using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
using Bro.UI.Model.Winform;
using HalconDotNet;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.CompilerServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static Bro.Common.Helper.EnumHelper;

namespace Bro.Process
{
    public partial class ProcessControl
    {
        protected FrmCalibration_9P _frmCalibration_9P = null;
        public int MultipleStepsCalibration(CameraBase camera,
                                            IMotion motionDevice,
                                            CalibrationConfig config,
                                            Action<CameraBase, CalibrationConfig, string, int> singleResultAction,
                                            Func<CameraBase, IMotion, CalibrationConfig, AutoWaitConfirm, string> finalCalculation,
                                            [CallerMemberName]string methodName = "")
        {
            if (config.InputPara == null || config.InputPara.Count <= 0)
            {
                config.Results.ForEach(u => u.Image = null);

                _frmCalibration_9P = new FrmCalibration_9P(camera, motionDevice, config, singleResultAction, finalCalculation, ResetHalconTool, methodName);
                Task.Run(() =>
                {
                    _frmCalibration_9P.FormClosed += (s, e) =>
                      {
                          _frmCalibration_9P?.Dispose();
                          _frmCalibration_9P = null;
                      };
                    _frmCalibration_9P.ShowDialog();
                });

                return (int)PLCReplyValue.NG;
            }

            if (config.InputPara[0] <= 0 || config.InputPara[0] > config.Results.Count)
            {
                config.InputPara = null;
                return (int)PLCReplyValue.IGNORE;
            }

            int sequence = config.InputPara[0];

            //第一次  sequence从1开始
            if (sequence == 1)
            {
                config.Results.ForEach(c =>
                {
                    c.Image = null;
                    c.OfflineImagePath = "";
                    c.CurrentPlatPoint = new CustomizedPoint();
                    c.ImageMarkPoint = new CustomizedPoint();
                });
            }

            singleResultAction(camera, config, methodName, sequence);

            //获取当前平台点位
            var locationList = motionDevice.GetCurrentAxisInfo("X", "Y").Select(u => u.AxisLocation).ToList();
            config.Results[sequence - 1].CurrentPlatPoint = new CustomizedPoint(locationList[0], locationList[1]);

            //和标定界面互动 1.输出结果显示  2.部分人工确认操作
            _frmCalibration_9P?.OnCalibStepDone(sequence);

            //最后一次  和标定界面互动 1.最终计算结果显示  2.人工确认是否写入配置（不是保存操作）
            string finalResult = "";
            if (sequence == config.Results.Count)
            {
                AutoWaitConfirm saveConfigConfirm = new AutoWaitConfirm()
                {
                    WaitHandle = new AutoResetEvent(true),
                    WaitResult = true,
                };

                if (_frmCalibration_9P != null)
                {
                    saveConfigConfirm.WaitHandle.Reset();
                    saveConfigConfirm.WaitResult = false;
                }

                finalResult = finalCalculation?.Invoke(camera, motionDevice, config, saveConfigConfirm);

                _frmCalibration_9P?.OnCalibFinalDone(finalResult, saveConfigConfirm);
            }


            //if (_frmCalibration_9P?.OnCalibFinalDone(finalResult) ?? true)
            //{
            //    modifyConfigAction?.Invoke(camera, motionDevice);
            //}

            config.InputPara = null;
            return (int)PLCReplyValue.OK;
        }

        public void GetCalibrationPoints(CameraBase camera, CalibrationConfig config, string methodName, int sequence)
        {
            //string imgSetId = "";
            List<IShapeElement> pointList = new List<IShapeElement>();
            using (HObject hImage = CollectHImage(camera, config.CameraOpConfig, out string imgSetId))
            {
                var tool = GetHalconTool(config.CameraOpConfig);

                tool.InputImageDic["INPUT_Image"] = hImage;
                if (!tool.RunProcedure(out string error))
                {
                    throw new ProcessException($"{methodName}算法执行异常：{error}");
                }

                var xList = tool.GetResultTuple("OUTPUT_X").HTupleToDouble();
                var yList = tool.GetResultTuple("OUTPUT_Y").HTupleToDouble();

                for (int i = 0; i < xList.Count; i++)
                {
                    pointList.Add(new PointIndicator((float)xList[i], (float)yList[i]));
                }

                camera.SaveFitImage(pointList, imgSetId);
            }

            config.Results[sequence - 1].ImageMarkPoint = new CustomizedPoint((pointList[0] as PointIndicator).Center);
        }

        public List<double> GetMatrixByCalibrationResult(CalibrationConfig config, out string msg)
        {
            List<double> list = new List<double>();

            //try
            {
                var xList = config.Results.Select(u => u.CurrentPlatPoint.X).ToArray();
                var yList = config.Results.Select(u => u.CurrentPlatPoint.Y).ToArray();
                var uList = config.Results.Select(u => u.ImageMarkPoint.X).ToArray();
                var vList = config.Results.Select(u => u.ImageMarkPoint.Y).ToArray();

                HOperatorSet.VectorToHomMat2d(new HTuple(uList), new HTuple(vList), new HTuple(xList), new HTuple(yList), out HTuple matrix);

                double sum = 0;
                for (int i = 0; i < xList.Length; i++)
                {
                    HOperatorSet.AffineTransPoint2d(matrix, uList[i], vList[i], out HTuple m, out HTuple n);

                    sum += Math.Sqrt((Math.Pow((m.D - xList[i]), 2) + Math.Pow((n.D - yList[i]), 2)));
                }

                sum = (sum / (double)xList.Length);

                //设置偏移量为0
                //matrix[2] = matrix[5] = 0;

                list = matrix.HTupleToDouble();

                msg = $"标定点数量:{xList.Length}; 单点误差:{sum.ToString()}脉冲; 矩阵：{string.Join(" ", list)}";
            }
            //catch (Exception ex)
            //{
            //    msg = ex.Message;
            //}
            //LogAsync(DateTime.Now, $"{camera.Name}标定完成", msg);

            return list;
        }
    }
}