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 UnLoadDetection
    {
        #region 上料检测相关私有成员
        private ConfigStruct opcConfig;
        private TcpListener robotServer;
        private Thread unloadProcesser;
        private VisionDetect vd = new VisionDetect();
        private List<ProductMeasureResult> productTestCollection;
        private DateTime unloadTime = DateTime.MaxValue;
        private OPC _opc;
        #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 UnLoadDetection(OPC opc, ConfigStruct _opcConfig, List<ProductMeasureResult> _productTestCollection)
        {
            _opc = opc;
            opcConfig = _opcConfig;
            robotServer = new TcpListener(IPAddress.Parse(opcConfig.unloadRobotConfig.localIpAddress), opcConfig.unloadRobotConfig.port);
            productTestCollection = _productTestCollection;
        }

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

        public void Stop()
        {
            if (unloadProcesser != null && unloadProcesser.IsAlive)
            {
                unloadProcesser.Abort();
                unloadProcesser.Join();
            }
            unloadProcesser = 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("下料机械手臂监听服务已启动，绑定地址：{0}，端口：{1}", opcConfig.unloadRobotConfig.localIpAddress,
                    opcConfig.unloadRobotConfig.port));
                return true;
            }
            catch (Exception e)
            {
                CommonUtil.WriteLog(LogType.Exc, string.Format("下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("下料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。
        /// </summary>
        public void Execute()
        {
            TcpClient robortClient = null;
            NetworkStream netStream = null;
            byte[] recvBuf = new byte[1024];
            byte[] sendBuf;
            string sendMsg = string.Empty;
            int detectID = 0;

            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("下料机械手臂已连接：{0}, {1}", robortClient.Client.RemoteEndPoint, timeStr));
                    sendMsg = string.Empty;
                    netStream = robortClient.GetStream();

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

                    while (robortClient.Connected)
                    {
                        if (!netStream.DataAvailable)
                        {
                            Thread.Sleep(10);
                            continue;

                        }

                        #region data trans
                        //每次一个，完成断开 
                        int n = netStream.Read(recvBuf, 0, 1024);
                        while (n > 0)
                        {
                            string receivedMsg = System.Text.Encoding.ASCII.GetString(recvBuf, 0, n);
                            CommonUtil.WriteLog(LogType.Inf, string.Format("接收到下料机械手臂发来的消息：{0}, {1}", receivedMsg, CommonUtil.StepControl.ToString()));
                            // 处理接收到的数据。
                            if (receivedMsg.Contains("xlrate"))
                            {
                                sendMsg = opcConfig.unloadRbtSpeed.ToString();
                            }
                            if (receivedMsg.Contains("result"))
                            {
                                bool isOk = false;
                                detectID = CommonUtil.StepControl.GetUnloadStepID();
                                if (detectID > 0)
                                {
                                    var x = (from t in productTestCollection
                                             where t.DetectID == detectID
                                             select t
                                            ).FirstOrDefault();
                                    if (x != default(ProductMeasureResult))
                                    {
                                        if (x.ProductResult == MeasureState.OK.ToString())
                                        {
                                            isOk = true;
                                        }
                                    }
                                }
                                sendMsg = isOk ? "ok" : "ng";

                                //_opc.Write(OPCOutputTag.TurnDiskReadyConfirm, false);

                                CommonUtil.mainForm.Invoke(new Action(() => CommonUtil.mainForm.RemoveDetectedItem(detectID)));
                                CommonUtil.WriteLog(LogType.Inf, string.Format("{0}, {1}", detectID, sendMsg));

                                #region add by Patrick 2018-07-13
                                if (!isOk)
                                {
                                    CommonUtil.StepControl.RemoveById(detectID);
                                }
                                #endregion
                            }
                            if (sendMsg != string.Empty)
                            {
                                sendBuf = System.Text.Encoding.ASCII.GetBytes(sendMsg);
                                netStream.Write(sendBuf, 0, sendBuf.Length);
                                CommonUtil.WriteLog(LogType.Inf, string.Format("向下料机械手臂发送的消息：{0}", sendMsg));

                                if (unloadTime != DateTime.MaxValue)
                                {
                                    TimeSpan ts = DateTime.Now - unloadTime;
                                    CommonUtil.mainForm.Invoke(new Action(() => CommonUtil.mainForm.DisplayCycleTime((int)Math.Round(ts.TotalMilliseconds))));
                                }
                                unloadTime = DateTime.Now;
                            }
                            n = netStream.Read(recvBuf, 0, 1024);
                        }

                        #endregion
                    }


                    /*
                    if (netStream != null)
                        netStream.Close();

                    if (robortClient != null)
                        robortClient.Close();
                        */

                    CommonUtil.WriteLog(LogType.Inf, string.Format("下料机械连接断开"));

                    Thread.Sleep(10);
                }
                catch (ThreadAbortException)
                {
                    break;
                }
                catch (Exception e)
                {
                    CommonUtil.WriteLog(LogType.Exc, string.Format("与下料通信过程出现异常：{0}", e.Message));//;
                }
                Thread.Sleep(10);
            }
        }
    }
}