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
{
    //上料检测类
    public class LoadDetection
    {
        #region 上料检测相关私有成员
        private ConfigStruct opcConfig;
        private TcpListener robotServer;
        private ImageProcess ipImage;
        private Thread loadProcesser;
        #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 LoadDetection(ConfigStruct _opcConfig, ImageProcess _ipImage)
        {
            opcConfig = _opcConfig;
            ipImage = _ipImage;
            robotServer = new TcpListener(IPAddress.Any, 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("机械手臂监听服务已启动，绑定端口：{0}", opcConfig.loadRobotConfig.port));
                return true;
            }
            catch (Exception e)
            {
                CommonUtil.WriteLog(LogType.Exc, string.Format("监听服务启动失败：{0}", e.Message));
                return false;
            }
        }

        public void CloseListener()
        {
            robotServer.Stop();
            CommonUtil.WriteLog(LogType.Inf, string.Format("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;
            
            while (true)
            {
                try
                {
                    robortClient = robotServer.AcceptTcpClient();
                    CommonUtil.WriteLog(LogType.Inf, string.Format("机械手臂已连接：{0}", robortClient.Client.RemoteEndPoint));
                    netStream = robortClient.GetStream();
                    while (robortClient.Connected)
                    {
                        if (netStream.DataAvailable)
                        {
                            int n = netStream.Read(recvBuf, 0, 1024);
                            string receivedMsg = System.Text.Encoding.ASCII.GetString(recvBuf, 0, n);
                            CommonUtil.WriteLog(LogType.Inf, string.Format("接收到机械手臂上传数据：{0}", receivedMsg));
                            if (receivedMsg.Contains("slgrab"))
                            {
                                HObject ihImage = null;
                                HObject ihInterestImage = null;
                                VisionDetect vd = new VisionDetect();
                                ipImage.GrapLoad(ref ihImage);
                                ipImage.GetImageIntrest(ihImage, out ihInterestImage);
                                //
                                string resp = ipImage.JudgeLoad(ihInterestImage) ? "ok" : "ng";
                                CommonUtil.WriteLog(LogType.Inf, string.Format("上料判断结果：{0}", resp));
                                sendBuf = System.Text.Encoding.ASCII.GetBytes(resp);
                                netStream.Write(sendBuf, 0, sendBuf.Length);
                            }
                        }
                        Thread.Sleep(20);
                    }
                }
                catch (Exception e)
                {
                    if (e is ThreadAbortException)  //手动终止则退出，否则继续等待连接
                    {
                        CommonUtil.WriteLog(LogType.Inf, "用户手动终止程序, 连接关闭"); 
                        break;
                    }
                    else
                        CommonUtil.WriteLog(LogType.Exc, string.Format("处理上料检测过程中出现异常：{0}", e.Message));
                }
                finally
                {
                    if (robortClient != null)
                        robortClient.Close();
                    if (netStream != null)
                        netStream.Close();
                }

                Thread.Sleep(10);
            }
            CommonUtil.WriteLog(LogType.Exc, string.Format("上料检测过程退出"));
        }
    }
}