using HalconDotNet;
using LB_VisionProcesses.Alogrithms.Halcon;
using LB_VisionControls;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using OpenCvSharp;

namespace LB_VisionProcesses.Alogrithms
{
    public class CreateVerticalTool : TAlgorithm
    {
        public CreateVerticalTool()
        {
            strProcessClass = "LB_VisionProcesses.Alogrithms.CreateVerticalTool";
            strProcessName = "创建垂线工具";

            Params.Inputs.Add("X", 0);
            Params.Inputs.Add("Y", 0);
            Params.Inputs.Add("HSegment", new HSegment());
            Params.Inputs.Add("畸变关系", "");
            Params.Inputs.Add("是否畸变转换", false);

            Params.Outputs.Add("FeetX", 0.0);
            Params.Outputs.Add("FeetY", 0.0);

            Params.Outputs.Add("CenterX", 0.0);
            Params.Outputs.Add("CenterY", 0.0);
            Params.Outputs.Add("Phi", 0.0);
            Params.Outputs.Add("Length", 0.0);
            Params.Outputs.Add("HSegment", new HSegment());
        }

        /// <summary>
        /// 算子逻辑
        /// </summary>
        public override void TAlgorithmMain()
        {
            #region 初始化变量

            #endregion
            try
            {
                #region 裁剪区域

                #endregion

                #region 算子逻辑
                Record = new ObjectRecord();
                HPoint HPoint_Base = new HPoint(Convert.ToDouble(Params.Inputs["X"]), Convert.ToDouble(Params.Inputs["Y"]));
                var OSegment_Base = Params.Inputs["HSegment"];
                if (!(OSegment_Base is HSegment))
                {
                    Msg = $"HSegment不存在";
                    Result = false;
                    return;
                }
                HSegment HSegment_Base = (HSegment)OSegment_Base;
                Point2f feetPoint2f = TAlgorithm.CalculateFootPoint(new Point2f(Convert.ToSingle(HPoint_Base.X), Convert.ToSingle(HPoint_Base.Y))
                    , new Point2f(Convert.ToSingle(HSegment_Base.StartX), Convert.ToSingle(HSegment_Base.StartY))
                    , new Point2f(Convert.ToSingle(HSegment_Base.EndX), Convert.ToSingle(HSegment_Base.EndY)));

                HPoint HPoint_Feet = new HPoint(feetPoint2f.X, feetPoint2f.Y);

                // XLD用原始坐标
                HOperatorSet.GenRegionLine(out HObject xld, HPoint_Base.Row, HPoint_Base.Column, HPoint_Feet.Row, HPoint_Feet.Column);
                Record.AddXld(xld);

                bool isCaltab = Convert.ToBoolean(Params.Inputs["是否畸变转换"]);
                if (isCaltab)
                {
                    string CaltabName = Params.Inputs["畸变关系"]?.ToString();
                    if (!dicHCaltabMaps.ContainsKey(CaltabName))
                    {
                        Msg = $"畸变关系{CaltabName}不存在";
                        Result = false;
                        return;
                    }

                    var HCaltabMap = dicHCaltabMaps[CaltabName];
                    HCaltabMap.GetCaltbPoint(HPoint_Base, out HPoint_Base);
                    HCaltabMap.GetCaltbPoint(HPoint_Feet, out HPoint_Feet);
                }
                HSegment HSegment_Vertical = new HSegment(HPoint_Base, HPoint_Feet);

                #endregion

                #region 结果处理
                Params.Outputs.Add("FeetX", HPoint_Feet.X);
                Params.Outputs.Add("FeetY", HPoint_Feet.Y);

                Params.Outputs.Add("CenterX", HSegment_Vertical.X);
                Params.Outputs.Add("CenterY", HSegment_Vertical.Y);
                Params.Outputs.Add("Phi", HSegment_Vertical.Phi);
                Params.Outputs.Add("Length", HSegment_Vertical.Length);
                Params.Outputs.Add("HSegment", HSegment_Vertical);
                #endregion

                #region 生成OutputImage给后续处理
                try
                {
                    OutputImage = InputImage;
                }
                catch (Exception ex)
                {
                    Msg = "生成OutputImage失败,原因是:" + ex.ToString();
                    Result = false;
                    return;
                }
                #endregion

                if (Msg == "运行超时")
                {
                    Result = false;
                    return;
                }

                return;
            }
            catch (Exception ex)
            {
                Msg = "运行失败,原因是:" + ex.ToString().TrimEnd();
                OutputImage = null;
                Result = false;
                return;
            }
            finally
            {
                bCompleted = true;
                #region 内存释放
                if (!Result)
                {
                    Params.Outputs.Add("FeetX", 0.0);
                    Params.Outputs.Add("FeetY", 0.0);

                    Params.Outputs.Add("CenterX", 0.0);
                    Params.Outputs.Add("CenterY", 0.0);
                    Params.Outputs.Add("Phi", 0.0);
                    Params.Outputs.Add("Length", 0.0);
                    Params.Outputs.Add("HSegment", new HSegment());
                }
                #endregion
            }
        }
    }
}