using A032.Process.Calibration;
using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace A032.Process
{
    public partial class ProcessControl
    {
        [ProcessMethod("CalibrationCollection", "RobotCalibration", "机器人9点标定", true)]
        public ProcessResponse RobotCalibration(IOperationConfig config)
        {
            return new ProcessResponse(true);
        }

        [ProcessMethod("CalibrationCollection", "StandardPointCalibration", "标准点位标定", true)]
        public ProcessResponse StandardPointCalibration(IOperationConfig config)
        {
            return new ProcessResponse(true);
        }

        public void SendCalibrationStartSignal(int stepNum)
        {

        }

        private int MultipleStepsCalibration(CalibrationConfigCollection configs, Action<List<CalibrationConfig>> FinalCalculation)
        {
            throw new NotImplementedException();

            //configs.Configs.ForEach(c =>
            //{
            //    c.Image = null;
            //});

            //if (string.IsNullOrWhiteSpace(configs.CameraId) || !CameraDict.ContainsKey(configs.CameraId))
            //{
            //    throw new ProcessException("标定配置未配置正确的相机编号");
            //}

            //if (string.IsNullOrWhiteSpace(configs.PositionCode))
            //{
            //    throw new ProcessException("标定配置未指定路径位置");
            //}

            //CameraBase camera = CameraDict[configs.CameraId];
            //FrmCalib9PDynamic frm9PDynamic = new FrmCalib9PDynamic(this, camera, configs, FinalCalculation);
            //frm9PDynamic.ShowDialog();

            //if (configs.InputPara == null || configs.InputPara.Count <= 0)
            //{
            //    return (int)PLCReplyValue.NG;
            //}

            //if (configs.InputPara[0] <= 0 || configs.InputPara[0] > configs.Configs.Count)
            //{
            //    configs.InputPara = null;
            //    return (int)PLCReplyValue.IGNORE;
            //}

            //int sequence = configs.InputPara[0];

            ////第一次
            //if (sequence == 1)
            //{
            //    configs.Configs.ForEach(c =>
            //    {
            //        c.Image = null;
            //        c.OfflineImagePath = "";
            //        c.CurrentPlatPoint = new CustomizedPoint();
            //        c.ImageMarkPoint = new CustomizedPoint();
            //    });
            //}

            //CalibrationConfig stepConfig = configs.Configs[sequence - 1];

            //HDevEngineTool tool = _halconToolDict[]

            //CalibMarkPoint(camera, stepConfig, sequence);

            ////获取当前平台点位
            //stepConfig.CurrentPlatPoint = new CustomizedPoint(_monitorList.Skip(locationStartIndex).Take(4).ToList());
            ////stepConfig.CurrentPlatPoint = new CustomizedPoint(configs.InputPara.Skip(1).Take(4).ToList());

            ////最后一次
            //if (sequence == configs.Configs.Count)
            //{
            //    FinalCalculation?.Invoke(configs.Configs);
            //}

            //configs.InputPara = null;
            //return (int)PLCReplyValue.OK;
        }
    }
}