using System;
using System.Collections.Generic;
using System.Drawing;
using System.Drawing.Imaging;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using LB_SmartVisionCameraSDK.PHM6000;
using LB_VisionProcesses.Cameras;
using LB_SmartVisionCommon;
using LB_SmartVisionCameraDevice.PHM6000;

namespace LB_VisionProcesses.Cameras.LBCameras
{
    public class PHM6000Camera : BaseCamera
    {
        private IntPtr _cameraHandle = IntPtr.Zero;
        private PHM6000SensorConfig _sensorConfig;
        private AcquisitionCallbackZA _acquisitionCallback;
        private AcquisitionCompletedCallback _acquisitionCompletedCallback;
        private bool _isConnected = false;

        // 图像缓冲
        private List<byte[]> _lineDataBuffer = new List<byte[]>();
        private readonly object _bufferLock = new object();
        private int _currentLineCount = 0;

        public PHM6000Camera()
        {
            Brand = CameraBrand.LBCamera;
            _sensorConfig = new PHM6000SensorConfig();
        }

        #region ICamera Implementation

        public override bool InitDevice(string sn, object handle = null)
        {
            try
            {
                SN = sn;
                _cameraHandle = PHM6000Profiler.CreateCameraEntry();
                if (_cameraHandle == IntPtr.Zero) return false;

                // 优先从配置加载 IP，如果 sn 是 IP 格式则覆盖
                string ip = "192.168.0.10";
                if (System.Net.IPAddress.TryParse(sn, out _)) ip = sn;

                int port = 32001;
                var addr = Encoding.ASCII.GetBytes(ip);
                int result = PHM6000Profiler.ConnectToCamera(_cameraHandle, addr, port);
                
                if (result == 0)
                {
                    _isConnected = true;
                    // 加载相机当前参数到 _sensorConfig
                    SyncConfigFromCamera();

                    // 初始化回调
                    _acquisitionCallback = new AcquisitionCallbackZA(OnLineReceived);
                    _acquisitionCompletedCallback = new AcquisitionCompletedCallback(OnAcquisitionCompleted);
                    
                    PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, _acquisitionCallback, IntPtr.Zero);
                    PHM6000Profiler.RegisterAcquisitionCompletedCallback(_cameraHandle, _acquisitionCompletedCallback, IntPtr.Zero);
                    
                    return true;
                }
            }
            catch (Exception ex) { AsyncLogHelper.Error($"PHM6000: InitDevice异常 - {ex.Message}"); }
            return false;
        }

        public override bool CloseDevice()
        {
            if (_isConnected && _cameraHandle != IntPtr.Zero)
            {
                StopGrabbing();
                PHM6000Profiler.DestroyCameraEntry(_cameraHandle);
                _cameraHandle = IntPtr.Zero;
                _isConnected = false;
            }
            return true;
        }

        public override List<string> GetListEnum()
        {
            List<string> cameraList = new List<string>();
            IntPtr tempHandle = PHM6000Profiler.CreateCameraEntry();
            int count = PHM6000Profiler.DiscoverCameras(tempHandle);
            // 简化：实际应循环获取设备 IP
            PHM6000Profiler.DestroyCameraEntry(tempHandle);
            return cameraList;
        }

        public override bool StartGrabbing()
        {
            if (!_isConnected) return false;
            lock (_bufferLock)
            {
                _lineDataBuffer.Clear();
                _currentLineCount = 0;
            }

            // 设置采集模式：1=扫描模式，1=连续模式
            PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 1);
            int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);
            if (result == 0)
            {
                isGrabbing = true;
                return true;
            }
            return false;
        }

        public override bool StopGrabbing()
        {
            if (!_isConnected) return true;
            PHM6000Profiler.StopAcquisition(_cameraHandle);
            isGrabbing = false;
            return true;
        }

        public override bool SoftTrigger()
        {
            // 线扫相机通常不需要传统软触发，但在某些模式下可模拟
            return true;
        }

        #region 参数设置映射

        public override bool SetExpouseTime(double value) => SetParam(EnumNameId.ExposureTime, (float)value);
        public override bool GetExpouseTime(out double value) { float v; bool r = GetParam(EnumNameId.ExposureTime, out v); value = v; return r; }
        public override bool SetGain(double gain) => SetParam(EnumNameId.AnalogGain, (float)gain);
        public override bool GetGain(out double gain) { float v; bool r = GetParam(EnumNameId.AnalogGain, out v); gain = v; return r; }

        // 其他接口占位实现
        public override bool SetTriggerMode(TriggerMode mode, TriggerSource triggerEnum = TriggerSource.Line0) => true;
        public override bool GetTriggerMode(out TriggerMode mode, out TriggerSource source) { mode = TriggerMode.Off; source = TriggerSource.Software; return true; }
        public override bool SetTriggerPolarity(TriggerPolarity polarity) => true;
        public override bool GetTriggerPolarity(out TriggerPolarity polarity) { polarity = TriggerPolarity.RisingEdge; return true; }
        public override bool SetTriggerFliter(double flitertime) => true;
        public override bool GetTriggerFliter(out double flitertime) { flitertime = 0; return true; }
        public override bool SetTriggerDelay(double delay) => true;
        public override bool GetTriggerDelay(out double delay) { delay = 0; return true; }
        public override bool SetLineMode(IOLines line, LineMode mode) => true;
        public override bool SetLineStatus(IOLines line, LineStatus linestatus) => true;
        public override bool GetLineStatus(IOLines line, out LineStatus lineStatus) { lineStatus = LineStatus.Low; return true; }
        public override bool AutoBalanceWhite() => true;

        public PHM6000SensorConfig GetSensorConfig()
        {
            SyncConfigFromCamera();
            return _sensorConfig;
        }

        public void UpdateSensorConfig(PHM6000SensorConfig config)
        {
            _sensorConfig = config;
            // 简单示例：设置曝光和增益
            SetExpouseTime(config.ExposureTime);
            SetGain((double)config.AnalogGain);
            // 更多参数同步逻辑应在此处实现
        }

        #endregion

        #endregion

        #region Private Callback & Helpers

        private void OnLineReceived(IntPtr pInstance, IntPtr buffer, int points)
        {
            // 实时回调处理：累积行数据
            if (!isGrabbing) return;

            int lineSize = points * Marshal.SizeOf(typeof(LBPointZA));
            byte[] lineData = new byte[lineSize];
            Marshal.Copy(buffer, lineData, 0, lineSize);

            lock (_bufferLock)
            {
                _lineDataBuffer.Add(lineData);
                _currentLineCount++;
            }
        }

        private void OnAcquisitionCompleted(IntPtr pInstance, int nOption)
        {
            // nOption: 0=一批数据结束, 1=全部完成, 2=点云就绪
            if (nOption == 1 || nOption == 0)
            {
                GenerateBitmapAndNotify();
            }
        }

        private void GenerateBitmapAndNotify()
        {
            Bitmap bmp = null;
            lock (_bufferLock)
            {
                if (_lineDataBuffer.Count == 0) return;

                // 默认宽度 4096 (线扫传感器典型值)
                int width = 4096; 
                int height = _lineDataBuffer.Count;

                bmp = new Bitmap(width, height, PixelFormat.Format8bppIndexed);
                
                // 设置灰度调色板
                ColorPalette palette = bmp.Palette;
                for (int i = 0; i < 256; i++) palette.Entries[i] = Color.FromArgb(i, i, i);
                bmp.Palette = palette;

                BitmapData bmpData = bmp.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.WriteOnly, PixelFormat.Format8bppIndexed);
                
                IntPtr scan0 = bmpData.Scan0;
                for (int i = 0; i < height; i++)
                {
                    // 仅提取 Alpha (强度图)
                    // 注意：LBPointZA 结构中 alpha 是第 8 个字节
                    byte[] lineBytes = _lineDataBuffer[i];
                    byte[] intensityRow = new byte[width];
                    
                    for (int x = 0; x < Math.Min(width, lineBytes.Length / 8); x++)
                    {
                        intensityRow[x] = lineBytes[x * 8 + 7]; // alpha 位
                    }
                    
                    Marshal.Copy(intensityRow, 0, scan0 + (i * bmpData.Stride), width);
                }
                
                bmp.UnlockBits(bmpData);
                _lineDataBuffer.Clear();
            }

            if (bmp != null)
            {
                // 触发事件
                ImageGrabbed?.Invoke(this, new CameraEventArgs(SN, bmp));
            }
        }

        private void SyncConfigFromCamera()
        {
            // 从相机读取所有参数并填充到 _sensorConfig
            foreach (EnumNameId id in Enum.GetValues(typeof(EnumNameId)))
            {
                int iVal = 0; double dVal = 0; int eVal = 0;
                if (PHM6000Profiler.GetProfilerParameter(_cameraHandle, (int)id, ref iVal, ref dVal, ref eVal) == 0)
                {
                    // 实际项目中应使用反射将值写回 _sensorConfig
                }
            }
        }

        private bool SetParam(EnumNameId id, float value)
        {
            if (!_isConnected) return false;
            return PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)id, 0, value, 0) == 0;
        }

        private bool GetParam(EnumNameId id, out float value)
        {
            value = 0;
            if (!_isConnected) return false;
            int iVal = 0; double dVal = 0; int eVal = 0;
            if (PHM6000Profiler.GetProfilerParameter(_cameraHandle, (int)id, ref iVal, ref dVal, ref eVal) == 0)
            {
                value = (float)dVal;
                return true;
            }
            return false;
        }

        #endregion
    }

}