using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
using Bro.Device.InsCamera;
using Bro.M135.Common;
using Bro.M135.DBManager;
using Bro.Process;
using Bro.Process.DataBase.Models;
using Bro.UI.Model.Winform;
using HalconDotNet;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using NPOI.SS.Formula.Functions;
using Org.BouncyCastle.Asn1.X509;
using Org.BouncyCastle.Ocsp;
using ScottPlot.Drawing.Colormaps;
using Sunny.UI;
using Sunny.UI.Win32;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Drawing.Imaging;
using System.IO;
using System.Linq;
using Windows.ApplicationModel.Appointments;
using static Org.BouncyCastle.Math.EC.ECCurve;

namespace Bro.M141.Process
{
    public partial class M141Process : ProcessControl
    {
        #region constructor
        public M141Process() { }

        public M141Process(string productCode) : base(productCode) { }
        #endregion
        TaskFactory _taskFactory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.LongRunning);
        public event Action<string, P_PRODUCT_DETAIL, string> OnSinglePostionDetectResultUpdate;
        protected M141Config M141Config => Config as M141Config;

        public static object _productListLock = new object();
        public List<ProductModel> ProductList = new List<ProductModel>();
        MachineLearningBase ML = null;
        TcpListenerWrap TcpListener = null;
        Spec _errorSpec = null;

        TcpListenerWrap _realTimeServer = null;

        volatile int _productIndex = 0;

        int _backgroundImageWidth = 2448;

        M141Process_Mysql mysqlhelper = new M141Process_Mysql();

        public override void InitialProcessMethods()
        {
            base.InitialProcessMethods();

        }

        public override void ProcessRunStateChanged()
        {
            base.ProcessRunStateChanged();
            //if (CurrentState == EnumHelper.RunState.Running)
            //{
            //    OldDataClear.Instance.SetAllowFlag(false, M141Config.DBDataTimeLimit);
            //}
            //else
            //{
            //    OldDataClear.Instance.SetAllowFlag(true, M141Config.DBDataTimeLimit);
            //}
        }

        public PLCBase Plc1;
        PLCBase Plc2;
        Thread ThHeartPlc;
        public override void Open()
        {
            base.Open();
            ML = DeviceCollection.FirstOrDefault(u => u is MachineLearningBase) as MachineLearningBase;
            if (ML == null)
            {
                LogAsync(DateTime.Now, EnumHelper.LogLevel.Information, $"未设置ML实例");
            }
            Plc1 = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;

            if (Plc1 == null)
            {
                LogAsync(DateTime.Now, EnumHelper.LogLevel.Error, $"未设置plc");
            }
            _errorSpec = M141Config.SpecCollection.FirstOrDefault(u => u.Code == M141Config.CheckErrorSpecCode) as Spec;

            //InitialProductList();

            NetWarmUp();

            _positionCheckTimeDict.Clear();
            _positionSpecHeads.Clear();

            mysqlhelper.IniDBIP(M141Config.IPforall);

            if (ThHeartPlc == null)
            {
                ThHeartPlc = new Thread(Heartplc);
                ThHeartPlc.IsBackground = true;
                ThHeartPlc.Start();
            }
        }


        public override void Close()
        {
            base.Close();
            try
            {
                if (ThHeartPlc != null)
                {
                    ThHeartPlc.Abort();
                }

            }
            catch
            {

            }
            ThHeartPlc = null;
        }

        public void Heartplc()
        {
            while (true)
            {
                try
                {
                    if (Plc1 != null)
                    {
                        Plc1.WriteSingleAddress(1505, 0, out _);
                    }
                }
                catch
                {

                }

                Thread.Sleep(3000);
            }
        }

        /// <summary>
        /// 网络预热
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void NetWarmUp()
        {

            string warmUpImageFolder = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "WarmUp");
            if (!Directory.Exists(warmUpImageFolder))
            {
                LogAsync(DateTime.Now, EnumHelper.LogLevel.Error, $"程序根目录下没有\"WarmUp\"预热图片文件夹");
                return;
            }

            var ml = DeviceCollection.FirstOrDefault(u => u is MachineLearningBase && u.CurrentState == EnumHelper.DeviceState.DSOpen) as MachineLearningBase;
            if (ml == null)
            {
                LogAsync(DateTime.Now, EnumHelper.LogLevel.Error, $"预热时未能获取开启的深度学习驱动");
                return;
            }
            var netNames = ml.IConfig.NetCollections.Where(u => u.IsEnabled).Select(u => u.Name).ToList();
            var imageFiles = new DirectoryInfo(warmUpImageFolder).GetFiles().Select(u => u.FullName).ToList();

            Parallel.ForEach(netNames, n =>
            {
                Parallel.ForEach(imageFiles, i =>
                {
                    HImage hImage = new HImage();
                    hImage.ReadImage(i);

                    ml.RunNetEvaluate(n, hImage);

                    hImage.Dispose();
                    hImage = null;
                });
            });

            LogAsync(DateTime.Now, EnumHelper.LogLevel.Action, "深度学习驱动预热完成");


            //if (M141Config.WarmUp && M141Config.WarmUpList.Count > 0)
            //{
            //    M141Config.WarmUpList.AsParallel().ForAll(x =>
            //    {
            //        try
            //        {
            //            HImage im = new HImage(x.PicFilePath);
            //            var tool = GetHalconTool(null, "", x.HalconFilePath);
            //            if (tool != null)
            //            {
            //                //int num = 0;
            //                //for (int i = 0; i < 10; i++)
            //                //{
            //                try
            //                {
            //                    var res = tool.RunProcedure(null, new Dictionary<string, HalconDotNet.HObject>() { { "INPUT_Image", im } }, new List<string>() { "OUTPUT_Results_1", "OUTPUT_Results_2" }, null);

            //                    //if (res != null)
            //                    //{
            //                    //    if (res.Item1&& res.Item2[$"OUTPUT_Results_{i}"].HTupleToDouble()[0]!=-1234)
            //                    //    {
            //                    //        num++;
            //                    //        if (num >= 2)
            //                    //        {
            //                    //            LogAsync(DateTime.Now, EnumHelper.LogLevel.Detail, $"算法{x.HalconFilePath}预热完成{i}");
            //                    //            break;
            //                    //        }
            //                    //    }
            //                    //}
            //                }
            //                catch
            //                {

            //                }
            //                //if (i==9)
            //                //{
            //                //    LogAsync(DateTime.Now, EnumHelper.LogLevel.Error, $"算法{x.HalconFilePath}预热失败{num}");
            //                //}
            //                //}
            //            }
            //            im.Dispose();

            //        }
            //        catch
            //        {
            //            LogAsync(DateTime.Now, EnumHelper.LogLevel.Error, $"算法{x.HalconFilePath}预热失败");
            //        }
            //    });
            //}

            //LogAsync(DateTime.Now, EnumHelper.LogLevel.Action, "算法预热完成");
        }

        static object _positionCheckTimeLock = new object();
        Dictionary<string, List<int>> _positionCheckTimeDict = new Dictionary<string, List<int>>();
        Dictionary<string, List<string>> _positionSpecHeads = new Dictionary<string, List<string>>();




        volatile int uploadId = 0;


        public void NewProductIntoList(ProductModel p, bool isSaveDB)
        {
            lock (_productListLock)
            {
                ProductList.RemoveAll(u => u.PID == p.PID || u.SEQUENCE == p.SEQUENCE);
                ProductList.Insert(0, p);
                while (ProductList.Count > 200)
                {
                    ProductList.RemoveAt(ProductList.Count - 1);
                }
            }

            if (isSaveDB)
            {
                if (M141Config.Isreadbasketcode)
                {
                    p.BasketCode = M141Config.basketcode;
                }
                else
                {
                    p.BasketCode = mysqlhelper.Getbasketcode(p.SEQUENCE);
                    if ("NoRead".Equals(p.BasketCode))
                    {
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Error, $"{p.PID}_{p.SEQUENCE}获取框具码失败 赋值Noread");
                    }
                }

                mysqlhelper.NewProduct(p);
            }

            LogAsync(DateTime.Now, EnumHelper.LogLevel.Action, $"{p.PID}_{p.SEQUENCE}产品入列完成");
        }

        public virtual ProductModel FindProductBySequence(string sequence, bool isEnabelQueue)
        {
            ProductModel p = null;
            if (isEnabelQueue)
            {
                lock (_productListLock)
                {
                    p = ProductList.FirstOrDefault(u => u.SEQUENCE == sequence);
                }
            }

            if (p != null)
            {
                return p;
            }
            else
            {
                p = mysqlhelper.GetProduct(sequence);
                if (p == null)
                {
                    p = new ProductModel();
                    p.SEQUENCE = sequence;
                    p.PID = p.PID + "_" + sequence.Split('_')[sequence.Split('_').Length - 1];

                    p.Initial(M141Config.StationCode, M141Config.WorkPositionCollection.Where(u => u.IsEnabled).Select(u => u.PositionName).ToList());
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Warning, $"未能从数据库获取产品对象，使用临时新建产品对象");
                }

                NewProductIntoList(p, false);
            }

            return p;
        }

        public async Task RunImageCheckAsync(List<ProductModel> products, string triggerText, string triggerSource, IImageSet imgSet, MeasureBind measureBind)
        {
            await Task.Run(() =>
            {
                List<DetectResult> resultList = new List<DetectResult>();
                if (products == null || products.Count == 0)
                {
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Error, $"工位{measureBind.WorkPosition}检测时产品信息为空");
                    imgSet.HImage?.Dispose();
                    imgSet.HImage = null;
                    return;
                }

                try
                {
                    List<string> pidList = products.Select(u => u.PID).OrderBy(u => u).ToList();
                    if (imgSet == null || imgSet.HImage == null)
                    {
                        throw new Exception($"产品{string.Join(",", pidList)}检测{measureBind.GetDisplayText()}未能获取图片对象");
                    }

                    //检测顺序 ML->自定义检测
                    if (!string.IsNullOrWhiteSpace(measureBind.DetectionId))
                    {
                        string detectionName = (ML.InitialConfig as MLInitialConfigBase).DetectionConfigs.FirstOrDefault(u => u.Id == measureBind.DetectionId)?.Name;


                        //List<string> pidList2 = new List<string>();//pidList.Select(u => u.Split('_')[u.Split('_').Length - 1]).ToList();
                        //Dictionary<string, string> dicpid = new Dictionary<string, string>();

                        //for (int i = 0; i < pidList.Count; i++)
                        //{
                        //    var tem = pidList[i].Split('_')[pidList[i].Split('_').Length - 1];
                        //    pidList2.Add(tem);
                        //    dicpid[tem] = pidList[i];
                        //}


                        List<DetectResult> detectResults = ML?.RunMLDetectionSync(imgSet, pidList, measureBind.DetectionId);
                        List<DetectResult> ngResults = new List<DetectResult>();


                        //for (int i = 0; i < detectResults.Count; i++)
                        //{
                        //    detectResults[i].PID = dicpid[detectResults[i].PID];
                        //}


                        detectResults.GroupBy(u => u.PID).ToList().ForEach(u =>
                        {
                            if (u.ToList().Count > 0 && u.ToList().Any(m => m.ResultState != EnumHelper.ResultState.OK))
                            {
                                if (u.ToList().GetDefectDescList().Count == 0)
                                {
                                    var errorSpec = _errorSpec.Copy();
                                    errorSpec.Code = "检测TBD";
                                    errorSpec.ActualValue = -999;
                                    DetectResult ngResult = new DetectResult() { Specs = new List<ISpec>() { errorSpec }, PID = u.Key ,Id=Guid.NewGuid().ToString()};
                                    ngResults.Add(ngResult);
                                }
                            }
                        });
                        detectResults.AddRange(ngResults);
                        resultList.AddRange(detectResults);
                    }
                    RunCustomizedMethod(products, triggerText, triggerSource, imgSet, measureBind.CustomizedMonitorId, resultList);
                    RunCustomizedMethod(products, triggerText, triggerSource, imgSet, measureBind.CustomizedCombineMethodId, resultList);
                }
                catch (Exception ex)
                {
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"工位{measureBind.WorkPosition}检测过程异常，{ex.ToString()}");

                    var errorSpec = _errorSpec.Copy();
                    errorSpec.ActualValue = -999;
                    products.ForEach(p =>
                    {
                        p.AddNewDetectResults(M141Config.StationCode, measureBind.WorkPosition, new List<DetectResult>()
                         {
                            new DetectResult()
                            {
                                Specs = new List<ISpec>()
                                {
                                    errorSpec
                                },
                                PID = p.PID,
                            }
                         });
                    });
                }
                finally
                {

                    try
                    {
                        if (resultList.Count > 0)
                        {
                            products.ForEach(p =>
                            {
                                var pResults = resultList.Where(u => u.PID == p.PID).ToList();
                                p.AddNewDetectResults(M141Config.StationCode, measureBind.WorkPosition, pResults);
                                LogAsync(DateTime.Now, EnumHelper.LogLevel.Action, $"产品{p.PID}_{p.SEQUENCE}添加工位{measureBind.WorkPosition}检测结果，数量{pResults.Count}");
                            });
                        }

                        products.ForEach(p =>
                        {
                            if (p.PositoinCheckDone(measureBind.WorkPosition, measureBind.CheckIndex, out string msg))
                            {
                                LogAsync(DateTime.Now, EnumHelper.LogLevel.Action, $"产品{p.PID}_{p.SEQUENCE}工位{measureBind.WorkPosition}的第{measureBind.CheckIndex}检测完成，该工位检测全部结束");
                            }
                            else
                            {
                                LogAsync(DateTime.Now, EnumHelper.LogLevel.Action, $"产品{p.PID}_{p.SEQUENCE}工位{measureBind.WorkPosition}的第{measureBind.CheckIndex}检测完成，{msg}");
                            }
                        });


                        if (resultList.Any(u => u.ResultState != EnumHelper.ResultState.OK))
                        {

                            if (measureBind.NGImageSwitch)
                            {
                                if (string.IsNullOrWhiteSpace(M141Config.NGImageFolder))
                                {
                                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Error, $"未配置NG图片保存目录");
                                }
                                else
                                {
                                    string folder = Path.Combine(M141Config.NGImageFolder, DateTime.Now.ToString("yyyyMMdd"), measureBind.WorkPosition, "NG");

                                    if (!Directory.Exists(folder))
                                    {
                                        Directory.CreateDirectory(folder);
                                    }

                                    string id = string.Join("_", products.Select(u => $"{u.PID}_{u.SN}")) + $"-{measureBind.ImageIndex}_{DateTime.Now.ToString("HHmmssfff")}";

                                    string post = "";
                                    if (ImageSet.ImageFormatPostDict.ContainsKey(M141Config.ImageFormatNG))
                                    {
                                        post = ImageSet.ImageFormatPostDict[M141Config.ImageFormatNG];
                                    }
                                    else
                                    {
                                        post = M141Config.ImageFormatNG.ToString().ToLower();
                                    }

                                    string ngImageFile = Path.Combine(folder, $"{id}.{post}");
                                    var bitmap = imgSet.HImage.ConvertHImageToBitmap();
                                    bitmap.Save(ngImageFile, M141Config.ImageFormatNG);
                                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Assist, $"{id}NG图片已保存");
                                    bitmap.Dispose();
                                }
                            }
                        }
                        else
                        {

                            if (measureBind.OKImageSwitch)
                            {
                                if (string.IsNullOrWhiteSpace(M141Config.NGImageFolder))
                                {
                                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Error, $"未配置NG图片保存目录");
                                }
                                else
                                {
                                    string folder = Path.Combine(M141Config.NGImageFolder, DateTime.Now.ToString("yyyyMMdd"), measureBind.WorkPosition, "OK");

                                    if (!Directory.Exists(folder))
                                    {
                                        Directory.CreateDirectory(folder);
                                    }

                                    string id = string.Join("_", products.Select(u => $"{u.PID}_{u.SN}")) + $"-{measureBind.ImageIndex}_{DateTime.Now.ToString("HHmmssfff")}";
                                    string post = "";
                                    if (ImageSet.ImageFormatPostDict.ContainsKey(M141Config.ImageFormatOK))
                                    {
                                        post = ImageSet.ImageFormatPostDict[M141Config.ImageFormatOK];
                                    }
                                    else
                                    {
                                        post = M141Config.ImageFormatOK.ToString().ToLower();
                                    }

                                    string ngImageFile = Path.Combine(folder, $"{id}.{post}");
                                    var bitmap = imgSet.HImage.ConvertHImageToBitmap();
                                    bitmap.Save(ngImageFile, M141Config.ImageFormatOK);
                                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Assist, $"{id}OK图片已保存");
                                    bitmap.Dispose();
                                }
                            }
                        }
                    }
                    catch (Exception ex)
                    {
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Error, $"{measureBind.WorkPosition}，产品{string.Join(",", products.Select(u => u.PID))}的NG图片保存异常，{ex.GetExceptionMessage()}");
                    }

                    try
                    {

                        if (imgSet != null && imgSet.HImage != null)
                        {
                            var camera = DeviceCollection.FirstOrDefault(u => u.Id == measureBind.CameraId) as CameraBase;
                            List<IShapeElement> eleList = new List<IShapeElement>();
                            TextDisplay txt = new TextDisplay();
                            txt.LineLimit = M141Config.LineLimit_p;
                            txt.FontSize = M141Config.FontSize_p;
                            eleList.Add(txt);

                            txt.StartX = txt.StartY = 0;

                            txt.AddText(products[0].SN, products[0].SN != "NOREAD" ? Color.Lime : Color.Red, Color.Transparent);
                            txt.AddText(" ", Color.Transparent, Color.Transparent);


                            var specList = products[0].Details.SelectMany(u => u.ResultList.SelectMany(r => r.Specs)).ToList();
                            specList.ForEach(v =>
                            {
                                txt.AddText($"{v.Code} {v.GetMeasureValueStr(3)}", v.MeasureResult == true ? Color.Lime : Color.Red, Color.Transparent);
                            });

                            camera.SaveFitImage(eleList, imgSet);
                        }
                    }
                    catch
                    {

                    }
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Action, $"图片{imgSet.PID}开始释放");
                    imgSet.HImage?.Dispose();
                    imgSet.HImage = null;
                    imgSet.Dispose();
                    imgSet = null;
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Action, $"图片已释放");

                }
            });
        }


        public async Task RunImageCheckAsync(List<ProductModel> products, string triggerText, string triggerSource, MeasureBind measureBind)
        {
            await Task.Run(() =>
            {
                List<DetectResult> resultList = new List<DetectResult>();
                if (products == null || products.Count == 0)
                {
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Error, $"工位{measureBind.WorkPosition}检测时产品信息为空");
                    return;
                }

                try
                {

                    RunCustomizedMethod(products, triggerText, triggerSource, null, measureBind.CustomizedMonitorId, resultList);
                    RunCustomizedMethod(products, triggerText, triggerSource, null, measureBind.CustomizedCombineMethodId, resultList);

                }
                catch (Exception ex)
                {
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"工位{measureBind.WorkPosition}检测过程异常，{ex.ToString()}");

                    var errorSpec = _errorSpec.Copy();
                    errorSpec.ActualValue = -999;
                    products.ForEach(p =>
                    {
                        p.AddNewDetectResults(M141Config.StationCode, measureBind.WorkPosition, new List<DetectResult>()
                         {
                            new DetectResult()
                            {
                                Specs = new List<ISpec>()
                                {
                                    errorSpec
                                },
                                PID = p.PID,
                            }
                         });
                    });
                }
                finally
                {

                    try
                    {
                        if (resultList.Count > 0)
                        {
                            products.ForEach(p =>
                            {
                                var pResults = resultList.Where(u => u.PID == p.PID).ToList();
                                p.AddNewDetectResults(M141Config.StationCode, measureBind.WorkPosition, pResults);
                                LogAsync(DateTime.Now, EnumHelper.LogLevel.Action, $"产品{p.PID}_{p.SEQUENCE}添加工位{measureBind.WorkPosition}检测结果，数量{pResults.Count}");
                            });
                        }

                        products.ForEach(p =>
                        {
                            if (p.PositoinCheckDone(measureBind.WorkPosition, measureBind.CheckIndex, out string msg))
                            {
                                LogAsync(DateTime.Now, EnumHelper.LogLevel.Action, $"产品{p.PID}_{p.SEQUENCE}工位{measureBind.WorkPosition}的第{measureBind.CheckIndex}检测完成，该工位检测全部结束");
                            }
                            else
                            {
                                LogAsync(DateTime.Now, EnumHelper.LogLevel.Action, $"产品{p.PID}_{p.SEQUENCE}工位{measureBind.WorkPosition}的第{measureBind.CheckIndex}检测完成，{msg}");
                            }
                        });



                    }
                    catch (Exception ex)
                    {
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Error, $"{measureBind.WorkPosition}，产品{string.Join(",", products.Select(u => u.PID))}的NG图片保存异常，{ex.GetExceptionMessage()}");
                    }

                }
            });
        }


        private void RunCustomizedMethod(List<ProductModel> products, string triggerText, string triggerSource, IImageSet imgSet, string methodId, List<DetectResult> resultList)
        {
            try
            {
                if (!string.IsNullOrWhiteSpace(methodId))
                {

                    var monitorSet = Config.GetAllMonitorSet().FirstOrDefault(u => u.Id == methodId);

                    if (monitorSet.OpConfig is IImageCheckOperationConfig iConfig)
                    {
                        var opConfig = iConfig.Clone();

                        opConfig.Products = new List<ProductModel>(products);
                        opConfig.ImageSet = imgSet;

                        opConfig.TriggerStr = triggerText;
                        opConfig.TriggerSource = triggerSource;



                        //LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"图片id，{imgSet.id}");
                        var res = RunSelectedMonitorSetByManual(methodId, opConfig);

                        if (res.DataObj is List<DetectResult> dr)
                        {
                            dr.ForEach(r =>
                            {
                                r.IsPreTreatDone = r.IsNetCheckDone = r.IsAfterTreatDone = true;
                                r.SetResult();
                            });
                            resultList.AddRange(dr);
                        }

                        if (res.Result != 1)
                        {
                            LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"自定义检测过程异常，{res.Message}");
                        }
                    }
                }
            }
            catch (Exception ex)
            {
                LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"自定义检测过程异常，{ex.GetExceptionMessage()}");
            }
        }





        #region plc
        public ResponseMessage RunImageCheck_plc(IOperationConfig config)
        {
            ResponseMessage msg = new ResponseMessage();
            msg.Result = 1;
            List<MeasureBind> measureBinds = new List<MeasureBind>();
            string inputSequence = "";
            var triggerDatas = config.TriggerStr.Split(new char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
            try
            {
                RunImageCheckPreTreat_plc(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;
                return msg;
            }

            List<string> cameraIds = measureBinds.Select(u => u.CameraId).ToList();
            try
            {
                ConcurrentDictionary<MeasureBind, IImageSet> imgSetDicts = new ConcurrentDictionary<MeasureBind, IImageSet>();
                var positionSet = M141Config.WorkPositionCollection.Where(u => u.IsEnabled).FirstOrDefault(u => u.TriggerValue == triggerDatas[0]);

                measureBinds.AsParallel().ForAll(b =>
                {
                    var camera = DeviceCollection.FirstOrDefault(u => u.Id == b.CameraId) as CameraBase;
                    if (camera != null)
                    {
                        imgSetDicts[b] = null;

                        try
                        {
                            imgSetDicts[b] = CollectHImage(camera, b.SnapshotOpConfig);
                            if (positionSet.ispiccover)
                            {
                                Plc1.WriteSingleAddress(positionSet.plcover,1,out _);
                            }
                        }
                        catch (Exception ea)
                        {
                            LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"工位{measureBinds[0].WorkPosition}的第{measureBinds[0].CheckIndex}检测获取图像信息异常    {ea.ToString()}");
                        }

                        var pList = b.ProductIndices.Select(pi =>
                        {
                            string sequence = $"{inputSequence}_{pi}";
                            return FindProductBySequence(sequence, true);
                        }).ToList();

                        RunImageCheckAsync(pList, config.TriggerStr, config.TriggerSource, imgSetDicts[b], b);
                    }
                    else
                    {
                        var pList = b.ProductIndices.Select(pi =>
                        {
                            string sequence = $"{inputSequence}_{pi}";
                            return FindProductBySequence(sequence, true);
                        }).ToList();

                        RunImageCheckAsync(pList, config.TriggerStr, config.TriggerSource, b);
                    }
                });
            }
            catch (Exception ex)
            {
                LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"检测处理异常，{ex.GetExceptionMessage()}");
                msg.Result = -1;
                msg.Message = ex.Message;
                return msg;
            }

            CheckPositionDoneAsync_plc(measureBinds[0].WorkPosition, inputSequence, config, cameraIds);
            return msg;
        }


        public void RunImageCheckPreTreat_plc(IOperationConfig config, out List<MeasureBind> measureBinds, out string inputSequence)
        {
            Task.Run(() =>
            {
                SetProcessRunState(EnumHelper.RunState.Running);
            });

            measureBinds = new List<MeasureBind>();
            inputSequence = "";

            var triggerDatas = config.TriggerStr.Split(new char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
            if (triggerDatas.Length < 2)
            {
                throw new ProcessException($"触发文本{config.TriggerStr}解析失败，数据长度小于2");
            }

            string positionValue = triggerDatas[0];
            int checkIndex = -1;
            if (!int.TryParse(triggerDatas[1].Replace("Scan", ""), out checkIndex))
            {
                throw new ProcessException($"触发文本{config.TriggerStr}解析失败，未能获取检测序号");
            }


            var positionSet = M141Config.WorkPositionCollection.Where(u => u.IsEnabled).FirstOrDefault(u => u.TriggerValue == positionValue);
            if (positionSet == null)
            {
                throw new ProcessException($"触发文本{config.TriggerStr}未能获取{positionValue}对应的可用工位信息");
            }

            measureBinds = M141Config.MeasureBindCollection.Where(u => u.WorkPosition == positionSet.PositionName && u.CheckIndex == checkIndex).ToList();
            if (measureBinds.Count == 0)
            {
                throw new ProcessException($"未能获取工位{positionSet.PositionName}的第{checkIndex}检测配置信息");
            }

            measureBinds.Select(u => u.CameraId).ToList().ForEach(c =>
            {
                var camera = DeviceCollection.FirstOrDefault(u => u.Id == c) as CameraBase;
                if (camera != null)
                {
                    camera.ClearImageBufferQueue();
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Action, $"相机{camera.Name}检测前清理缓存完成");
                }
            });



            inputSequence = triggerDatas[triggerDatas.Length - 1];

            string tempSequence = inputSequence;

            string pidstr = DateTime.Now.ToString("yyyyMMddHHmmssfff");
            measureBinds.Where(b => b.IsFirstPosition).ToList().ForEach(b =>
            {
                b.ProductIndices.ForEach(i =>
                {
                    ProductModel p = new ProductModel();
                    p.SEQUENCE = $"{tempSequence}_{i}";
                    p.PID = $"{pidstr}T_{i}";

                    if (positionSet.IsLastPosition)
                    {
                        p.Initial(M141Config.StationCode, new List<string>() { positionSet.PositionName });
                    }
                    else
                    {
                        p.Initial(M141Config.StationCode, M141Config.WorkPositionCollection.Select(u => u.PositionName).ToList());
                    }
                    NewProductIntoList(p, true);
                });
            });


            int de = 0;

            measureBinds.Where(b => (b.CheckIndex == de || b.CheckIndex == 1) && b.ImageIndex == 0).AsParallel().ForAll(b =>
            {
                List<int> temint = new List<int>();

                temint = new List<int>() { 1 };

                temint.ForEach(i =>
                {
                    string sequence = $"{tempSequence}_{i}";
                    var p = FindProductBySequence(sequence, b.IsEnabelQueryFromQueue);

                    //初始化产品的检测次数
                    var checkIndexList = M141Config.MeasureBindCollection.Where(u => u.WorkPosition == b.WorkPosition && u.ProductIndices.Contains(i)).Select(u => u.CheckIndex).OrderBy(u => u).ToList();
                    p.InitialPositionCheckList(b.WorkPosition, checkIndexList);
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Assist, $"产品{p.PID}_{p.SEQUENCE}已清理{b.WorkPosition}检测数据。当前已完成工位{string.Join(",", p.Details.Select(u => u.PositionName))}");
                });

                //初始化工位的检测次数
                var positionCheckTimes = M141Config.MeasureBindCollection.Where(u => u.WorkPosition == b.WorkPosition).Select(u => u.CheckIndex).ToList();
                lock (_positionCheckTimeLock)
                {
                    _positionCheckTimeDict[b.WorkPosition] = positionCheckTimes;
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Assist, $"工位{b.WorkPosition}初始化检测次数：{string.Join(",", positionCheckTimes)}");
                }
            });

            measureBinds.AsParallel().ForAll(b =>
            {
                lock (_positionCheckTimeLock)
                {
                    _positionCheckTimeDict[b.WorkPosition].RemoveAll(u => u == b.CheckIndex);
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Assist, $"工位{b.WorkPosition}开始第{b.CheckIndex}次检测，待检测序号：{string.Join(",", _positionCheckTimeDict[b.WorkPosition])}");
                }
            });
        }

        public async Task<List<ProductModel>> CheckPositionDoneAsync_plc(string positionName, string inputSequence, IOperationConfig config, List<string> cameraIds)
        {
            string triggerSource = config.TriggerSource;
            return await _taskFactory.StartNew(() =>
            {
                try
                {
                    string index = config.TriggerStr.Split(',')[1];
                    var positionSet = M141Config.WorkPositionCollection.FirstOrDefault(u => u.PositionName == positionName);

                    var checkRemains = _positionCheckTimeDict[positionName];

                    var pIndices = M141Config.MeasureBindCollection.Where(u => u.WorkPosition == positionName).SelectMany(u => u.ProductIndices).Distinct().OrderBy(u => u).ToList();
                    pIndices = new List<int> { 1 };


                    var pList = pIndices.Select(u =>
                    {
                        string sequence = $"{inputSequence}_{u}";
                        return FindProductBySequence(sequence, true);
                    }).ToList();
                    List<bool> plcresult = new List<bool>();
                    if (pList.Any(u => u == null))
                    {
                        plcresult = new List<bool>() { false, false, false };
                        LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"获取工位{positionName}汇总结果时产品信息为空");
                    }
                    else
                    {
                        int waitInterval = 300;
                        int repeatTime = M141Config.DetectTimeout / waitInterval;
                        do
                        {
                            if (!pList.All(p =>
                            {
                                p.GetPositionResult(M141Config.StationCode, positionName, out P_PRODUCT_DETAIL detail);
                                return detail?.IsDone ?? false;
                            }))
                            {
                                Thread.Sleep(waitInterval);
                                repeatTime--;
                            }
                            else
                            {
                                Thread.Sleep(50);
                                LogAsync(DateTime.Now, EnumHelper.LogLevel.Action, $"成功完成工位{positionName}产品{string.Join(",", pList.Select(u => $"{u.PID}_{u.SEQUENCE}"))}检测");
                                break;
                            }

                            if (repeatTime < 0)
                            {
                                LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, $"工位{positionName}产品{string.Join(",", pList.Select(u => $"{u.PID}_{u.SEQUENCE}"))}检测获取结果超时");
                                break;
                            }
                        } while (true);
                    }


                    pList.ForEach(p =>
                    {
                        var isOK = p.GetPositionResult(M141Config.StationCode, positionName, out P_PRODUCT_DETAIL detail);
                        plcresult.Add(isOK);
                        List<string> specHeads = new List<string>();
                        string head = p.GetCSVHead(ref specHeads, positionName);

                        _positionSpecHeads[positionName] = specHeads;

                        string data = p.GetCSVData(_positionSpecHeads[positionName], positionName);
                        CSVRecordAsync($"{positionName}_Record_{DateTime.Now.ToString("yyyyMMdd")}.csv", data, head);

                        //UpdatePositionResultToDB(detail);
                        //var seqData = p.SEQUENCE.Split(new char[] { '_' }, StringSplitOptions.RemoveEmptyEntries).ToList();

                        mysqlhelper.UpdateProduct(p);
                        if (positionSet.IsLastPosition)
                        {
                            UpdateProductResultAsync(p);
                            mysqlhelper.NewForAll(p, M141Config.StationCode);
                            if (M141Config.IsfinDevice)
                            {
                                SummaryAllprodata(p);
                            }
                        }
                    });
                    ReplyPlcData(positionSet, plcresult);
                    if (positionSet.IsLastPosition)
                    {
                        if (_ct != null)
                        {
                            UpdateCT(null, (float)((DateTime.Now - _ct.Value).TotalSeconds));
                        }
                        _ct = DateTime.Now;
                    }

                    //ReplyPlcData(positionName, config.TriggerValue);

                    cameraIds.ForEach(c =>
                    {
                        var camera = DeviceCollection.FirstOrDefault(u => u.Id == c) as CameraBase;
                        if (camera != null)
                        {
                            camera.ClearImageBufferQueue();
                            LogAsync(DateTime.Now, EnumHelper.LogLevel.Assist, $"相机{camera.Name}清理缓存");
                        }
                    });

                    return pList;

                }
                catch (Exception ex)
                {
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Exception, ex.ToString());
                    return null;
                }

            });
        }


        public void ReplyPlcData(WorkPositionSet p, List<bool> result)
        {
            if (p.plcresult != 0)
            {
                Plc1.WriteSingleAddress(p.plcresult, result[0] ? 1 : 2, out _);
            }
            Plc1.WriteSingleAddress(p.plcover, 1, out _);

        }





        public void SummaryAllprodata(ProductModel p)
        {
            _taskFactory.StartNew(() =>
            {
                try
                {

                    ProductModel newp = new ProductModel();
                    newp.SEQUENCE = p.SEQUENCE;
                    newp.PID = p.PID;
                    newp.BasketCode = p.BasketCode;
                    newp.Result = p.Result;
                    newp.SN = p.SN;
                    newp.Details.AddRange(p.Details);

                    var plist = mysqlhelper.GetProductList(p.SEQUENCE);

                    if (plist != null)
                    {
                        foreach (var item in plist)
                        {
                            newp.Details.AddRange(item.Details);
                        }
                    }

                    List<string> specHeadListforall = new List<string>();
                    List<string> positionListforall = new List<string>();
                    string csvHeadforall = p.GetCSVHead(ref specHeadListforall, ref positionListforall);
                    CSVRecordAsync($"AllDeviceProductRecord.csv", p.GetCSVData(specHeadListforall, positionListforall), csvHeadforall);

                }
                catch(Exception exx)
                {
                    LogAsync(DateTime.Now, EnumHelper.LogLevel.Error, "AllDeviceProductRecord数据汇总异常  " + exx.ToString());
                }
            });

        }






        #endregion
    }





}