using System;
using System.Collections.Generic;
using System.Drawing.Text;
using System.Linq;
using System.Net;
using System.Text;
using System.Net.Sockets;
using System.Threading;
using System.Windows.Forms.VisualStyles;
using HalconDotNet;

namespace M423project
{
    public class ProductDeltaPosition
    {
        public string[] deltaloadRowStr = new string[2];
        public string[] deltaloadColumnStr = new string[2];
        public string[] deltaloadAngleStr = new string[2];
        public double[] deltaloadRow = new double[2];
        public double[] deltaloadColumn = new double[2];
        public double[] deltaloadAngle = new double[2];
    }

    //上料检测类
    public class UpLoadDetection
    {
        #region 上料检测相关私有成员
        private ConfigStruct opcConfig;
        private TcpListener robotServer;
        private ImageProcess ipImage;
        private Thread loadProcesser;
        private VisionDetect vd = new VisionDetect();
        #endregion
        /// <summary>
        /// 上料检类构造函数
        /// </summary>
        /// <param name="_opcConfig">OPC配置对象引用</param>
        /// <param name="_ipImage">图象处理对象引用</param>
        public UpLoadDetection(ConfigStruct _opcConfig, ImageProcess _ipImage)
        {
            opcConfig = _opcConfig;
            ipImage = _ipImage;
            robotServer = new TcpListener(IPAddress.Parse(opcConfig.loadRobotConfig.localIpAddress), opcConfig.loadRobotConfig.port);
        }

        /// <summary>
        /// 启动检测线程
        /// </summary>
        public void Start()
        {
            loadProcesser = new Thread(Execute);
            loadProcesser.Start();
        }

        public void Stop()
        {
            if (loadProcesser != null && loadProcesser.IsAlive)
            {
                loadProcesser.Abort();
                loadProcesser.Join();
            }
            loadProcesser = null;
        }

        /// <summary>
        /// 启动对机械手臂监听
        /// </summary>
        /// <returns>是否正常启动</returns>
        public bool OpenListener()
        {
            try
            {
                robotServer.Start();
                CommonUtil.WriteLog(LogType.Inf, string.Format("上料机械手臂监听服务已启动，绑定地址：{0}，端口：{1}", opcConfig.loadRobotConfig.localIpAddress,
                    opcConfig.loadRobotConfig.port));
                return true;
            }
            catch (Exception e)
            {
                CommonUtil.WriteLog(LogType.Exc, string.Format("上料机械手臂监听服务启动失败：{0}", e.Message));
                return false;
            }
        }

        public void CloseListener()
        {
            robotServer.Stop();
            CommonUtil.WriteLog(LogType.Inf, string.Format("上料机械手臂机械手臂监听服务已关闭"));
        }

        /// <summary>
        /// 执行和机械手臂会话，处理上料检测结果。
        /// 连结是否需要多次建立还 是只建立一次？
        /// </summary>
        public void Execute()
        {
            TcpClient robortClient = null;
            NetworkStream netStream = null;
            byte[] recvBuf = new byte[1024];
            byte[] sendBuf;            
            //
            //int batteryStatus = 10;
            //int batteryNumber = 0;
            InitPosition initPosition = default(InitPosition);
            HObject imageIntrest = new HObject();
            ProductDeltaPosition productDeltaPosition = new ProductDeltaPosition();
            HTuple ScoreTriRects = new HTuple(), ScoreTriAngles = new HTuple();
            //
            while (true)
            {
                try
                {
                    while (!robotServer.Pending())
                       Thread.Sleep(10);
                
                    robortClient = robotServer.AcceptTcpClient();
                    string timeStr = DateTime.Now.ToString("hh:mm:ss fff");
                    CommonUtil.WriteLog(LogType.Inf, string.Format("上料机械手臂已连接：{0}, {1}, {2}", robortClient.Client.RemoteEndPoint, timeStr,
                        CommonUtil.StepControl.ToString()));                   
                    netStream = robortClient.GetStream();

                    while ( robortClient.Connected && !netStream.DataAvailable)
                        Thread.Sleep(10);

                    if (!robortClient.Connected)
                        continue;

                    //每次一个，完成断开 
                    int n = 0;
                    n = netStream.Read(recvBuf, 0, 1024);
                    while (n > 0)
                    {
                        #region 接收处理
                        string receivedMsg = System.Text.Encoding.ASCII.GetString(recvBuf, 0, n);
                        string sendMsg = string.Empty;
                        // 处理接收到的数据。
                        if (receivedMsg.Contains("slgrab"))
                        {
                    
                            sendMsg = "ok";
                        }
                        if (receivedMsg.Contains("num"))
                        {
                            sendMsg = "2";//batteryStatus.ToString();

                        }
                        if (receivedMsg.Contains("slrate"))
                        {
                            sendMsg = opcConfig.loadRbtSpeed.ToString();
                        }

                        if (receivedMsg.Contains("sldata"))
                        {
                            sendMsg = productDeltaPosition.deltaloadColumnStr[0] + "," + productDeltaPosition.deltaloadRowStr[0] + "," + "+000.000"
                                + "," + productDeltaPosition.deltaloadColumnStr[1] + "," + productDeltaPosition.deltaloadRowStr[1] + "," + "+000.000";
                            sendMsg = "+000.000,+000.000,+000.000,+000.000,+000.000,+000.000";
                        }

                        if (receivedMsg.Contains("1"))
                        {
                            initPosition.x1 = opcConfig.loadPosition11.x;
                            initPosition.y1 = opcConfig.loadPosition11.y;
                            initPosition.a1 = opcConfig.loadPosition11.angle;
                            initPosition.x2 = opcConfig.loadPosition12.x;
                            initPosition.y2 = opcConfig.loadPosition12.y;
                            initPosition.a2 = opcConfig.loadPosition12.angle;
                            sendMsg = "1";
                        }
                        if (receivedMsg.Contains("2"))
                        {
                            initPosition.x1 = opcConfig.loadPosition21.x;
                            initPosition.y1 = opcConfig.loadPosition21.y;
                            initPosition.a1 = opcConfig.loadPosition21.angle;
                            initPosition.x2 = opcConfig.loadPosition22.x;
                            initPosition.y2 = opcConfig.loadPosition22.y;
                            initPosition.a2 = opcConfig.loadPosition22.angle;
                            sendMsg = "2";
                        }
                        if (receivedMsg.Contains("3"))
                        {
                            initPosition.x1 = opcConfig.loadPosition31.x;
                            initPosition.y1 = opcConfig.loadPosition31.y;
                            initPosition.a1 = opcConfig.loadPosition31.angle;
                            initPosition.x2 = opcConfig.loadPosition32.x;
                            initPosition.y2 = opcConfig.loadPosition32.y;
                            initPosition.a2 = opcConfig.loadPosition32.angle;
                            sendMsg = "3";
                        }
                        if (receivedMsg.Contains("4"))
                        {
                            initPosition.x1 = opcConfig.loadPosition41.x;
                            initPosition.y1 = opcConfig.loadPosition41.y;
                            initPosition.a1 = opcConfig.loadPosition41.angle;
                            initPosition.x2 = opcConfig.loadPosition42.x;
                            initPosition.y2 = opcConfig.loadPosition42.y;
                            initPosition.a2 = opcConfig.loadPosition42.angle;
                            sendMsg = "4";
                        }
                        if (receivedMsg.Contains("5"))
                        {
                            initPosition.x1 = opcConfig.loadPosition51.x;
                            initPosition.y1 = opcConfig.loadPosition51.y;
                            initPosition.a1 = opcConfig.loadPosition51.angle;
                            initPosition.x2 = opcConfig.loadPosition52.x;
                            initPosition.y2 = opcConfig.loadPosition52.y;
                            initPosition.a2 = opcConfig.loadPosition52.angle;
                            sendMsg = "5";
                        }
                        if (receivedMsg.Contains("6"))
                        {
                            initPosition.x1 = opcConfig.loadPosition61.x;
                            initPosition.y1 = opcConfig.loadPosition61.y;
                            initPosition.a1 = opcConfig.loadPosition61.angle;
                            initPosition.x2 = opcConfig.loadPosition62.x;
                            initPosition.y2 = opcConfig.loadPosition62.y;
                            initPosition.a2 = opcConfig.loadPosition62.angle;
                            sendMsg = "6";
                        }
                        if (receivedMsg.Contains("7"))
                        {
                            initPosition.x1 = opcConfig.loadPosition71.x;
                            initPosition.y1 = opcConfig.loadPosition71.y;
                            initPosition.a1 = opcConfig.loadPosition71.angle;
                            initPosition.x2 = opcConfig.loadPosition72.x;
                            initPosition.y2 = opcConfig.loadPosition72.y;
                            initPosition.a2 = opcConfig.loadPosition72.angle;
                            sendMsg = "7";
                        }
                        if (receivedMsg.Contains("8"))
                        {
                            initPosition.x1 = opcConfig.loadPosition81.x;
                            initPosition.y1 = opcConfig.loadPosition81.y;
                            initPosition.a1 = opcConfig.loadPosition81.angle;
                            initPosition.x2 = opcConfig.loadPosition82.x;
                            initPosition.y2 = opcConfig.loadPosition82.y;
                            initPosition.a2 = opcConfig.loadPosition82.angle;
                            sendMsg = "8";
                        }
                        if (receivedMsg.Contains("9"))
                        {
                            initPosition.x1 = opcConfig.loadPosition91.x;
                            initPosition.y1 = opcConfig.loadPosition91.y;
                            initPosition.a1 = opcConfig.loadPosition91.angle;
                            initPosition.x2 = opcConfig.loadPosition92.x;
                            initPosition.y2 = opcConfig.loadPosition92.y;
                            initPosition.a2 = opcConfig.loadPosition92.angle;
                            sendMsg = "9";
                        }
                        if (receivedMsg.Contains("10"))
                        {
                            initPosition.x1 = opcConfig.loadPosition101.x;
                            initPosition.y1 = opcConfig.loadPosition101.y;
                            initPosition.a1 = opcConfig.loadPosition101.angle;
                            initPosition.x2 = opcConfig.loadPosition102.x;
                            initPosition.y2 = opcConfig.loadPosition102.y;
                            initPosition.a2 = opcConfig.loadPosition102.angle;
                            sendMsg = "10";
                        }//  结束

                        if (sendMsg != string.Empty)
                        {
                            sendBuf = System.Text.Encoding.ASCII.GetBytes(sendMsg);
                            netStream.Write(sendBuf, 0, sendBuf.Length);
                        }
                        Thread.Sleep(20);
                        n = netStream.Read(recvBuf, 0, 1024);
                        #endregion
                    }
                     
                    Thread.Sleep(10);
                }
                catch (Exception)
                {                    
                   break;
                }
                finally
                {
                    if (netStream != null)
                        netStream.Close();

                    if (robortClient != null)
                        robortClient.Close();
                }
                Thread.Sleep(10);
            }

            CommonUtil.WriteLog(LogType.Inf, "上料检测退出");
        }
    }
}