using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
using HalconDotNet;
using Lmi3d.GoSdk;
using Lmi3d.GoSdk.Messages;
using Lmi3d.Zen;
using Lmi3d.Zen.Io;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static Bro.Common.Helper.EnumHelper;

namespace Bro.Device.Gocator
{
    [Device("Gocator", "Gocator激光扫描仪", EnumHelper.DeviceAttributeType.Device)]
    public class GocatorDriver : CameraBase
    {
        #region CameraBase
        public override IOperationConfig GetOperationConfigFromDevice()
        {
            var opConfig = new GocatorOperationConfig();
            GoSetup setup = sensor.Setup;
            opConfig.Exposure = (float)setup.GetExposure(GoRole.Main);
            opConfig.JobName = sensor.DefaultJob;

            return opConfig;
        }

        public override void Snapshot()
        {
            GoDataSet dataSet = null;
            if (IIConfig.IsAsyncMode)
            {
                if (!IIConfig.IsHardwareTrigger)
                {
                    _snapFlag = true;
                    if (!_snapHandle.WaitOne(IIConfig.SnapshotTimeout))
                    {
                        LogAsync(DateTime.Now, $"{Name}获取图像超时", "");
                        return;
                    }

                    dataSet = _currentData;
                }
            }
            else
            {
                try
                {
                    dataSet = system.ReceiveData(IIConfig.SnapshotTimeout);
                }
                catch (Exception ex)
                {
                    LogAsync(DateTime.Now, $"{Name}获取图像异常", ex.GetExceptionMessage());
                    return;
                }
            }

            HandleGoData(dataSet);

            dataSet.Dispose();
        }

        private void HandleGoData(GoDataSet dataSet, GoImageSet imgSet = null)
        {
            if (dataSet == null)
            {
                return;
            }

            for (UInt32 i = 0; i < dataSet.Count; i++)
            {
                GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i);
                switch (dataObj.MessageType)
                {
                    case GoDataMessageType.Surface:
                        {
                            GoSurfaceMsg surfaceMsg = (GoSurfaceMsg)dataObj;
                            long width = surfaceMsg.Width;
                            long height = surfaceMsg.Length;
                            long bufferSize = width * height;
                            IntPtr bufferPointer = surfaceMsg.Data;

                            float zoomFactor = (float)((double)surfaceMsg.YResolution / (double)surfaceMsg.XResolution);
                            int zoomHeight = (int)(zoomFactor * height);

                            IntPtr zoomPtr = Marshal.AllocHGlobal(zoomHeight * (int)width * 2);
                            //IntPtr zoomPtr = Marshal.AllocHGlobal(zoomHeight * (int)width * 4);
                            //IntPtr zoomPtr = Marshal.AllocHGlobal(zoomHeight * (int)width * (int)IIConfig.ByteNums);

                            //没有插值，默认0
                            //Parallel.For(0, height, h =>
                            //  {
                            //      CopyMemory((IntPtr)((long)zoomPtr + width * 2 * Math.Floor(h * zoomFactor)), (IntPtr)((long)bufferPointer + width * 2 * h), width * 2);
                            //  });

                            //if (IIConfig.ByteNums == GocatorDataByteNums.Byte2)
                            //{
                            //使用上一行原有数据
                            Parallel.For(0, zoomHeight, h =>
                            {
                                int originHeightIndex = (int)Math.Floor((double)height * h / (double)zoomHeight);
                                CopyMemory((IntPtr)((long)zoomPtr + width * 2 * h), (IntPtr)((long)bufferPointer + width * 2 * originHeightIndex), width * 2);
                            });
                            //}
                            //else
                            //{
                            //    //使用上一行原有数据
                            //    Parallel.For(0, zoomHeight, h =>
                            //    {
                            //        int originHeightIndex = (int)Math.Floor((double)height * h / (double)zoomHeight);

                            //        byte[] rowBuffer = new byte[width * 4];
                            //        Parallel.For(0, width, w =>
                            //        {
                            //            rowBuffer[w * 4 + 2] = Marshal.ReadByte(bufferPointer, (int)(width * 2 * originHeightIndex + w * 2));
                            //            rowBuffer[w * 4 + 3] = Marshal.ReadByte(bufferPointer, (int)(width * 2 * originHeightIndex + w * 2 + 1));
                            //        });

                            //        Marshal.Copy(rowBuffer, 0, (IntPtr)((long)zoomPtr + width * 2 * h), rowBuffer.Length);
                            //    });
                            //}

                            if (imgSet != null)
                            {
                                imgSet.HImage = new HImage();
                                //imgSet.HImage.GenImage1("uint2", (int)width, zoomHeight, zoomPtr);
                                //imgSet.HImage.GenImage1("int4", (int)width, zoomHeight, zoomPtr);
                                //imgSet.HImage.GenImage1(IIConfig.ByteNums == GocatorDataByteNums.Byte2 ? "uint2" : "int4", (int)width, zoomHeight, zoomPtr);

                                imgSet.HImage.GenImage1("int2", (int)width, zoomHeight, zoomPtr);

                                //imgSet.HImage = imgSet.HImage.ConvertImageType("int4");
                                //imgSet.HImage = imgSet.HImage.ScaleImage(1.0, short.MaxValue + 1.0);
                                //imgSet.HImage = imgSet.HImage.ConvertImageType("uint2");
                                imgSet.HImage_2 = new HImage();
                                imgSet.HImage_2.GenImage1("int2", (int)width, zoomHeight, zoomPtr);
                                //imgSet.HImage_2.GenImage1("uint2", (int)width, zoomHeight, zoomPtr);
                                //imgSet.HImage_2.GenImage1("int4", (int)width, zoomHeight, zoomPtr);

                                //imgSet.HImage_2 = new HImage();
                                //imgSet.HImage_2.GenImage1(IIConfig.ByteNums == GocatorDataByteNums.Byte2 ? "uint2" : "int4", (int)width, zoomHeight, zoomPtr);

                                LaserScanParam para = new LaserScanParam()
                                {
                                    Resolution_X = surfaceMsg.XResolution,
                                    Resolution_Y = surfaceMsg.YResolution,
                                    Resolution_Z = surfaceMsg.ZResolution,
                                    Offset_X = surfaceMsg.XOffset,
                                    Offset_Y = surfaceMsg.YOffset,
                                    Offset_Z = surfaceMsg.ZOffset,
                                    Angle_Z = surfaceMsg.ZAngle,
                                };
                                imgSet.ImageData = JsonConvert.SerializeObject(para);

                                //imgSet.HImage_2 = imgSet.HImage_2.ZoomImageSize((int)width, zoomHeight, "constant");
                            }

                            //var showImage = imgSet.HImage_2.ConvertSignedHImageTo16GrayBitmap();
                            //showImage.Save($@"D:\SI\{DateTime.Now.ToString("yyyyMMddHHmmss")}.tif", System.Drawing.Imaging.ImageFormat.Tiff);

                            //SaveOriginImage(null, showImage, imgSet.Id);

                            //Marshal.FreeHGlobal(zoomPtr);
                            Generate16GrayImageByPointer((int)width, zoomHeight, zoomPtr, imgSet?.Id).ContinueWith(t =>
                            {
                                Marshal.FreeHGlobal(zoomPtr);
                            });

                            //int zoomHeight = (int)(((double)surfaceMsg.YResolution / (double)surfaceMsg.XResolution) * (double)surfaceMsg.Length);

                            //if (imgSet != null)
                            //{
                            //    imgSet.HImage = new HImage();
                            //    imgSet.HImage.GenImage1("uint2", (int)width, (int)height, bufferPointer);
                            //    imgSet.HImage = imgSet.HImage.ZoomImageSize((int)width, zoomHeight, "constant");


                            //    imgSet.HImage_2 = new HImage();
                            //    imgSet.HImage_2.GenImage1("uint2", (int)width, (int)height, bufferPointer);

                            //    imgSet.HImage_2 = imgSet.HImage_2.ZoomImageSize((int)width, zoomHeight, "constant");
                            //}

                            //Generate16GrayImageByPointer((int)width, (int)height, bufferPointer, imgSet?.Id);
                        }
                        break;
                        //case GoDataMessageType.SurfaceIntensity:
                        //    {
                        //        GoSurfaceIntensityMsg surfaceMsg = (GoSurfaceIntensityMsg)dataObj;
                        //        long width = surfaceMsg.Width;
                        //        long height = surfaceMsg.Length;
                        //        long bufferSize = width * height;
                        //        IntPtr bufferPointer = surfaceMsg.Data;

                        //        //int zoomHeight = (surfaceMsg.YResolution * (int)surfaceMsg.Length * 10) / surfaceMsg.XResolution;

                        //        int zoomHeight = (int)(((double)surfaceMsg.YResolution / (double)surfaceMsg.XResolution) * (double)surfaceMsg.Length);

                        //        if (imgSet != null)
                        //        {
                        //            imgSet.HImage = new HImage();
                        //            imgSet.HImage.GenImage1("uint2", (int)width, (int)height, bufferPointer);
                        //            imgSet.HImage = imgSet.HImage.ZoomImageSize((int)width, zoomHeight, "constant");


                        //            imgSet.HImage_2 = new HImage();
                        //            imgSet.HImage_2.GenImage1("uint2", (int)width, (int)height, bufferPointer);

                        //            imgSet.HImage_2 = imgSet.HImage_2.ZoomImageSize((int)width, zoomHeight, "constant");
                        //        }

                        //        Generate16GrayImageByPointer((int)width, (int)height, bufferPointer, imgSet?.Id);
                        //    }
                        //    break;
                }

                dataObj.Dispose();
            }
        }

        [MethodImpl(MethodImplOptions.Synchronized)]
        public override IImageSet Snapshot(IOperationConfig config)
        {
            GocatorOperationConfig opConfig = config as GocatorOperationConfig;
            if (!IIConfig.IsAsyncMode)
            {
                if (opConfig.IsOpenConnection)
                {
                    StartSensor();
                }

                if (!opConfig.IsSnapshotAction)
                {
                    return null;
                }
            }

            GoImageSet imgSet = new GoImageSet();
            InitialImageSet(imgSet, (config as CameraOprerationConfigBase).ImageSaveOption);

            GoDataSet dataSet = null;
            if (IIConfig.IsAsyncMode)
            {
                if (opConfig.IsSnapshotAction)
                {
                    if (!IIConfig.IsHardwareTrigger)
                    {
                        _snapFlag = true;
                        if (!_snapHandle.WaitOne(IIConfig.SnapshotTimeout))
                        {
                            LogAsync(DateTime.Now, $"{Name}获取图像超时", "");
                            return imgSet;
                        }

                        dataSet = _currentData;

                        //dataSet = system.ReceiveData(IIConfig.SnapshotTimeout);
                    }
                }
                else
                {
                    imgSet = null;
                }
            }
            else
            {
                if (!opConfig.IsSnapshotAction)
                {
                    return null;
                }

                int reTryTime = 3;
                do
                {
                    try
                    {
                        dataSet = system.ReceiveData(IIConfig.SnapshotTimeout);
                        reTryTime = 0;
                    }
                    catch (Exception ex)
                    {
                        reTryTime--;
                        LogAsync(DateTime.Now, $"{Name}获取图像异常", ex.GetExceptionMessage());

                        if (reTryTime <= 0)
                        {
                            imgSet.HImage = null;
                            dataSet = null;
                            system.ClearData();
                        }
                    }
                } while (reTryTime > 0);
            }

            if (!IIConfig.IsAsyncMode)
            {
                if (!opConfig.IsOpenConnection)
                {
                    StopSensor();
                }
            }

            if (dataSet != null)
            {
                HandleGoData(dataSet, imgSet);

                dataSet.Dispose();

                if (imgSet.HImage == null)
                {
                    LogAsync(DateTime.Now, $"{Name}未能获取HImage图像", "");
                }
            }

            sensor.Flush();
            return imgSet;
        }

        private void StopSensor()
        {
            while (sensor.State == GoState.Busy)
            {
                Thread.Sleep(100);
            }

            do
            {
                try
                {
                    sensor.Stop();

                    LogAsync(DateTime.Now, $"传感器状态：{sensor.State.ToString()}", "");
                    if (sensor.State != GoState.Ready)
                    {
                        Thread.Sleep(100);
                    }
                    else
                    {
                        break;
                    }
                }
                catch (Exception ex)
                {
                    LogAsync(DateTime.Now, $"关闭异常：{ex.GetExceptionMessage()}", "");
                    Thread.Sleep(100);
                }
            } while (true);
            LogAsync(DateTime.Now, $"传感器关闭成功", "");
        }

        private void StartSensor()
        {
            while (sensor.State != GoState.Ready)
            {
                Thread.Sleep(10);
            }

            do
            {
                try
                {
                    sensor.Start();
                    LogAsync(DateTime.Now, $"传感器状态：{sensor.State.ToString()}", "");
                    if (sensor.State != GoState.Running)
                    {
                        Thread.Sleep(100);
                    }
                    else
                    {
                        break;
                    }
                }
                catch (Exception ex)
                {
                    LogAsync(DateTime.Now, $"开启异常：{ex.GetExceptionMessage()}", "");
                    Thread.Sleep(100);
                }
            } while (true);

            LogAsync(DateTime.Now, $"传感器启动成功", "");
        }

        float _currentExposure = 0;
        string _currentJob = "";
        public override void UploadOperationConfig(IOperationConfig config)
        {
            if (config is GocatorOperationConfig opConfig)
            {
                if (opConfig.Exposure > 0 && opConfig.Exposure != _currentExposure)
                {
                    sensor.Setup.SetExposure(GoRole.Main, opConfig.Exposure);
                    _currentExposure = opConfig.Exposure;
                }

                if (!string.IsNullOrWhiteSpace(opConfig.JobName) && _currentJob != opConfig.JobName)
                {
                    LogAsync(DateTime.Now, $"{Name}切换当前任务为{opConfig.JobName}", "");
                    sensor.CopyFile(_currentJob, "_live.job");

                    bool isChanged = false;
                    sensor.LoadedJob(ref _currentJob, ref isChanged);
                    LogAsync(DateTime.Now, $"{Name}当前任务{_currentJob}", "");
                }

                sensor.Flush();
            }
        }

        protected override void Init()
        {
            KApiLib.Construct();
            GoSdkLib.Construct();

            system = new GoSystem();

            if (IIConfig.IsUseAccelerator)
            {
                accelerator = new GoAccelerator();
            }

            KIpAddress ip = KIpAddress.Parse(IConfig.CameraIP);

            if (IIConfig.IsUseAccelerator)
            {
                accelerator.Start();
            }

            sensor = system.FindSensorByIpAddress(ip);

            if (IIConfig.IsUseAccelerator)
            {
                accelerator.Attach(sensor);
            }
            sensor.Connect();

            if (IIConfig.IsUseAccelerator)
            {
                sensor.Flush();
                accelerator.Start();
            }

            sensor.Setup.ScanMode = GoMode.Surface;

            system.EnableData(true);


            if (IIConfig.IsAsyncMode)
            {
                system.SetDataHandler(onData);
            }

            _currentExposure = (float)sensor.Setup.GetExposure(GoRole.Main);
            if (IIConfig.DefaultExposure > 0 && _currentExposure != IIConfig.DefaultExposure)
            {
                sensor.Setup.SetExposure(GoRole.Main, IIConfig.DefaultExposure);
                _currentExposure = (float)sensor.Setup.GetExposure(GoRole.Main);
            }

            bool isChanged = false;
            sensor.LoadedJob(ref _currentJob, ref isChanged);
            LogAsync(DateTime.Now, $"{Name}当前任务{_currentJob}", "");

            if (!string.IsNullOrWhiteSpace(IIConfig.DefaultJob) && IIConfig.DefaultJob != _currentJob)
            {
                sensor.CopyFile(IIConfig.DefaultJob, "_live.job");
                //_currentJob = IIConfig.DefaultJob;

                sensor.LoadedJob(ref _currentJob, ref isChanged);
                LogAsync(DateTime.Now, $"{Name}当前任务{_currentJob}", "");
            }

            sensor.Flush();
        }

        protected override void Start()
        {
            base.Start();

            //if (sensor.State != GoState.Ready)
            //{
            //    system.Start();
            //}

            if (IIConfig.IsAsyncMode)
            {
                //sensor.Start();

                StartSensor();
            }
            //else
            //{
            //    //if (sensor.State == GoState.Ready)
            //    //{
            //    //    sensor.Stop();
            //    //}

            //    StopSensor();
            //}
        }

        protected override void Stop()
        {
            base.Stop();

            if (IIConfig.IsAsyncMode)
            {
                StopSensor();
            }

            if (IIConfig.IsUseAccelerator)
            {
                accelerator.Stop();
            }

            sensor.Disconnect();
        }

        protected override void Pause()
        {
        }

        protected override void Resume()
        {
        }
        #endregion

        GoSystem system = null;
        GoAccelerator accelerator = null;
        GoSensor sensor = null;

        public GocatorInitialConfig IIConfig
        {
            get => InitialConfig as GocatorInitialConfig;
        }

        volatile bool _snapFlag = false;
        readonly AutoResetEvent _snapHandle = new AutoResetEvent(false);

        GoDataSet _currentData = null;
        /// <summary>
        /// 异步模式获取数据
        /// </summary>
        /// <param name="data"></param>
        private void onData(KObject data)
        {
            LogAsync(DateTime.Now, $"扫描图像输出", "");
            GoDataSet dataSet = (GoDataSet)data;

            if (IIConfig.IsHardwareTrigger)
            {
                GoImageSet imgSet = new GoImageSet();
                InitialImageSet(imgSet, IConfig.ImageSaveOption);

                HandleGoData(dataSet, imgSet);

                if (imgSet.HImage != null)
                {
                    OnHImageOutput?.BeginInvoke(this, imgSet.HImage, imgSet.Id, null, null);
                }
                else
                {
                    LogAsync(DateTime.Now, $"{Name}获取HImage失败", "");
                }
            }
            else
            {
                //if (_snapFlag)
                {
                    _snapFlag = false;

                    _currentData = dataSet.Clone<GoDataSet>();

                    _currentData = dataSet;
                    _snapHandle.Set();
                }
            }

            dataSet.Dispose();
        }

        #region 重写图片保存操作
        public override async void SaveOriginImage(Bitmap map, Bitmap showImage, string imgSetId)
        {
            Task.Run(() =>
             {
                 OnImageUpdated?.Invoke(this, showImage, imgSetId);
             });

            GoImageSet set = _imageSetList[imgSetId] as GoImageSet;

            if (set == null)
                return;

            await Task.Run(() =>
            {
                lock (set.SaveLock)
                {
                    if (set.ImageSaveOption.IsSaveOriginImage && !set.IsOriginSaved)
                    {
                        string imgDir = CheckImageDirectory(set.ImageSaveOption.ImageSaveSubDirectory, "Origin");

                        try
                        {
                            //SaveImageByNameAndType(map, set.Id, set.ImageSaveOption.ImageFormat, imgDir);
                            string filePath = Path.Combine(imgDir, $"{set.Id}.tif");
                            set.HImage_2.WriteImage("tiff", 0, filePath);
                            set.HImage_2.Dispose();
                            set.HImage_2 = null;
                        }
                        catch (Exception ex)
                        {
                            LogAsync(DateTime.Now, $"{set.Id}原图保存失败", ex.GetExceptionMessage());
                        }
                    }
                    set.IsOriginSaved = true;
                    ClearImageSet(set);
                }
            });
        }

        /// <summary>
        /// 保存特定类型图片，例如NG图片
        /// </summary>
        /// <param name="prefix">图片类型说明 例如“NG”</param>
        /// <param name="imgSetId">图片ID</param>
        public override async void SaveSelectedImage(string prefix, string imgSetId)
        {
            await Task.Run(() =>
            {
                GoImageSet set = _imageSetList[imgSetId] as GoImageSet;
                if (set == null)
                    return;

                lock (set.SaveLock)
                {
                    if (set.ImageSaveOption.AddtionalSaveType.Contains(prefix) && !set.IsAddtionalSaved)
                    {
                        string imgDir = CheckImageDirectory(set.ImageSaveOption.ImageSaveSubDirectory, prefix);

                        try
                        {
                            string filePath = Path.Combine(imgDir, $"{set.Id}.tif");
                            set.HImage_2.WriteImage("tiff", 0, filePath);
                        }
                        catch (Exception ex)
                        {
                            LogAsync(DateTime.Now, $"{set.Id}{prefix}图片保存失败", ex.GetExceptionMessage());
                        }
                    }
                    set.IsAddtionalSaved = true;
                    ClearImageSet(set);
                }
            });
        }

        //public override void ClearImageSet(IImageSet set)
        //{
        //    if (set.IsOriginSaved && set.IsFitSaved && set.IsAddtionalSaved)
        //    {
        //        (set as GoImageSet).HImage_2?.Dispose();
        //        (set as GoImageSet).HImage_2 = null;
        //    }

        //    base.ClearImageSet(set);
        //}
        #endregion
    }

    public class GoImageSet : ImageSet
    {
        public HImage HImage_2 { get; set; }

        public override void Dispose()
        {
            //HImage_2?.Dispose();
            //HImage_2 = null;

            base.Dispose();
        }
    }
}