using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
using Bro.M141.Process;
using Bro.Process;
using HalconDotNet;
using NPOI.SS.Formula.Functions;
using ScottPlot.MarkerShapes;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Net.Sockets;
using System.Runtime.CompilerServices;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading.Tasks;
using Windows.Devices.Radios;
using static Bro.Common.Helper.EnumHelper;
using static Org.BouncyCastle.Math.EC.ECCurve;

namespace Bro.M141_AOI3B.Process
{
    [Process("AOI3B", EnumHelper.DeviceAttributeType.Device)]
    public class AOI3BProcess : M141Process
    {
        #region constructor
        public AOI3BProcess() : base() { }
        public AOI3BProcess(string productCode) : base(productCode) { }
        #endregion

        ManualResetEvent _snapHandle = new ManualResetEvent(false);

        AOI3BConfig AOI3BConfig1 => Config as AOI3BConfig;

        TcpListenerWrap TcpListenerx = null;

        public override void Open()
        {
           

            base.Open();

            TcpListenerx = DeviceCollection.FirstOrDefault(u => u is TcpListenerWrap) as TcpListenerWrap;
            //if (TcpListenerx == null)
            //{
            //    LogAsync(DateTime.Now, EnumHelper.LogLevel.Warning, $"未设置TCP监听实例");
            //}
        }




        [ProcessMethod("", "PositionCheck_P1_F", "工位1检测飞拍", InvokeType.TestInvoke)]
        public ResponseMessage PositionCheck_P1_F(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
        {
            ResponseMessage msg = new ResponseMessage();
            msg.Result = 1;
            msg.IsReply = false;
            trigerStr.Clear();
            List<MeasureBind> measureBinds = new List<MeasureBind>();
            string inputSequence = "";

            try
            {
                RunImageCheckPreTreat1(config, out measureBinds, out inputSequence);
            }
            catch (Exception ex)
            {
                LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"检测预处理异常，{ex.GetExceptionMessage()}");
                msg.Result = -1;
                msg.Message = ex.Message;

                msg.IsReply = true;
                msg.DataStr = $"1#,C,NG,NG,NOREAD,NOREAD";
                return msg;
            }

            //预处理完成,拍照准备就绪
            var sourceData = config.TriggerSource.Split(':');
            string ip = "";
            int port = 0;
            if (sourceData.Length >= 2)
            {
                ip = sourceData[0];
                port = int.Parse(sourceData[1]);
            }
            TcpListenerx.WriteAndRead("1#,OK", out _, out _, false, ip, port);

            int measureNums = measureBinds.Count;
            bool WaitSignalstate = true;
            //_isLastCheckFlag = false;
            measureBinds.GroupBy(u => u.CameraId).AsParallel().ForAll(c =>
            {
                var camera = DeviceCollection.FirstOrDefault(u => u.Id == c.Key) as CameraBase;
                foreach (var i in c.ToList().OrderBy(u => u.ImageIndex).ToList())
                {
                    string index = (i.ImageIndex + 1).ToString();
                    if (AOI3BConfig1.P1SFstate)
                    {
                        if (!WaitSignal(index))
                        {
                            WaitSignalstate = false;
                            break;
                        }
                    }
                    var products = i.ProductIndices.Select(pi =>
                    {
                        return FindProductBySequence($"{inputSequence}_{pi}", true);
                    }).ToList();

                    IImageSet imgSet = null;
                    try
                    {
                        imgSet = CollectHImage(camera, i.SnapshotOpConfig);
                        lock (trigerStr)
                        {
                            trigerStr.Add(index + "over");
                        }
                        if (imgSet == null)
                        {
                            LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"工位1{camera?.Name}取像{i?.ImageIndex}失败   图像为空");
                            break;
                        }
                    }
                    catch (Exception ex)
                    {
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"工位1{camera?.Name}取像{i?.ImageIndex}异常，{ex.ToString()}");
                        break;
                    }

                    RunImageCheckAsync(products, config.TriggerStr, config.TriggerSource, imgSet, i).ContinueWith(t =>
                    {
                        Interlocked.Decrement(ref measureNums);
                    });
                }
            });

            //bool WaitSignalstate = true;
            if (!WaitSignalstate)
            {
                LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"图片采集信息不全");
                msg.IsReply = true;
                msg.DataStr = $"1#,C,NG,NG,NOREAD,NOREAD";
                return msg;
            }


            while (measureNums > 0)
            {
                Thread.Sleep(50);
            }

            //检测完成后清理图片缓存
            measureBinds.Select(u => u.CameraId).Distinct().ToList().ForEach(u =>
            {
                var camera = DeviceCollection.FirstOrDefault(c => c.Id == u) as CameraBase;
                camera.ClearImageBufferQueue();
                LogAsync(DateTime.Now, EnumHelper.LogLevel.Assist, $"{camera.Name}相机工位1检测后清理缓存");
            });

            string positionName = measureBinds[0].WorkPosition;
            var pList = CheckPositionDoneAsync1(positionName, inputSequence, config, new List<string>()).GetAwaiter().GetResult();

            return msg;
        }

        public bool WaitSignal(string index, string p = "p1")
        {
            DateTime dt = DateTime.Now;
            while ((DateTime.Now - dt).TotalMilliseconds < AOI3BConfig1.PhotolayoutTime)
            {
                if (p.Equals("p1"))
                {
                    lock (trigerStr)
                    {
                        if (trigerStr.Contains(index))
                        {
                            return true;
                        }
                    }
                }
                else
                {
                    lock (trigerStr2)
                    {
                        if (trigerStr2.Contains(index))
                        {
                            return true;
                        }
                    }
                }
                Thread.Sleep(50);
            }
            return false;
        }

        List<string> trigerStr = new List<string>();
        [ProcessMethod("", "PositionCheck_P1_photo", "工位1拍照", InvokeType.TestInvoke)]
        public ResponseMessage PositionCheck_P1_photo(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
        {
            ResponseMessage msg = new ResponseMessage();
            msg.IsReply = false;

            string index = config.TriggerStr.Split(",")[config.TriggerStr.Split(",").Length - 1];
            lock (trigerStr)
            {
                trigerStr.Add(index);
            }
            msg.DataStr = config.TriggerStr + ",OK";
            var sourceData = config.TriggerSource.Split(':');
            string ip = "";
            int port = 0;
            if (sourceData.Length >= 2)
            {
                ip = sourceData[0];
                port = int.Parse(sourceData[1]);
            }

            WaitSignal(index + "over");
            TcpListenerx.WriteAndRead(config.TriggerStr + ",OK", out _, out _, false, ip, port);
            return msg;
        }

        [ProcessMethod("ImageCheck", "GetProductBarcode_P1", "工位1获取产品条码", InvokeType.TestInvoke)]
        public ResponseMessage GetProductBarcode_P1(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
        {
            ResponseMessage msg = new ResponseMessage();

            if (config is IImageCheckOperationConfig opConfig)
            {

                var results = opConfig.Products.Select(u =>
                {
                    DetectResult result = new DetectResult();
                    result.PID = u.PID;
                    result.Specs = GetSpecListFromConfigSelection(opConfig.SpecCollection);
                    return result;
                }).ToList();

                msg.DataObj = results;

                var tool = GetHalconTool(null, "", opConfig.AlgorithemPath);
                var ret = tool.RunProcedure(null, new Dictionary<string, HalconDotNet.HObject>() {
                    { "INPUT_Image", opConfig.ImageSet.HImage } },
                    new List<string>() { "OUTPUT_Flag", "OUTPUT_Results", "OUTPUT_Barcode" });

                if (!ret.Item1 || ret.Item2["OUTPUT_Flag"].I != 1)
                {
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"工位1条码检测工具运行失败，{ret.Item4}");
                    msg.Result = -1;
                    return msg;
                }

                FillSpecResults(results[0].PID, results[0].Specs, ret.Item2["OUTPUT_Results"].HTupleToDouble(), opConfig.Products[0].SEQUENCE);
                //var barcodeSpec = results[0].Specs.FirstOrDefault(u => u.Code == AOI2Config.BarcodeSpecCode);

                string barcode = ret.Item2["OUTPUT_Barcode"].S;
                opConfig.Products[0].SN = barcode;
                opConfig.Products[0].Details.ForEach(u => u.SN = barcode);

                LogAsync(DateTime.Now, EnumHelper.LogLevel.Action, $"产品{opConfig.Products[0].PID}条码获取为{barcode}");

                UpdateProductSNIntoDB(opConfig.Products[0].PID, barcode);

            }
            else
            {
                LogAsync(DateTime.Now, EnumHelper.LogLevel.Error, $"产品条码获取失败1");
            }

            return msg;
        }

        [ProcessMethod("", "PositionCheck_P2", "工位2检测", InvokeType.TestInvoke)]
        public ResponseMessage PositionCheck_P2(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
        {
            ResponseMessage msg = RunImageCheck(config);
            msg.IsReply = false;

            if (msg.Result != 1)
            {
                msg.IsReply = true;
                msg.DataStr = "2#,C,NG,NG,NOREAD,NOREAD";
            }
            return msg;
        }


        List<string> trigerStr2 = new List<string>();
        [ProcessMethod("", "PositionCheck_P2_F", "工位2检测飞拍", InvokeType.TestInvoke)]
        public ResponseMessage PositionCheck_P2_F(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
        {
            ResponseMessage msg = new ResponseMessage();
            msg.Result = 1;
            msg.IsReply = false;
            trigerStr2.Clear();
            P2data.Clear();
            List<MeasureBind> measureBinds = new List<MeasureBind>();
            string inputSequence = "";

            try
            {
                RunImageCheckPreTreat1(config, out measureBinds, out inputSequence);
            }
            catch (Exception ex)
            {
                LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"检测预处理异常，{ex.GetExceptionMessage()}");
                msg.Result = -1;
                msg.Message = ex.Message;

                msg.IsReply = true;
                msg.DataStr = $"2#,NG";
                return msg;
            }

            //预处理完成,拍照准备就绪
            var sourceData = config.TriggerSource.Split(':');
            string ip = "";
            int port = 0;
            if (sourceData.Length >= 2)
            {
                ip = sourceData[0];
                port = int.Parse(sourceData[1]);
            }
            TcpListenerx.WriteAndRead("2#,OK", out _, out _, false, ip, port);

            int measureNums = measureBinds.Count;
            bool WaitSignalstate = true;
            //_isLastCheckFlag = false;
            measureBinds.GroupBy(u => u.CameraId).AsParallel().ForAll(c =>
            {
                var camera = DeviceCollection.FirstOrDefault(u => u.Id == c.Key) as CameraBase;
                foreach (var i in c.ToList().OrderBy(u => u.ImageIndex).ToList())
                {
                    string index = (i.ImageIndex + 1).ToString();
                    if (AOI3BConfig1.P2SFstate)
                    {
                        if (!WaitSignal(index, "p2"))
                        {
                            WaitSignalstate = false;
                            break;
                        }
                    }
                    var products = i.ProductIndices.Select(pi =>
                    {
                        return FindProductBySequence($"{inputSequence}_{pi}", true);
                    }).ToList();

                    IImageSet imgSet = null;
                    try
                    {
                        imgSet = CollectHImage(camera, i.SnapshotOpConfig);
                        lock (trigerStr2)
                        {
                            trigerStr2.Add(index + "over");
                        }
                    }
                    catch (Exception ex)
                    {
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"工位2{camera.Name}取像{i.ImageIndex}异常，{ex.GetExceptionMessage()}");
                    }

                    RunImageCheckAsyncForSB(products, config.TriggerStr, config.TriggerSource, imgSet, i).ContinueWith(t =>
                    {
                        Interlocked.Decrement(ref measureNums);
                    });

                }
            });

            //bool WaitSignalstate = true;
            if (!WaitSignalstate)
            {
                LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"图片采集信息不全");
                msg.IsReply = true;
                msg.DataStr = $"2#,C,NG,NG,NOREAD,NOREAD";
                return msg;
            }


            while (measureNums > 0)
            {
                Thread.Sleep(50);
            }

            //if (_isLastCheckFlag)
            //{
            //    LogAsync(DateTime.Now, EnumHelper.LogLevel.Error, $"当前流程已过期，退出检测，不执行反馈");
            //    msg.IsReply = false;
            //    return msg;
            //}

            //检测完成后清理图片缓存
            measureBinds.Select(u => u.CameraId).Distinct().ToList().ForEach(u =>
            {
                var camera = DeviceCollection.FirstOrDefault(c => c.Id == u) as CameraBase;
                camera.ClearImageBufferQueue();
                LogAsync(DateTime.Now, EnumHelper.LogLevel.Assist, $"{camera.Name}相机工位2检测后清理缓存");
            });

            string positionName = measureBinds[0].WorkPosition;
            var pList = CheckPositionDoneAsyncforsb(positionName, inputSequence, config, new List<string>()).GetAwaiter().GetResult();

            return msg;
        }


        [ProcessMethod("", "PositionCheck_P2_photo", "工位2拍照", InvokeType.TestInvoke)]
        public ResponseMessage PositionCheck_P2_photo(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
        {
            ResponseMessage msg = new ResponseMessage();
            msg.IsReply = false;
            string index = config.TriggerStr.Split(",")[config.TriggerStr.Split(",").Length - 1];
            lock (trigerStr2)
            {
                trigerStr2.Add(index);
            }
            msg.DataStr = config.TriggerStr + ",OK";
            var sourceData = config.TriggerSource.Split(':');
            string ip = "";
            int port = 0;
            if (sourceData.Length >= 2)
            {
                ip = sourceData[0];
                port = int.Parse(sourceData[1]);
            }

            WaitSignal(index + "over", "p2");
            Thread.Sleep(300);
            TcpListenerx.WriteAndRead(config.TriggerStr + ",OK", out _, out _, false, ip, port);
            return msg;
        }


        [ProcessMethod("ImageCheck", "PositionCheck_P0", "工位0引导", InvokeType.TestInvoke)]
        public ResponseMessage PositionCheck_P0(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
        {
            ResponseMessage msg = new ResponseMessage();
            msg.IsReply = true;
            msg.DataStr = "0#,NG,0,0,0,0,0,0";
            if (config is IImageCheckOperationConfig opConfig)
            {
                if (string.IsNullOrEmpty(opConfig.AlgorithemPath))
                {
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"P0标定配置异常，请检查配置");
                }
                else
                {

                    var camera = invokeDevice as CameraBase;

                    if (camera == null)
                    {
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"P0配置相机为空，请检查配置");
                        msg.DataStr = "";
                        return msg;
                    }


                    IImageSet imgSet = null;
                    try
                    {
                        imgSet = CollectHImage(camera, AOI3BConfig1.P0SnapshotOpConfig);
                    }
                    catch (Exception ex)
                    {
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"工位0取像异常，{ex.GetExceptionMessage()}");
                        return msg;
                    }


                    var tool = GetHalconTool(null, "", opConfig.AlgorithemPath);
                    Tuple<bool, Dictionary<string, HTuple>, Dictionary<string, HObject>, string, int> ret = null;

                    ret = tool.RunProcedure(new Dictionary<string, HTuple>() { { "INPUT_BiaodingTupe", AOI3BConfig1.BDBD.ToArray() }, { "INPUT_xxzx", AOI3BConfig1.BDYX.ToArray() }, { "INPUT_muban", AOI3BConfig1.BDMD.ToArray() } }, new Dictionary<string, HalconDotNet.HObject>() { { "INPUT_Image", imgSet.HImage } }, new List<string>() { "OUTPUT_Results_1", "OUTPUT_Results_2" }, null);


                    if (!ret.Item1)
                    {
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"脚本{opConfig.AlgorithemPath}运行异常，{ret.Item4}");
                        msg.DataStr = "0#,NG,0,0,0,0,0,0";
                    }
                    else
                    {
                        var datas = ret.Item2[$"OUTPUT_Results_1"].HTupleToDouble();
                        msg.DataStr = "0#,OK";

                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Detail, $"引导坐标脚本输出数据 {string.Join(",", datas)}");

                        if (datas != null && datas.Count == 6)
                        {
                            datas[0] += AOI3BConfig1.CompensateValueBD.X1;
                            datas[1] += AOI3BConfig1.CompensateValueBD.Y1;
                            datas[2] += AOI3BConfig1.CompensateValueBD.Z1;
                            datas[3] += AOI3BConfig1.CompensateValueBD.X2;
                            datas[4] += AOI3BConfig1.CompensateValueBD.Y2;
                            datas[5] += AOI3BConfig1.CompensateValueBD.Z2;


                            for (int i = 0; i < datas.Count; i++)
                            {
                                msg.DataStr += $",{datas[i]}";
                            }
                        }
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Detail, $"引导坐标脚本补偿后数据数据 {string.Join(",", datas)}");
                    }
                }
            }
            return msg;
        }


        [ProcessMethod("", "PositionCheck_P0_SN", "工位0检测", InvokeType.TestInvoke)]
        public ResponseMessage PositionCheck_P0_SN(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
        {
            ResponseMessage msg = RunImageCheck1(config);
            msg.IsReply = false;
            if (msg.Result != 1)
            {
                msg.IsReply = true;
                msg.DataStr = "0#,2,NG,NOREAD,NOREAD";
            }

            return msg;
        }


        Dictionary<int, List<double>> P2data = new Dictionary<int, List<double>>();
        //Dictionary<int, List<double>> P2data2 = new Dictionary<int, List<double>>();

        [ProcessMethod("ImageCheck", "ImageCheckOperationP2out", "数据输出", InvokeType.TestInvoke)]
        public ResponseMessage ImageCheckOperationP2out(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
        {
            ResponseMessage msg = new ResponseMessage();

            if (config is IImageCheckOperationConfig opConfig)
            {
                var results = opConfig.Products.Select(u =>
                {
                    DetectResult result = new DetectResult();
                    result.PID = u.PID;
                    result.Specs = GetSpecListFromConfigSelection(opConfig.SpecCollection);
                    return result;
                }).ToList();

                msg.DataObj = results;


                var tool = GetHalconTool(null, "", opConfig.AlgorithemPath);
                Tuple<bool, Dictionary<string, HTuple>, Dictionary<string, HObject>, string, int> ret = null;

                ret = tool.RunProcedure(null, new Dictionary<string, HalconDotNet.HObject>() { { "INPUT_Image", opConfig.ImageSet.HImage } }, new List<string>() { "OUTPUT_Results_1", "OUTPUT_Results_2", "OUTPUT_TransmitData" }, null);


                //var ret = tool.RunProcedure(null, new Dictionary<string, HalconDotNet.HObject>() { { "INPUT_Image", opConfig.ImageSet.HImage } }, new List<string>() { "OUTPUT_Results_1", "OUTPUT_Results_2" }, null);

                if (!ret.Item1)
                {
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"脚本{opConfig.AlgorithemPath}运行异常，{ret.Item4}");
                }
                else
                {
                    //if (opConfig.Outindex==1)
                    //{
                    //    P2data1.Clear();
                    //}
                    opConfig.Products.ForEach(p =>
                    {
                        var pResult = results.FirstOrDefault(u => u.PID == p.PID);
                        string i = p.SEQUENCE[p.SEQUENCE.Length - 1].ToString();
                        //var datas = ret.Item2[$"OUTPUT_Results_{i}"].HTupleToDouble();

                        var Tdatas = ret.Item2["OUTPUT_TransmitData"].HTupleToDouble();

                        ///*if*/ (i == "1")
                        //{
                        lock (P2data)
                        {
                            P2data[opConfig.Outindex] = Tdatas;
                        }
                        //}
                        //else
                        //{
                        //    P2data2[opConfig.Outindex] = Tdatas;
                        //}
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Detail, $"数据交互输出产品{i}序号{opConfig.Outindex}  {string.Join(",", Tdatas)}");


                        //if (pResult != null && datas.Count > 0)
                        //{
                        //    FillSpecResults(pResult.PID, pResult.Specs, datas, p.SEQUENCE);
                        //}
                    });
                }
            }

            return msg;
        }


        [ProcessMethod("ImageCheck", "ImageCheckOperationP2in", "数据输入,二次进算法", InvokeType.TestInvoke)]
        public ResponseMessage ImageCheckOperationP2in(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
        {
            ResponseMessage msg = new ResponseMessage();

            if (config is IImageCheckOperationConfig opConfig)
            {
                try
                {
                    var results = opConfig.Products.Select(u =>
                    {
                        DetectResult result = new DetectResult();
                        result.PID = u.PID;
                        result.Specs = GetSpecListFromConfigSelection(opConfig.SpecCollection);
                        return result;
                    }).ToList();

                    msg.DataObj = results;

                    var tool = GetHalconTool(null, "", opConfig.AlgorithemPath);
                    Tuple<bool, Dictionary<string, HTuple>, Dictionary<string, HObject>, string, int> ret = null;

                    List<double> tem = new List<double>();


                    DateTime dt = DateTime.Now;
                    while ((DateTime.Now - dt).TotalMilliseconds < AOI3BConfig1.PhotolayoutTime)
                    {
                        lock (P2data)
                        {
                            if (P2data.Count >= opConfig.Outindex)
                            {
                                break;
                            }
                        }
                        Thread.Sleep(5);
                    }

                    lock (P2data)
                    {
                        P2data.OrderBy(u => u.Key).ToList().ForEach(x =>
                        {
                            tem.AddRange(x.Value);
                            tem.Add(-998);
                        });
                        tem.RemoveAt(tem.Count - 1);

                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Detail, $"二次进算法输入数据in {string.Join(",", tem)}");
                        ret = tool.RunProcedure(new Dictionary<string, HTuple>() { { "INPUT_TransmitData", tem.ToArray() } }, null, new List<string>() { "OUTPUT_Results_1", "OUTPUT_Results_2" }, null);

                        P2data.Clear();
                        P2data = new Dictionary<int, List<double>>();
                    }

                  

                    if (!ret.Item1)
                    {
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"脚本{opConfig.AlgorithemPath}运行异常，{ret.Item4}");
                    }
                    else
                    {
                        opConfig.Products.ForEach(p =>
                        {
                            var pResult = results.FirstOrDefault(u => u.PID == p.PID);
                            string i = p.SEQUENCE[p.SEQUENCE.Length - 1].ToString();
                            var datas = ret.Item2[$"OUTPUT_Results_{i}"].HTupleToDouble();

                            LogAsync(DateTime.Now, EnumHelper.LogLevel.Detail, $"二次进算法输出数据out  {string.Join(",", datas)}");

                            if (pResult != null && datas.Count > 0)
                            {
                                FillSpecResults(pResult.PID, pResult.Specs, datas, p.SEQUENCE);
                            }
                        });
                    }
                }
                catch (Exception ee)
                {
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"二次进算法异常 {ee.ToString()}");
                }
            }
            return msg;
        }



        [ProcessMethod("ImageCheck", "PositionCheck_P0BD", "工位0检测标定", InvokeType.CalibInvoke)]
        public ResponseMessage PositionCheck_P0BD(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
        {
            ResponseMessage msg = new ResponseMessage();
            msg.IsReply = false;
            string trg = config.TriggerStr;
            if (!config.TriggerStr.ToLower().Contains("start"))
            {
                return msg;
            }
            xList = new List<double>();
            yList = new List<double>();
            uList = new List<double>();
            vList = new List<double>();
            BDphoto.Clear();

            if (config.TriggerStr.Split(',')[1] == "1")
            {
                msg = PositionCheck_P0BD1(config, invokeDevice, sourceDevice);
            }
            else
            {
                msg = PositionCheck_P0BD2(config, invokeDevice, sourceDevice);
            }

            if (msg.DataStr.Contains("OK"))
            {
                msg.DataStr = trg + ",OK";
            }
            else
            {
                msg.DataStr = trg + ",NG";
            }
            return msg;
        }


        [ProcessMethod("", "PositionCheck_P0BD_photo", "工位0检测标定拍照", InvokeType.TestInvoke)]
        public ResponseMessage PositionCheck_P0BD_photo(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
        {
            ResponseMessage msg = new ResponseMessage();
            msg.IsReply = false;

            if (config.TriggerStr.ToLower().Contains("start"))
            {
                return msg;
            }


            string index = config.TriggerStr.Split(",")[2];
            lock (BDphoto)
            {
                BDphoto.Add(index);
            }

            uList.Add(Convert.ToDouble(config.TriggerStr.Split(",")[3]) / 1000);
            vList.Add(Convert.ToDouble(config.TriggerStr.Split(",")[4]) / 1000);

            var sourceData = config.TriggerSource.Split(':');
            string ip = "";
            int port = 0;
            if (sourceData.Length >= 2)
            {
                ip = sourceData[0];
                port = int.Parse(sourceData[1]);
            }

            waitBD(index + "over");
            TcpListenerx.WriteAndRead(config.TriggerStr + ",OK", out _, out _, false, ip, port);
            return msg;
        }

        [ProcessMethod("ImageCheck", "GetProductBarcode_P0", "工位0获取产品条码", InvokeType.TestInvoke)]
        public ResponseMessage GetProductBarcode_P0(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
        {
            ResponseMessage msg = new ResponseMessage();

            if (config is IImageCheckOperationConfig opConfig)
            {
                try
                {
                    var results = opConfig.Products.Select(u =>
                    {
                        DetectResult result = new DetectResult();
                        result.PID = u.PID;
                        result.Specs = GetSpecListFromConfigSelection(opConfig.SpecCollection);
                        return result;
                    }).ToList();

                    msg.DataObj = results;

                    var tool = GetHalconTool(null, "", opConfig.AlgorithemPath);
                    var ret = tool.RunProcedure(null, new Dictionary<string, HalconDotNet.HObject>() { { "INPUT_Image", opConfig.ImageSet.HImage } }, new List<string>() { "OUTPUT_Flag", "OUTPUT_Results", "OUTPUT_Barcode" });

                    if (!ret.Item1 || ret.Item2["OUTPUT_Flag"].I != 1)
                    {
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"工位0条码检测工具运行失败，{ret.Item4}");
                        msg.Result = -1;
                        return msg;
                    }

                    string barcode = ret.Item2["OUTPUT_Barcode"].S;
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Action, $"条码获取为{barcode}");

                    string barcode1 = barcode.Split(',')[0];
                    string barcode2 = barcode.Split(',')[1];

                    if (barcode.Contains("NOREAD"))
                    {
                        msg.Result = -1;
                        msg.Message = "条码读取失败";
                    }

                    opConfig.Products[0].SN = barcode1;
                    opConfig.Products[0].Details.ForEach(u => u.SN = barcode1);
                    UpdateProductSNIntoDB(opConfig.Products[0].PID, barcode1);

                    opConfig.Products[1].SN = barcode2;
                    opConfig.Products[1].Details.ForEach(u => u.SN = barcode2);
                    UpdateProductSNIntoDB(opConfig.Products[1].PID, barcode2);


                }
                catch (Exception e)
                {
                    msg.Result = -1;
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"条码异常  {e.ToString()}");
                }

            }

            return msg;
        }



        List<double> xList = new List<double>();
        List<double> yList = new List<double>();
        List<double> uList = new List<double>();
        List<double> vList = new List<double>();
        List<string> BDphoto = new List<string>();
        object bdobject = new object();

        public bool waitBD(string index)
        {
            DateTime dt = DateTime.Now;
            while ((DateTime.Now - dt).TotalMilliseconds < AOI3BConfig1.PhotolayoutTime)
            {
                lock (BDphoto)
                {
                    if (BDphoto.Contains(index))
                    {
                        return true;
                    }
                }
                Thread.Sleep(10);
            }
            return false;
        }




        public ResponseMessage PositionCheck_P0BD1(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
        {
            bool issave = true;
            ResponseMessage msg = new ResponseMessage();
            if (config is IImageCheckOperationConfig opConfig)
            {
                var camera = invokeDevice as CameraBase;

                if (camera == null)
                {
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"P0配置相机为空，请检查配置");
                    msg.DataStr = "";
                    return msg;
                }


                for (int i = 0; i < 9; i++)
                {

                    if (!waitBD((i + 1).ToString()))
                    {
                        issave = false;
                        break;
                    }

                    IImageSet imgSet = null;
                    try
                    {
                        imgSet = CollectHImage(camera, AOI3BConfig1.P0SnapshotOpConfig);
                    }
                    catch (Exception ex)
                    {
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"工位0检测标定1取像异常，{ex.GetExceptionMessage()}");
                        return msg;
                    }

                    var tool = GetHalconTool(null, "", opConfig.AlgorithemPath);
                    Tuple<bool, Dictionary<string, HTuple>, Dictionary<string, HObject>, string, int> ret = null;

                    ret = tool.RunProcedure(null, new Dictionary<string, HalconDotNet.HObject>() { { "INPUT_Image", imgSet.HImage } }, new List<string>() { "OUTPUT_Results", }, null);

                    if (!ret.Item1)
                    {
                        issave = false;
                        break;
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"脚本{opConfig.AlgorithemPath}运行异常，{ret.Item4}");
                    }
                    else
                    {
                        var datas = ret.Item2[$"OUTPUT_Results"].HTupleToDouble();
                        if (datas == null || datas.Contains(-999) || datas.Count < 2)
                        {
                            issave = false;
                            break;
                        }
                        xList.Add(datas[0]);
                        yList.Add(datas[1]);


                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Detail, $"工位0检测标定1 序号{(i + 1).ToString()}输出数据{string.Join(",", datas)}");
                    }

                    lock (BDphoto)
                    {
                        BDphoto.Add((i + 1).ToString() + "over");
                    }

                }

                if (xList.Count == 9 && yList.Count == 9 && uList.Count == 9 && vList.Count == 9)
                {


                    //HOperatorSet.VectorToHomMat2d(new HTuple(uList.ToArray()), new HTuple(vList.ToArray()), new HTuple(xList.ToArray()), new HTuple(yList.ToArray()), out HTuple matrix);
                    HOperatorSet.VectorToHomMat2d(new HTuple(xList.ToArray()), new HTuple(yList.ToArray()), new HTuple(uList.ToArray()), new HTuple(vList.ToArray()), out HTuple matrix);
                    double sum = 0;
                    for (int i = 0; i < xList.Count; 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.Count);
                    var Matrix = matrix.HTupleToDouble();
                    AOI3BConfig1.BDBD = Matrix;
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Detail, $"标定1结果OK,数据:{string.Join(",", Matrix)}; 标定点数量:{xList.Count}; 单点误差:{sum.ToString()}脉冲");



                    //msg.IsReply = true;
                    //msg.DataStr = config.TriggerStr + ",OK";
                }
                else
                {
                    issave = false;
                    msg.IsReply = false;
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"标定1失败,数据缺失");
                }


                for (int i = 9; i < 12; i++)
                {

                    if (!waitBD((i + 1).ToString()))
                    {
                        issave = false;
                        break;
                    }

                    IImageSet imgSet = null;
                    try
                    {
                        imgSet = CollectHImage(camera, AOI3BConfig1.P0SnapshotOpConfig);
                    }
                    catch (Exception ex)
                    {
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"工位0检测标定1取像异常，{ex.GetExceptionMessage()}");
                        return msg;
                    }

                    var tool = GetHalconTool(null, "", opConfig.AlgorithemPath);
                    Tuple<bool, Dictionary<string, HTuple>, Dictionary<string, HObject>, string, int> ret = null;

                    ret = tool.RunProcedure(null, new Dictionary<string, HalconDotNet.HObject>() { { "INPUT_Image", imgSet.HImage } }, new List<string>() { "OUTPUT_Results", }, null);

                    if (!ret.Item1)
                    {
                        issave = false;
                        break;
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"脚本{opConfig.AlgorithemPath}运行异常，{ret.Item4}");
                    }
                    else
                    {
                        var datas = ret.Item2[$"OUTPUT_Results"].HTupleToDouble();
                        if (datas == null || datas.Contains(-999) || datas.Count < 2)
                        {
                            issave = false;
                            break;
                        }
                        xList.Add(datas[0]);
                        yList.Add(datas[1]);


                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Detail, $"工位0检测标定2 序号{(i + 1).ToString()}输出数据{string.Join(",", datas)}");
                    }

                    lock (BDphoto)
                    {
                        BDphoto.Add((i + 1).ToString() + "over");
                    }

                }



                if (xList.Count == 12 && yList.Count == 12 && uList.Count == 12 && vList.Count == 12)
                {
                    List<double> xList2 = new List<double>() { xList[9], xList[10], xList[11] };
                    List<double> yList2 = new List<double>() { yList[9], yList[10], yList[11] };

                    //HOperatorSet.AffineTransPoint2d(new HTuple(AOI3BConfig1.BDBD.ToArray()), new HTuple(xList2.ToArray()), new HTuple(yList2.ToArray()), out HTuple qx, out HTuple qy);

                    ////HOperatorSet.GenRegionPolygon(out HObject Region, new HTuple(xList2.ToArray()), new HTuple(yList2.ToArray()));
                    //HOperatorSet.GenRegionPolygon(out HObject Region, qx, qy);
                    //HOperatorSet.GenContourRegionXld(Region, out HObject Contours, "border");

                    //HOperatorSet.FitCircleContourXld(Contours, "algebraic", -1, 0, 0, 3, 2, out HTuple Row, out HTuple column, out HTuple Radius, out HTuple StartPhi, out HTuple EndPhi, out HTuple PointOrder);

                    HOperatorSet.AffineTransPoint2d(new HTuple(AOI3BConfig1.BDBD.ToArray()), new HTuple(xList2.ToArray()), new HTuple(yList2.ToArray()), out HTuple qx, out HTuple qy);
                    HOperatorSet.GenContourPolygonXld(out HObject Region, qx, qy);
                    HOperatorSet.FitCircleContourXld(Region, "algebraic", -1, 0, 0, 3, 2, out HTuple Row, out HTuple column, out HTuple Radius, out HTuple StartPhi, out HTuple EndPhi, out HTuple PointOrder);


                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Detail, $"标定2结果OK :X轴{Row.D},Y轴{column.D}");
                    AOI3BConfig1.BDYX = new List<double>() { Row.D, column.D };
                    //SaveProcessConfig(AOI3BConfig1);

                    //msg.IsReply = true;
                    //msg.DataStr = config.TriggerStr + ",OK";
                }
                else
                {
                    issave = false;
                    msg.IsReply = false;
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"标定失败,数据缺失");
                }




                if (issave)
                {
                    SaveProcessConfig(AOI3BConfig1);
                    msg.IsReply = true;
                    msg.DataStr = config.TriggerStr + ",OK";
                }
                else
                {
                    msg.IsReply = true;
                    msg.DataStr = config.TriggerStr + ",NG";
                }

            }

            return msg;
        }


        public ResponseMessage PositionCheck_P0BD2(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
        {
            ResponseMessage msg = new ResponseMessage();
            if (config is IImageCheckOperationConfig opConfig)
            {
                var camera = invokeDevice as CameraBase;
                if (camera == null)
                {
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"P0配置相机为空，请检查配置");
                    msg.DataStr = "";
                    return msg;
                }


                for (int i = 12; i < 13; i++)
                {
                    if (!waitBD((i + 1).ToString()))
                    {
                        break;
                    }

                    IImageSet imgSet = null;
                    try
                    {
                        imgSet = CollectHImage(camera, AOI3BConfig1.P0SnapshotOpConfig);
                    }
                    catch (Exception ex)
                    {
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"工位0检测标定2取像异常，{ex.GetExceptionMessage()}");
                        return msg;
                    }

                    //INPUT_Tuple
                    var tool = GetHalconTool(null, "", AOI3BConfig1.BD2AlgorithemPath);
                    Tuple<bool, Dictionary<string, HTuple>, Dictionary<string, HObject>, string, int> ret = null;

                    ret = tool.RunProcedure(new Dictionary<string, HTuple>() { { "INPUT_Tuple", AOI3BConfig1.BDBD.ToArray() } }, new Dictionary<string, HalconDotNet.HObject>() { { "INPUT_Image", imgSet.HImage } }, new List<string>() { "OUTPUT_Results_1", "OUTPUT_Results_2" }, null);

                    if (!ret.Item1)
                    {
                        msg.IsReply = true;
                        msg.DataStr = config.TriggerStr + ",NG";
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"脚本{opConfig.AlgorithemPath}运行异常，{ret.Item4}");
                    }
                    else
                    {
                        var datas = ret.Item2[$"OUTPUT_Results_2"].HTupleToDouble();

                        AOI3BConfig1.BDMD = datas;
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Detail, $"工位0检测标定2 序号{(i + 1).ToString()}输出数据{string.Join(",", datas)}");

                        msg.IsReply = true;
                        msg.DataStr = config.TriggerStr + ",OK";
                        SaveProcessConfig(AOI3BConfig1);
                    }

                    lock (BDphoto)
                    {
                        BDphoto.Add((i + 1).ToString() + "over");
                    }
                }

            }
            return msg;
        }


    }
}