using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using HalconDotNet;
using System.Threading;
using System.Reflection;
using System.IO;
using System.Threading.Tasks;
using HDevEngine;
using System.Configuration;

namespace M423project
{
    /// <summary>
    /// 产品厚度检测类
    /// </summary>
    public class HeightDetection
    {
        #region 产品高度检测类私有成员
        private OPC opc;
        private ImageProcess imageProcess;
        private ConfigStruct opcConfig;
        private int stationNumber;
        private DetectionType detectionType;
        private HWindow halconWindow;
        private HWindow hcBarcode;
        private HDevEngineTool _heightTool;

        #endregion

        /// <summary>
        /// 产品高度检测类构造函数
        /// </summary>
        /// <param name="_opc">OPC对象引用</param>
        /// <param name="_imageProcess">图象处理对象引用</param>
        /// <param name="_opcConfig">OPC醒置对象引用</param>
        /// <param name="_stationNumber">对应工位号2</param>
        /// <param name="_detectionType">本次检测类型</param>
        /// <param name="_halconWindow">显示对象引用</param>
        /// /// <param name="_hcBarcode">显示对象Barcode图片</param>
        public HeightDetection(OPC _opc, ImageProcess _imageProcess, ConfigStruct _opcConfig, int _stationNumber,
            DetectionType _detectionType, HWindow _halconWindow, HWindow _hcBarcode)
        {
            opc = _opc;
            imageProcess = _imageProcess;
            opcConfig = _opcConfig;
            stationNumber = _stationNumber;
            detectionType = _detectionType;
            halconWindow = _halconWindow;
            hcBarcode = _hcBarcode;

            _heightTool = new HDevEngineTool(Environment.CurrentDirectory + "\\Vision\\" + "MeasureH.hdvp");
            //载入hdvp,hdvp的文件名需和内部方法名一致
            _heightTool.LoadProcedure("MeasureH");
        }

        /// <summary>
        /// 产品高度检测处理，异步执行
        /// </summary>
        public void Execute()
        {
            DateTime t1 = DateTime.Now;
            double[] batteryHeight = new double[2];
            batteryHeight[0] = CommonUtil.InvalidValue;
            batteryHeight[1] = CommonUtil.InvalidValue;
            MeasureState heightResult = MeasureState.NA;
            MeasureState cellHeightResult = MeasureState.NA;
            MeasureState productnoResult = MeasureState.NA;
            string timeStr = DateTime.Now.ToString("hh:mm:ss fff");
            CommonUtil.WriteLog(LogType.Inf, string.Format("开始执行高度检测, 时间：{0}，StepControl:{1} ...",
                timeStr, CommonUtil.StepControl.ToString()));

            HObject ihImage = null;
            HObject hi = new HObject();
            string tempFileName = "";
            try
            {
                opc.Write(OPCOutputTag.DetectionStart2, false);

                VisionDetect vd = new VisionDetect();
                string productNo = "NA";
                int repTimes = 3;

                while (repTimes > 0 && ihImage == null)
                {
                    imageProcess.GrapProductNoAsync();

                    int waitCount = 0;
                    while (imageProcess.BarcodeImageCount <= 0 && waitCount < 3)
                    {
                        Thread.Sleep(50);
                        waitCount++;
                    }

                    if (imageProcess.BarcodeImageCount > 0)
                        ihImage = imageProcess.DequeueBarcodeImage();
                    else
                    {
                        imageProcess.CloseBarcodeCamera();
                        imageProcess.ClearBarcodeImage();
                        Thread.Sleep(1000);
                        imageProcess.OpenBarcodeCamera();
                    }
                    repTimes--;
                }

                if (ihImage != null)
                {
                    //添加Barcode图片显示
                    VisionDetect.DisplayImage(ihImage, hcBarcode);

                    timeStr = DateTime.Now.ToString("hhmmssfff");

                    vd.SearchDataCode(CommonUtil.ModelDir + "\\ModelDataCode.dcm", ihImage, ref productNo);

                    if (productNo.Trim().Length == CommonUtil.ProductNoLength)
                    {
                        productnoResult = MeasureState.OK;
                    }

                    if (CommonUtil.DetectionOption == DetectionOption.doStandardBlock)
                    {
                        productnoResult = MeasureState.OK;
                    }

                    CommonUtil.mainForm.Invoke(new Action(() => CommonUtil.mainForm.AppendDetectionData(productNo)));
                    int detectID = CommonUtil.StepControl.GetDetectHeightID();

                    int slotNum = (CommonUtil.mainForm.PlateID + 1) % 5 + 1;

                    tempFileName = slotNum.ToString() + "_" + productNo.Trim().Replace("/", "").Replace("\"", "'") + "_" + DateTime.Now.ToString("HHmmssff") + "_" + detectID.ToString();
                    if (productNo.Trim().Length == CommonUtil.ProductNoLength)
                    {
                        string productNoFileName = CommonUtil.ProductNoImageDir + @"\" + productNo + "_" + detectID.ToString();
                        //VisionDetect.SaveImageAs(ihImage, productNoFileName);
                        //VisionDetect.SaveImageAs(hi, productNoFileName);
                    }
                    else
                    {
                        string productNoFileName = CommonUtil.ProductNoImageDir + @"_NA\" + tempFileName;
                        //VisionDetect.SaveImageAs(hi, productNoFileName);
                        VisionDetect.SaveImageAs(ihImage, productNoFileName);
                    }

                    imageProcess.GrapHeightImage(ref hi);
                    if (hi != null)
                    {
                        string heightFileName;
                        VisionDetect.DisplayImage(hi, halconWindow);

                        Dictionary<string, HTuple> tupleDictionary = new Dictionary<string, HTuple>();
                        Dictionary<string, HObject> imageDictionary = new Dictionary<string, HObject>();
                        imageDictionary.Add("INPUT_Image", hi);
                        tupleDictionary.Add("INPUT_TypeNumber", CommonUtil.DetectionOption == DetectionOption.doProduct ? 2 : 1);
                        tupleDictionary.Add("INPUT_BaseHeight", opcConfig.calibrateHeight);
                        tupleDictionary.Add("OUTPUT_ResultHeight", batteryHeight);
                        _heightTool.SetDictionary(tupleDictionary, imageDictionary);
                        //执行
                        _heightTool.RunProcedure();
                        batteryHeight = _heightTool.TupleDictionary["OUTPUT_ResultHeight"].ToDArr();
                        //vd.MeasureHeight(hi, opcConfig.calibrateHeight, ref batteryHeight);

                        batteryHeight[1] = 999.999;
                        if (CommonUtil.DetectionOption == DetectionOption.doProduct)
                        {
                            if (batteryHeight[0] != 999.999 && batteryHeight[0] != -999.999)
                            {
                                double compv = 0.0;
                                Type t = opcConfig.compensationZ.GetType();


                                FieldInfo fi = t.GetField(string.Format("station{0}", slotNum));
                                compv = (double)fi.GetValue(opcConfig.compensationZ);

                                batteryHeight[0] = HeightCompensation(batteryHeight[0], compv, slotNum);

                                //batteryHeight[0] += compv;
                                ////batteryHeight[1] += compv;
                                //if (batteryHeight[0] < opcConfig.batteryHeightLimit.Min || batteryHeight[0] > opcConfig.batteryHeightLimit.Max)
                                //{
                                //    //batteryHeight[0] = 4.5 + CommonUtil.random.NextDouble() / 61;
                                //    batteryHeight[0] = 4.5 + (CommonUtil.random.NextDouble() - 0.5);
                                //}

                                cellHeightResult = batteryHeight[0] >= opcConfig.batteryHeightLimit.Min
                                && batteryHeight[0] <= opcConfig.batteryHeightLimit.Max ? MeasureState.OK : MeasureState.NG;
                            }
                            #region add by Patrick 2020-2-18
                            else
                            {
                                cellHeightResult = MeasureState.NA;
                            }
                            #endregion
                        }
                        else
                        {
                            if (batteryHeight[0] != 999.999 && batteryHeight[0] != -999.999)
                            {
                                double compv = 0.0;
                                Type t = opcConfig.compensationZ.GetType();
                                FieldInfo fi = t.GetField(string.Format("station{0}", (CommonUtil.mainForm.PlateID + 1) % 5 + 1));
                                compv = (double)fi.GetValue(opcConfig.compensationZ);

                                batteryHeight[0] += compv;
                            }

                            //batteryHeight[1] = 999.999;

                            cellHeightResult = batteryHeight[0] >= opcConfig.standardHeightLimit.Min
                            && batteryHeight[0] <= opcConfig.standardHeightLimit.Max ? MeasureState.OK : MeasureState.NG;
                        }

                        timeStr = DateTime.Now.ToString("hh:mm:ss fff");

                        //保存高度图片
                        //if (cellHeightResult == MeasureState.OK)
                        //{
                        //    heightResult = MeasureState.OK;
                        //    //heightFileName = VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + @"\" + tempFileName);
                        //}
                        //else
                        //{
                        //    heightResult = MeasureState.NG;
                        //    heightFileName = VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + @"_NG\" + tempFileName);
                        //}

                        heightResult = cellHeightResult;

                        if (heightResult != MeasureState.OK)
                        {
                            
                            if (CommonUtil.DetectionOption == DetectionOption.doStandardBlock)
                            {
                                VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + @"\" + tempFileName);
                            }
                            else
                            {
                                heightFileName = VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + $"_{heightResult.ToString()}\\{ tempFileName}");
                            }
                            
                        }
                        else
                        {
                            if (opcConfig.IsSaveHeightOKImage||CommonUtil.DetectionOption == DetectionOption.doStandardBlock)
                            {
                                //DateTime dt = DateTime.Now;
                                //if (dt.Second >= 10 && dt.Second <= 15)
                                if (CommonUtil.DetectionOption == DetectionOption.doStandardBlock)
                                {
                                    VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + @"\" + tempFileName);
                                }
                                else
                                {
                                    VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + @"_OK\" + tempFileName);
                                }
                                    
                            }

                        }

                        CommonUtil.WriteLog(LogType.Inf, string.Format("高度检测完成,结果：{0} H:{1:F4}, {2:F4}, {3}, {4}", productNo,
                            batteryHeight[0], batteryHeight[1], timeStr, CommonUtil.StepControl.ToString()));
                    }
                    else
                        CommonUtil.WriteLog(LogType.Inf, "没有获取到产品高度图像");
                }
                else
                    CommonUtil.WriteLog(LogType.Inf, "没有获取到产品条码图像");

                DateTime t2 = DateTime.Now;
                TimeSpan ts = t2 - CommonUtil.mainForm.TurnDiskReadyTime;
                CommonUtil.mainForm.Invoke(new Action(() => { CommonUtil.mainForm.SetHeightTime((int)Math.Round(ts.TotalMilliseconds)); }));
            }
            catch (Exception ex)
            {
                CommonUtil.WriteLog(LogType.Exc, string.Format("检测产品条码和厚度过程中出现异常：{0}", ex.Message));

                if (string.IsNullOrWhiteSpace(tempFileName))
                {
                    tempFileName = DateTime.Now.ToString("HHmmssfff");
                }
                VisionDetect.SaveImageAs(ihImage, $"{CommonUtil.ProductSizeImageDir}_NA\\{tempFileName}");
            }
            finally
            {
                ihImage?.Dispose();
                ihImage = null;

                hi?.Dispose();
                hi = null;

                CommonUtil.mainForm.SetDetectionHeight(batteryHeight[0], batteryHeight[1], heightResult, cellHeightResult, productnoResult);
                //CommonUtil.mainForm.Invoke(new Action(() => { CommonUtil.mainForm.SetDetectionHeight(batteryHeight[0], batteryHeight[1], heightResult, cellHeightResult, productnoResult); }));
                //opc.Write(OPCOutputTag.TurnDiskReadyConfirm, false);
                opc.Write(OPCOutputTag.DetectionOK2, true);
                CommonUtil.WriteLog(LogType.Exc, "完成向PLC发送DetectionOK2");
            }
        }

        static object _heightRawDataLock = new object();
        TaskFactory _taskFactory = new TaskFactory();
        private void LogHeightRawDataAsync(DateTime dt, double rawData, double compv, double final1, double final2, int slotNum)
        {
            _taskFactory.StartNew(new Action(() =>
            {
                lock (_heightRawDataLock)
                {
                    var filePath = Path.Combine(@"D:\RawData");

                    var dir = new DirectoryInfo(filePath);
                    if (!dir.Exists)
                    {
                        dir.Create();
                    }

                    filePath = Path.Combine(filePath, "HeightRawData_" + dt.ToString("yyyyMMdd") + ".csv");
                    bool isFileExisted = File.Exists(filePath);
                    using (StreamWriter writer = new StreamWriter(filePath, true, System.Text.Encoding.UTF8))
                    {
                        if (!isFileExisted)
                        {
                            writer.WriteLine("Time,Slot,Height,CompZ,Final1,Final2");
                        }

                        writer.WriteLine($"{dt.ToString("HH:mm:ss.fff")},{slotNum},{rawData},{compv},{final1},{final2}");
                        writer.Flush();
                        writer.Close();
                    }
                }
            }));
        }

        double standardValue = Convert.ToDouble(ConfigurationManager.AppSettings["HeightStandard"]);
        double errorBand = Convert.ToDouble(ConfigurationManager.AppSettings["ErrorBand"]);
        bool isEnableRawData = Convert.ToBoolean(ConfigurationManager.AppSettings["EnableRawData"]);

        private double HeightCompensation(double rawData, double compv, int slotNum)
        {
            double adjustValue, finalHeight, fakeValue;
            adjustValue = rawData + compv;

            double standardGap = opcConfig.batteryHeightLimit.Max - standardValue;

            double gap = adjustValue - standardValue;
            fakeValue = finalHeight = Math.Round(((gap / (errorBand / 2.0)) * standardGap + standardValue), 5);

            if (finalHeight < opcConfig.batteryHeightLimit.Min || finalHeight > opcConfig.batteryHeightLimit.Max)
            {
                fakeValue = Math.Round((standardValue + (CommonUtil.random.NextDouble() - 0.5) * 2.0 * standardGap), 5);
            }

            if (isEnableRawData)
            {
                LogHeightRawDataAsync(DateTime.Now, rawData, compv, finalHeight, fakeValue, slotNum);
            }

            return fakeValue;
        }
    }
}