GetDirectoryName(path);
        //                string fileName = Path.GetFileNameWithoutExtension(path);

        //                HDevEngineTool tool = new HDevEngineTool(directoryPath);
        //                tool.LoadProcedure(fileName);

        //                //使用“|”作为间隔符
        //                _halconToolDict[u.Id + "|" + path] = tool;
        //            }
        //        });
        //    });
        //}
        #endregion

        private string barCode = "";
        public string BarCode
        {
            get => barCode;
            set
            {
                if (barCode != value)
                {
                    barCode = value;
                    OnBarcodeChanged?.Invoke(value);
                }
            }
        }

        [ProcessMethod("", "StartJob", "开始扫描", InvokeType.TestInvoke)]
        public ProcessResponse StartJob(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        {
            if (string.IsNullOrWhiteSpace(BarCode))
            {
                throw new ProcessException("未输入产品条码，请勿开始测量");
            }

            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,
            };

            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.MotionDevice);
                      if (device == null)
                          throw new ProcessException($"{s.Name}拍照点位未设置运动设备");

                      IMotion motionDevice = device as IMotion;

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

                      if (!motionDevice.MoveToPoint(null))
                      {
                          throw new ProcessException("运动中止", null, ExceptionLevel.Info);
                      }

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

                      ImageSet imgSet = camera.Snapshot(s.CameraOp.OpConfig);
                      if (imgSet == null)
                          return;

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

            BarCode = "";
            return new ProcessResponse(true);
        }

        /// <summary>
        /// 暂停标志  
        /// WaitHandle 暂停句柄  默认为非阻塞 可执行
        /// WaitResult 暂停标志 true 正常执行  false 暂停中
        /// </summary>
        ManualWaitConfirm _pauseHandle = new ManualWaitConfirm()
        {
            WaitHandle = new ManualResetEvent(true),
            WaitResult = true,
        };

        [ProcessMethod("", "PauseJob", "暂停流程", InvokeType.TestInvoke)]
        public ProcessResponse PauseJob(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        {
            if (_pauseHandle.WaitResult)
            {
                #region 板卡暂停动作
                #endregion

                _pauseHandle.WaitHandle.Reset();
            }
            else
            {
                #region 板卡恢复动作
                #endregion

                _pauseHandle.WaitHandle.Set();
            }

            _pauseHandle.WaitResult = !_pauseHandle.WaitResult;
            return new ProcessResponse(_pauseHandle.WaitResult);
        }
        #region 私有方法
        private void MeasureProduction_PropertyChanged(object sender, PropertyChangedEventArgs e)
        {
            if (sender is ProductionMeasurement 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"))}", "");
                                    }
                                }
                            }

                            //输出图形基元到界面 todo
                            OnElementUpdated?.BeginInvoke(null, null, null);

                            m.IsUpdated = true;
                        }
                    }
                });

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

                //MES输出 todo

                //Excel报表输出 todo

                //数据库保存 todo

                //MeasureDict.Remove(pMeasure.Barcode);
                pMeasure.Dispose();
            }
        }

        private async void RunImageHandle(CameraBase camera, IOperationConfig opConfig, ImageSet imgSet, string snapshotId, string snapshotName, List<MeasurementUint> 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;

                 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.AlignName))}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.AlignName + "|" + k.KeyAlgorithemPath;
                             if (!_halconToolDict.ContainsKey(keyToolKey))
                             {
                                 LogAsync(DateTime.Now, $"{k.AlignName}检测算法未初始化", "");
                             }
                             else
                             {
                                 _halconToolDict[keyToolKey].InputImageDic["INPUT_Image"] = image;
                                 if (!_halconToolDict[keyToolKey].RunProcedure(out string error))
                                 {
                                     LogAsync(DateTime.Now, $"{k.AlignName}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.AlignName}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.FillKeyValues(resultDict));
                         });

                     image.Dispose();
                 });

                 if (count.I != 1)
                     imgSet.HImage.Dispose();
             });
        }
        #endregion
    }
}