using HalconDotNet;
using LB_VisionControls;
using System.Data.Common;
using LB_VisionProcesses.Alogrithms;
using System.Windows.Forms;
using static LB_VisionProcesses.Alogrithms.PointsCloudConvertTool;
using OpenCvSharp;
using System;
using static System.Windows.Forms.VisualStyles.VisualStyleElement;
using System.Diagnostics;

namespace LB_VisionProcesses.Alogrithms
{
    public partial class PointsCloudConvertToolEdit : TAlgorithmEdit
    {
        HWindowControl inputImageHSmartWindowControl = new HWindowControl();
        HWindowControl recordImageHSmartWindowControl = new HWindowControl();

        public PointsCloudConvertToolEdit(PointsCloudConvertTool subject = null)
        {
            if (subject != null && subject is PointsCloudConvertTool)
            {
                Subject = subject;
            }
            else
            {
                Subject = new PointsCloudConvertTool();
            }

            this.Dock = DockStyle.Fill;
            InitializeComponent();
        }

        /// <summary>
        /// 控件加载事件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void PointsCloudConvertToolEdit_Load(object sender, EventArgs e)
        {
            pnlInputImage.Controls.Add(inputImageHSmartWindowControl);
            inputImageHSmartWindowControl.Dock = DockStyle.Fill;

            pnlRecordImage.Controls.Add(recordImageHSmartWindowControl);
            recordImageHSmartWindowControl.Dock = DockStyle.Fill;

            //遍历可以选择的Roi类型枚举
            foreach (var value in Enum.GetValues(typeof(RoiType)))
            {
                cmbTypeRoi.Items.Add(value.ToString());
            }

            //遍历可以选择的Fixture枚举
            cmbFixture.Items.Add("");
            foreach (string value in IProcess.dicFixtures.Keys)
            {
                cmbFixture.Items.Add(value.ToString());
            }

            //遍历可以选择的图片格式枚举
            foreach (var value in Enum.GetValues(typeof(ImageType)))
            {
                cmbInputType.Items.Add(value.ToString());
                cmbOutputType.Items.Add(value.ToString());
            }

            //foreach (var value in Enum.GetValues(typeof(PixelType)))
            //    cmbAfterType.Items.Add(value.ToString());

            cmbTypeRoi.Text = RoiType.None.ToString();
            LoadParas();

            if (Subject.Result)
            {
                lblResult.BackColor = Color.Green;
                lblResult.Text = "True";
            }
            else
            {
                lblResult.BackColor = Color.Red;
                lblResult.Text = "False";
            }

            lblMsg.Text = Msg.Length > 50 ? Msg.Substring(0, 50) : Msg;
            lblMsgToolTip.SetToolTip(BtmStatusStrip, Msg);
            lblRunTime.Text = $"{Subject.RunTime}ms";

            // 把窗口对象推窗口栈中
            HDevWindowStack.Push(inputImageHSmartWindowControl.HalconWindow);
            HDevWindowStack.Push(recordImageHSmartWindowControl.HalconWindow);
        }

        /// <summary>
        /// 更新运行参数
        /// </summary>
        public override void UpdataInputs()
        {
            double dResult = 0;

            //设置运行参数
            Subject.Params.Inputs["输入格式"] = cmbInputType.SelectedItem.ToString();
            Subject.Params.Inputs["输出格式"] = cmbOutputType.SelectedItem.ToString();
            Subject.Params.Inputs["是否后处理"] = ckbAfter.Checked;

            if (cmbFixture.Text == "")
            {
                Subject.Params.Fixture = new Fixture();
            }
            else if (IProcess.dicFixtures.ContainsKey(cmbFixture.Text))
            {
                Subject.Params.Fixture = IProcess.dicFixtures[cmbFixture.Text];
            }

            //Type type = inputImageHSmartWindowControl.oRoi?.GetType();
            //switch (type)
            //{
            //    case Type t when t == typeof(HRectangle2):
            //        HRectangle2 hRectangle2 = (HRectangle2)inputImageHSmartWindowControl.oRoi;
            //        Subject.Params.ROI
            //            = new HRectangle2(hRectangle2.X - Subject.Params.Fixture.X, hRectangle2.Y - Subject.Params.Fixture.Y
            //            , hRectangle2.Phi - Subject.Params.Fixture.Phi, hRectangle2.Width, hRectangle2.Height);
            //        break;
            //    case Type t when t == typeof(HCircle):
            //        HCircle hCircle = (HCircle)inputImageHSmartWindowControl.oRoi;
            //        Subject.Params.ROI
            //            = new HCircle(hCircle.X - Subject.Params.Fixture.X, hCircle.Y - Subject.Params.Fixture.Y, hCircle.Radius);
            //        break;
            //    case Type t when t == typeof(HSegment):
            //        HSegment hSegment = (HSegment)inputImageHSmartWindowControl.oRoi;
            //        Subject.Params.ROI
            //            = new HSegment(hSegment.StartX - Subject.Params.Fixture.X, hSegment.StartY - Subject.Params.Fixture.Y
            //            , hSegment.EndX - Subject.Params.Fixture.X, hSegment.EndY - Subject.Params.Fixture.Y);
            //        break;
            //    default:
            //        Subject.Params.ROI = new ROI();
            //        break;
            //}
        }

        /// <summary>
        /// 加载运行参数
        /// </summary>
        public override void LoadParas()
        {
            this.BeginInvoke(new Action(() =>
            {
                cmbInputType.Text = Subject.Params.Inputs["输入格式"].ToString();
                cmbOutputType.Text = Subject.Params.Inputs["输出格式"].ToString();
                ckbAfter.Checked = Convert.ToBoolean(Subject.Params.Inputs["是否后处理"]);
                //cmbAfterType.Text = Subject.Params.Inputs["后处理格式"].ToString();

                if (Subject.InputImage != null)
                {
                    if (Subject.InputImage is HObject)
                    {
                        TAlgorithm.DispImage((HObject)Subject.InputImage, inputImageHSmartWindowControl.HalconWindow);
                    }
                    else if (Subject.InputImage is HTuple)
                    {
                        btnLoadImage.Enabled = false;
                        btnLoadParas.Enabled = false;
                        HOperatorSet.ClearWindow(inputImageHSmartWindowControl.HalconWindow);
                        // 显示3D模型
                        Task.Run(() =>
                        {
                            HTuple hv_Pose = new HTuple();
                            HTuple hv_CamParam = new HTuple();
                            HTuple hv_GenParamName = new HTuple();
                            HTuple hv_GenParamValue = new HTuple();
                            hv_GenParamName = new HTuple("lut", "intensity");
                            hv_GenParamValue = new HTuple("color1", "coord_z");
                            TAlgorithm.visualize_object_model_3d(inputImageHSmartWindowControl.HalconWindow
                                , (HTuple)Subject.InputImage, hv_CamParam,
                            hv_Pose, hv_GenParamName, hv_GenParamValue, "显示3D点云模型",
                            new HTuple(), new HTuple(), out HTuple poseOut);
                            btnLoadImage.Enabled = true;
                            btnLoadParas.Enabled = true;
                        });
                    }
                }


                Type type = Subject.Params.ROI?.GetType();
                if (Subject.Params.ROI != null)
                {
                    switch (type)
                    {
                        case Type t when t == typeof(HRectangle2):
                            {
                                cmbTypeRoi.Text = RoiType.Rectangle2.ToString();
                                break;
                            }
                        case Type t when t == typeof(HCircle):
                            {
                                cmbTypeRoi.Text = RoiType.Circle.ToString();
                                break;
                            }
                        case Type t when t == typeof(HSegment):
                            {
                                cmbTypeRoi.Text = RoiType.Segment.ToString();
                                break;
                            }
                        default:
                            {
                                cmbTypeRoi.Text = RoiType.None.ToString();
                                break;
                            }
                    }
                    if (cmbTypeRoi.Text.ToString() != "None")
                    {
                        ckbDrawRoi.Checked = true;
                    }
                    else
                    {
                        ckbDrawRoi.Checked = false;
                    }

                    //inputImageHSmartWindowControl.oRoi = Subject.Params.ROI;
                }

                if (Subject.Params.Fixture != null)
                {
                    cmbFixture.Text = Subject.Params.Fixture.strName;
                }
                else
                {
                    cmbFixture.Text = "";
                }

                //switch (type)
                //{
                //    case Type t when t == typeof(HRectangle2):
                //        inputImageHSmartWindowControl.oRoi
                //             = new HRectangle2(Subject.Params.ROI.X + Subject.Params.Fixture.X, Subject.Params.ROI.Y + Subject.Params.Fixture.Y
                //             , Subject.Params.ROI.Phi + Subject.Params.Fixture.Phi, ((HRectangle2)Subject.Params.ROI).Width, ((HRectangle2)Subject.Params.ROI).Height);
                //        break;
                //    case Type t when t == typeof(HCircle):
                //        inputImageHSmartWindowControl.oRoi
                //        = new HCircle(Subject.Params.ROI.X + Subject.Params.Fixture.X, Subject.Params.ROI.Y + Subject.Params.Fixture.Y
                //        , ((HCircle)Subject.Params.ROI).Radius);
                //        break;
                //    case Type t when t == typeof(HSegment):
                //        inputImageHSmartWindowControl.oRoi
                //        = new HSegment(((HSegment)Subject.Params.ROI).StartX + Subject.Params.Fixture.X, ((HSegment)Subject.Params.ROI).StartY + Subject.Params.Fixture.Y
                //        , ((HSegment)Subject.Params.ROI).EndX + Subject.Params.Fixture.X, ((HSegment)Subject.Params.ROI).EndY + Subject.Params.Fixture.Y);
                //        break;
                //    default:
                //        inputImageHSmartWindowControl.oRoi = null;
                //        break;
                //}
            }));
        }

        /// <summary>
        /// 更新输出结果
        /// </summary>
        public override void UpdataOutputs()
        {
            this.BeginInvoke(new Action(() =>
            {

            }));
        }

        /// <summary>
        /// 点击运行
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        public override void btnRun_Click(object sender, EventArgs e)
        {
            if (Subject.InputImage != null)
            {
                InputImage = Subject.InputImage;
            }

            DateTime StartTime = DateTime.Now;
            Run();

            //更新日志与结果
            this.BeginInvoke(new Action(() =>
            {
                if (Subject.Result)
                {
                    lblResult.BackColor = Color.Green;
                    lblResult.Text = "True";
                    //recordImageHSmartWindowControl.SetColor("green");
                }
                else
                {
                    lblResult.BackColor = Color.Red;
                    lblResult.Text = "False";
                    //recordImageHSmartWindowControl.SetColor("red");
                }

                lblMsg.Text = Msg.Length > 50 ? Msg.Substring(0, 50) : Msg;
                lblMsgToolTip.SetToolTip(BtmStatusStrip, Msg);
                lblRunTime.Text = $"{(DateTime.Now - StartTime).TotalMilliseconds}ms";

                UpdataOutputs();
                imgTabControl.SelectedTab = tabPageRecordImage;

                if (Subject.OutputImage != null)
                {
                    if (Subject.OutputImage is HObject)
                    {
                        TAlgorithm.DispImage((HObject)Subject.OutputImage, recordImageHSmartWindowControl.HalconWindow);
                    }
                    else if (Subject.OutputImage is HTuple)
                    {
                        btnRun.Enabled = false;
                        HOperatorSet.ClearWindow(recordImageHSmartWindowControl.HalconWindow);
                        // 显示3D模型
                        Task.Run(() =>
                        {
                            HTuple hv_Pose = new HTuple();
                            HTuple hv_CamParam = new HTuple();
                            HTuple hv_GenParamName = new HTuple();
                            HTuple hv_GenParamValue = new HTuple();
                            //hv_GenParamName = new HTuple("lut", "intensity");
                            //hv_GenParamValue = new HTuple("color1", "coord_z");

                            hv_GenParamName = new HTuple("disp_pose", "color_attrib", "lut");
                            hv_GenParamValue = new HTuple("true", "coord_z", "color1");
                            TAlgorithm.visualize_object_model_3d(recordImageHSmartWindowControl.HalconWindow
                                , (HTuple)Subject.OutputImage, hv_CamParam,
                            hv_Pose, hv_GenParamName, hv_GenParamValue, "显示3D点云模型",
                            new HTuple(), new HTuple(), out HTuple poseOut);
                            btnRun.Enabled = true;
                        });
                    }
                }

                //先判断子类再判断父类
                //if (Subject.Record != null && Subject.Record is MsgRecord)
                //{
                //    MsgRecord MsgRecord = (MsgRecord)Subject.Record;
                //    recordImageHSmartWindowControl.DispObj(MsgRecord.RecordObject);

                //    for (int i = 0; i < MsgRecord.Msg.Length; i++)
                //        recordImageHSmartWindowControl.ShowMsg(MsgRecord.Msg[i], Subject.Result, MsgRecord.Column[i], MsgRecord.Row[i]);
                //}
                //else if (Subject.Record != null && Subject.Record is ObjectRecord)
                //    recordImageHSmartWindowControl.DispObj(((ObjectRecord)Subject.Record).RecordObject);

                GC.Collect();
            }));
        }

        public override void btnLoadImage_Click(object sender, EventArgs e)
        {
            OpenFileDialog openFileDialog = new OpenFileDialog();

            // 设置文件对话框的属性
            openFileDialog.Multiselect = false; // 不允许多选
            // 设置文件过滤器，支持多种文件类型
            bool bEnumParseSuccess = Enum.TryParse(cmbInputType.Text, out ImageType eInputImageType);

            if (bEnumParseSuccess)
            {
                switch (eInputImageType)
                {
                    case ImageType.DeepImage:
                        {
                            openFileDialog.Filter = "Image Files (*.tif;*.tiff)|*.tif;*.tiff|All Files (*.*)|*.*";
                            break;
                        }
                    case ImageType.PointsCloud:
                        {
                            openFileDialog.Filter = "Image Files (*.om3)|*.om3|All Files (*.*)|*.*";
                            break;
                        }
                    default:
                        {
                            return;
                        }
                }
            }
            else
            {
                return;
            }
            // 显示文件对话框
            DialogResult result = openFileDialog.ShowDialog();

            // 处理对话框返回结果
            if (result == DialogResult.OK)
            {
                // 获取用户选择的文件名
                string[] selectedFiles = openFileDialog.FileNames;
                if (selectedFiles.Length > 0)
                {
                    if (bEnumParseSuccess)
                    {
                        switch (eInputImageType)
                        {
                            case ImageType.DeepImage:
                                {
                                    HOperatorSet.ReadImage(out HObject ho_Image, selectedFiles[0]);
                                    if (ho_Image == null)
                                    {
                                        lblResult.BackColor = Color.Red;
                                        lblResult.Text = "False";
                                        lblMsg.Text = $"图片导入失败,路径为{selectedFiles[0]}";
                                        return;
                                    }
                                    Subject.InputImage = ho_Image;
                                    imgTabControl.SelectedTab = tabPageInputImage;
                                    TAlgorithm.DispImage(ho_Image, inputImageHSmartWindowControl.HalconWindow);
                                    break;
                                }
                            case ImageType.PointsCloud:
                                {
                                    HOperatorSet.ReadObjectModel3d(selectedFiles[0], "m", new HTuple(), new HTuple()
                                    , out HTuple hv_ObjectModel3D, out HTuple hv_Status);
                                    if (hv_ObjectModel3D == null)
                                    {
                                        lblResult.BackColor = Color.Red;
                                        lblResult.Text = "False";
                                        lblMsg.Text = $"图片导入失败,路径为{selectedFiles[0]}";
                                        return;
                                    }
                                    Subject.InputImage = hv_ObjectModel3D;
                                    imgTabControl.SelectedTab = tabPageInputImage;
                                    btnLoadImage.Enabled = false;
                                    HOperatorSet.ClearWindow(inputImageHSmartWindowControl.HalconWindow);
                                    // 显示3D模型
                                    Task.Run(() =>
                                    {
                                        HTuple hv_Pose = new HTuple();
                                        HTuple hv_CamParam = new HTuple();
                                        HTuple hv_GenParamName = new HTuple();
                                        HTuple hv_GenParamValue = new HTuple();
                                        //hv_GenParamName = new HTuple("lut", "intensity");
                                        //hv_GenParamValue = new HTuple("color1", "coord_z");

                                        hv_GenParamName = new HTuple("disp_pose", "color_attrib", "lut");
                                        hv_GenParamValue = new HTuple("true", "coord_z", "color1");

                                        TAlgorithm.visualize_object_model_3d(inputImageHSmartWindowControl.HalconWindow
                                            , hv_ObjectModel3D, hv_CamParam,
                                        hv_Pose, hv_GenParamName, hv_GenParamValue, "显示3D点云模型",
                                        new HTuple(), new HTuple(), out HTuple poseOut);
                                        btnLoadImage.Enabled = true;
                                    });
                                    break;
                                }
                            default:
                                {
                                    lblResult.BackColor = Color.Red;
                                    lblResult.Text = "False";
                                    lblMsg.Text = $"不支持输入格式[{cmbInputType.Text}]";
                                    return;
                                }
                        }
                    }
                }
            }
        }

        public override void btnSaveParas_Click(object sender, EventArgs e) { base.btnSaveParas_Click(sender, e); }

        public override void ckbDrawRoi_CheckedChanged(object sender, EventArgs e)
        {
            //if (ckbDrawRoi.Checked)
            //{
            //    inputImageHSmartWindowControl.bAollowDraw = true;
            //    imgTabControl.SelectedTab = tabPageInputImage;
            //}
            //else
            //{
            //    inputImageHSmartWindowControl.bAollowDraw = false;
            //    Subject.Params.ROI = null;
            //}
        }

        public override void cmbTypeRoi_SelectedIndexChanged(object sender, EventArgs e)
        {
            try
            {
                //if (Enum.TryParse(cmbTypeRoi.Text.ToString(), out RoiType type))
                //{
                //    HTuple hv_imageWidth = 0;
                //    HTuple hv_imageHeight = 0;
                //    if (InputImage != null && InputImage is HObject)
                //        HOperatorSet.GetImageSize((HObject)InputImage, out hv_imageWidth, out hv_imageHeight);
                //    switch (type)
                //    {
                //        case RoiType.Rectangle2:
                //            inputImageHSmartWindowControl.oRoi
                //                = new HRectangle2(hv_imageWidth.TupleReal() / 2, hv_imageHeight.TupleReal() / 2, 0
                //                , hv_imageWidth.TupleReal() / 4, hv_imageHeight.TupleReal() / 4);
                //            break;
                //        case RoiType.Circle:
                //            inputImageHSmartWindowControl.oRoi
                //                = new HCircle(hv_imageWidth.TupleReal() / 2, hv_imageHeight.TupleReal() / 2, hv_imageWidth.TupleReal() / 4);
                //            break;
                //        case RoiType.Segment:
                //            inputImageHSmartWindowControl.oRoi
                //                = new HSegment(0, 0, hv_imageWidth.TupleReal() / 4, hv_imageHeight.TupleReal() / 4);
                //            break;
                //        case RoiType.None:
                //        default:
                //            inputImageHSmartWindowControl.oRoi = null;
                //            break;
                //    }
                //}
            }
            catch { }
        }

        public override void cmbFixture_SelectedIndexChanged(object sender, EventArgs e)
        {
            try
            {
                if (IProcess.dicFixtures.ContainsKey(cmbFixture.Text))
                {
                    Subject.Params.Fixture = IProcess.dicFixtures[cmbFixture.Text];
                }
                else
                {
                    Subject.Params.Fixture = new Fixture();
                }
            }
            catch { }
        }

        private void ckbAfter_CheckedChanged(object sender, EventArgs e)
        {
            cmbAfterType.Enabled = ckbAfter.Checked;
        }

        private void btnSaveImage_Click(object sender, EventArgs e)
        {
            // 创建 SaveFileDialog 实例
            using (SaveFileDialog saveFileDialog = new SaveFileDialog())
            {
                // 设置对话框标题
                saveFileDialog.Title = "保存文件";

                // 设置默认路径
                saveFileDialog.InitialDirectory = Application.StartupPath;

                bool bEnumParseSuccess = Enum.TryParse(cmbOutputType.Text, out ImageType eOutputImageType);

                if (bEnumParseSuccess && Subject.OutputImage != null)
                {
                    switch (eOutputImageType)
                    {
                        case ImageType.DeepImage:
                            {
                                // 设置文件类型过滤器
                                saveFileDialog.Filter = "图像文件 (*.tif)|*.tif|所有文件 (*.*)|*.*";
                                // 设置默认文件名
                                saveFileDialog.FileName = "output.tif";
                                break;
                            }
                        case ImageType.PointsCloud:
                            {
                                // 设置文件类型过滤器
                                saveFileDialog.Filter = "图像文件 (*.om3)|*.om3|所有文件 (*.*)|*.*";
                                // 设置默认文件名
                                saveFileDialog.FileName = "output.om3";
                                break;
                            }
                        default:
                            {
                                return;
                            }
                    }
                }
                else
                {
                    return;
                }


                // 显示对话框并检查用户是否点击了保存按钮
                if (saveFileDialog.ShowDialog() == DialogResult.OK)
                {
                    // 获取用户选择的文件路径
                    string fullPath = saveFileDialog.FileName;
                    Debug.WriteLine("选择的文件路径是: " + fullPath);

                    if (!string.IsNullOrEmpty(fullPath))
                    {
                        if (bEnumParseSuccess)
                        {
                            switch (eOutputImageType)
                            {
                                case ImageType.DeepImage:
                                    {
                                        try
                                        {
                                            if (Subject.OutputImage is HObject ho_Image)
                                                HOperatorSet.WriteImage(ho_Image, "bmp", 0, fullPath);
                                        }
                                        catch { }
                                        break;
                                    }
                                case ImageType.PointsCloud:
                                    {
                                        try
                                        {
                                            if (Subject.OutputImage is HTuple hv_Image)
                                                HOperatorSet.WriteObjectModel3d(hv_Image
                                                , "om3", fullPath, new HTuple(), new HTuple());
                                        }
                                        catch { }
                                        break;
                                    }
                                default:
                                    {
                                        return;
                                    }
                            }
                        }
                    }
                }
            }
        }
    }
}