using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;

namespace LB_SmartVisionCameraSDK.PHM6000
{
    /// <summary>
    /// 常量类
    /// </summary>
    public class Constants
    {
        /// <summary>
        /// 最大传感器数量
        /// </summary>
        public const int SYS_SENSORS_MAX = 8;
        /// <summary>
        /// 轮廓点的数量
        /// </summary>
        public const int MAX_POINTS_PER_LINE = 4096;
        /// <summary>
        /// 最大扫描行数
        /// </summary>
        public const int MAX_LINES_PER_CLOUD = 50000;
        /// <summary>
        /// 固定方式
        /// </summary>
        public const int TYPE_STATIONARY = 0;
        /// <summary>
        /// 运动方式
        /// </summary>
        public const int TYPE_MOVING = 1;
        /// <summary>
        /// 目标平面表面
        /// </summary>
        public const int TARGET_FLAT_SURFACE = 0;
        /// <summary>
        /// 目标的边缘
        /// </summary>
        public const int TARGET_BAR = 1;
        /// <summary>
        /// 目标的多边形
        /// </summary>
        public const int TARGET_POLYGON = 2;
        /// <summary>
        /// 目标分割
        /// </summary>
        public const int TARGET_DISK = 3;
        /// <summary>
        /// 目标金字塔
        /// </summary>
        public const int TARGET_PYRAMID = 4;
        /// <summary>
        /// 目标双金字塔
        /// </summary>
        public const int TARGET_DUAL_PYRAMIDS = 5;
        /// <summary>
        /// XZ-YA景深
        /// </summary>
        public const int DOF_XZ_YA = 1;
        /// <summary>
        /// XYZ-YA景深
        /// </summary>
        public const int DOF_XYZ_YA = 2;
        /// <summary>
        /// XYZ-YZA景深
        /// </summary>
        public const int DOF_XYZ_YZA = 3;
    }
    /// <summary>
    /// LBLineHeadInfo数据结构
    /// </summary>
    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct LBLineHeadInfo
    {
        /// <summary>
        /// 行号
        /// </summary>
        public UInt32 nLineIndex;
        /// <summary>
        /// 编码器值
        /// </summary>
        public UInt32 nCoderValue;
        /// <summary>
        /// 此行数据中包含点的数量
        /// </summary>
        public UInt32 nPointCount;
        /// <summary>
        /// 数据行信息头结构和点数据总体字节数
        /// </summary>
        public UInt32 nDataSize;
        /// <summary>
        /// X向比例
        /// </summary>
        public float fPitchX;
        /// <summary>
        /// X向最小步进单位
        /// </summary>
        public float fUnitX;
        /// <summary>
        /// Y向比例
        /// </summary>
        public float fPitchY;
        /// <summary>
        /// Y向最小步进单位
        /// </summary>
        public float fUnitY;
    }
    /// <summary>
    /// LB3dFileHeadInfo数据结构
    /// </summary>
    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct LB3dFileHeadInfo
    {
        /// <summary>
        /// 数据大小
        /// </summary>
        public uint nDataSize;
        /// <summary>
        /// 轮廓线的行数量
        /// </summary>
        public uint nLineCount;
        /// <summary>
        /// 是否使用编码器
        /// </summary>
        public uint bUseCoder;
        /// <summary>
        /// 是否白痴
        /// </summary>
        public uint nReserve;
    }
    /// <summary>
    /// LBLineDataZA兰宝线扫描传感器输出行数据定义（包含深度值(z)和强度值(alpha)）
    /// </summary>
    [StructLayout(LayoutKind.Sequential)]
    public struct LBLineDataZA
    {
        /// <summary>
        /// 行信息头
        /// </summary>
        public LBLineHeadInfo info;
        /// <summary>
        /// 行数据（包含深度值(z)和强度值(alpha)）
        /// </summary>
        public LBPointZA[] data;
    }
    /// <summary>
    /// LBLineDataXYZ数据结构
    /// </summary>
    [StructLayout(LayoutKind.Sequential)]
    public struct LBLineDataXYZ
    {
        /// <summary>
        /// 点数
        /// </summary>
        public uint nPointCount;
        /// <summary>
        /// LBPointXYZ数组数据
        /// </summary>
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = Constants.MAX_POINTS_PER_LINE)]
        public LBPointXYZ[] data;
    }
    /// <summary>
    /// LBLineDataXZ数据结构
    /// </summary>
    [StructLayout(LayoutKind.Sequential)]
    public struct LBLineDataXZ
    {
        /// <summary>
        /// 点数
        /// </summary>
        public uint nPointCount;
        /// <summary>
        /// LBPointXZ数组数据
        /// </summary>
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = Constants.MAX_POINTS_PER_LINE)]
        public LBPointXZ[] data;
    }
    /// <summary>
    /// LB3dFileData数据结构
    /// </summary>
    public struct LB3dFileData
    {
        /// <summary>
        /// LB3dFileHeadInfo数据
        /// </summary>
        public LB3dFileHeadInfo info;
        /// <summary>
        /// LBLineDataZA数组数据
        /// </summary>
        public LBLineDataZA[] lines;
    }
    /// <summary>
    /// LBPointCloudData数据结构
    /// </summary>
    public struct LBPointCloudData
    {
        /// <summary>
        /// 轮廓线数量
        /// </summary>
        public int nLineCount;
        /// <summary>
        /// LBLineDataXYZ数组数据
        /// </summary>
        public LBLineDataXYZ[] data;
    }
    /// <summary>
    /// LBPointCloudDataXYZ数据结构
    /// </summary>
    public struct LBPointCloudDataXYZ
    {
        /// <summary>
        /// 点云数量
        /// </summary>
        public int nPointCount;
        /// <summary>
        /// LBPointXYZ*数据指针
        /// </summary>
        public IntPtr points;
    }
    /// <summary>
    /// LB标定数据
    /// </summary>
    [StructLayout(LayoutKind.Sequential)]
    public struct LBCalibrationData
    {
        /// <summary>
        /// 点数
        /// </summary>
        public int nCount;
        /// <summary>
        /// LB 轮廓线数据 XYZ
        /// </summary>
        public LBLineDataXYZ LineData;
    }
    /// <summary>
    /// 传感器信息
    /// </summary>
    [StructLayout(LayoutKind.Sequential)]
    public struct SENSOR_INFO
    {
        /// <summary>
        /// 最小水平视场
        /// </summary>
        public float XMinFOV;
        /// <summary>
        /// 最大水平视场
        /// </summary>
        public float xMaxFOV;
        /// <summary>
        /// 最小值范围
        /// </summary>
        public float minMRange;
        /// <summary>
        /// 最大值范围
        /// </summary>
        public float maxMRange;
        /// <summary>
        /// 标准距离
        /// </summary>
        public float stdDistance;
        /// <summary>
        /// 标准视场
        /// </summary>
        public float stdFOV;
        /// <summary>
        /// X起始
        /// </summary>
        public float xStart;
        /// <summary>
        /// Z起始
        /// </summary>
        public float zStart;
    }
    /// <summary>
    /// 活动区域信息
    /// </summary>
    [StructLayout(LayoutKind.Sequential)]
    public struct ACTIVE_AREA_INFO
    {
        /// <summary>
        /// X起点
        /// </summary>
        public float xOrigin;
        /// <summary>
        /// Y起点
        /// </summary>
        public float yOrigin;
        /// <summary>
        /// X偏移
        /// </summary>
        public float xOffset;
        /// <summary>
        /// 水平视场
        /// </summary>
        public float xFOV;
        /// <summary>
        /// X起始
        /// </summary>
        public float xStart;
    }
    /// <summary>
    /// 传感器位置信息
    /// </summary>
    public struct SENSOR_POSITION
    {
        /// <summary>
        /// X是否倒序
        /// </summary>
        public int IsReverse;
        /// <summary>
        /// Z是否相对
        /// </summary>
        public int IsOpposite;
        /// <summary>
        /// 标准距离
        /// </summary>
        public float fStdDistance;
        /// <summary>
        /// X 中心
        /// </summary>
        public float fXCenter;
        /// <summary>
        /// X坐标
        /// </summary>
        public float x;
        /// <summary>
        /// Y坐标
        /// </summary>
        public float y;
        /// <summary>
        /// Z坐标
        /// </summary>
        public float z;
        /// <summary>
        /// X轴角度
        /// </summary>
        public float xAngle;
        /// <summary>
        /// Y轴角度
        /// </summary>
        public float yAngle;
        /// <summary>
        /// Z轴角度
        /// </summary>
        public float zAngle;
    }
    /// <summary>
    /// 偏移信息
    /// </summary>
    [StructLayout(LayoutKind.Sequential)]
    public struct OFFSET_INFO
    {
        /// <summary>
        /// X坐标
        /// </summary>
        public float x;
        /// <summary>
        /// Y坐标
        /// </summary>
        public float y;
        /// <summary>
        /// Z坐标
        /// </summary>
        public float z;
        /// <summary>
        /// X轴角度
        /// </summary>
        public float xAngle;
        /// <summary>
        /// Y轴角度
        /// </summary>
        public float yAngle;
        /// <summary>
        /// Z轴角度
        /// </summary>
        public float zAngle;
    }
    /// <summary>
    /// 轮廓线标定数据结构
    /// </summary>
    [StructLayout(LayoutKind.Sequential)]
    public struct PARAM_BAR
    {
        /// <summary>
        /// 高度或者厚度值
        /// </summary>
        public float Height;
        /// <summary>
        /// 宽度值
        /// </summary>
        public float Width;
        /// <summary>
        /// 孔的数量
        /// </summary>
        public int HoleCount;
        /// <summary>
        /// 孔的直径
        /// </summary>
        public float HoleDiameter;
        /// <summary>
        /// 孔的距离
        /// </summary>
        public float HoleDistance;
        /// <summary>
        /// 景深
        /// </summary>
        public int DOF;
    }
    /// <summary>
    /// 角点数据结构
    /// </summary>
    [StructLayout(LayoutKind.Sequential)]
    public struct PARAM_CORNER
    {
        /// <summary>
        /// X坐标
        /// </summary>
        public float x;
        /// <summary>
        /// Z坐标
        /// </summary>
        public float z;
    }
    /// <summary>
    /// 多边形数据结构
    /// </summary>
    [StructLayout(LayoutKind.Sequential)]
    public struct PARAM_POLYGON
    {
        /// <summary>
        /// 总点数
        /// </summary>
        public int nCorners;
        /// <summary>
        /// 角点数据结
        /// </summary>
        public unsafe PARAM_CORNER* pCornerInfo;
    }
    /// <summary>
    /// 网格数据结构
    /// </summary>
    [StructLayout(LayoutKind.Sequential)]
    public struct PARAM_BOARD
    {
        /// <summary>
        /// 初始化参数
        /// </summary>
        public void Initialize()
        {
            Height = 73.76f;
            Width = 218;
            HoleDiameter = 20;
            HoleDistance = 98;
            LocationHoleX1 = 60;
            LocationHoleY1 = 73;
            LocationHoleX2 = 60;
            LocationHoleY2 = 213;
        }
        /// <summary>
        /// 高度值
        /// </summary>
        public float Height;
        /// <summary>
        /// 宽度值
        /// </summary>
        public float Width;
        /// <summary>
        /// 孔直径
        /// </summary>
        public float HoleDiameter;
        /// <summary>
        /// 孔距离
        /// </summary>
        public float HoleDistance;
        /// <summary>
        /// 孔1X
        /// </summary>
        public float LocationHoleX1;
        /// <summary>
        /// 孔2Y
        /// </summary>
        public float LocationHoleY1;
        /// <summary>
        /// 孔2X
        /// </summary>
        public float LocationHoleX2;
        /// <summary>
        /// 孔2Y
        /// </summary>
        public float LocationHoleY2;
    }
    /// <summary>
    /// LB-ROI
    /// </summary>
    [StructLayout(LayoutKind.Sequential)]
    public struct LB_ROI
    {
        /// <summary>
        /// ROI-Left坐标
        /// </summary>
        public float left;
        /// <summary>
        /// ROI-Top坐标
        /// </summary>
        public float top;
        /// <summary>
        /// ROI-Right坐标
        /// </summary>
        public float right;
        /// <summary>
        /// ROI-Bottom坐标
        /// </summary>
        public float bottom;
    }
    /// <summary>
    /// LB-ROI-INTEGER
    /// </summary>
    [StructLayout(LayoutKind.Sequential)]
    public struct LB_ROI_INTEGER
    {
        /// <summary>
        /// LB-ROI-INTEGER-Left坐标
        /// </summary>
        public float left;
        /// <summary>
        /// LB-ROI-INTEGER-Top坐标
        /// </summary>
        public float top;
        /// <summary>
        /// LB-ROI-INTEGER-Right坐标
        /// </summary>
        public float right;
        /// <summary>
        /// LB-ROI-INTEGER-Bottom坐标
        /// </summary>
        public float bottom;
    }
    /// <summary>
    /// LB 颜色映射表
    /// </summary>
    [StructLayout(LayoutKind.Sequential)]
    public struct LBColorMap
    {
        /// <summary>
        /// 高
        /// </summary>
        public int nHeight;
        /// <summary>
        /// 宽
        /// </summary>
        public int nWidth;
        /// <summary>
        /// LBPointBGRA数据
        /// </summary>
        public unsafe LBPointBGRA* pMap;
    }
    /// <summary>
    /// 目标信息数据结构
    /// </summary>
    [StructLayout(LayoutKind.Sequential)]
    public struct TARGET_INFO
    {
        /// <summary>
        /// 宽度值
        /// </summary>
        public float fWidth;
        /// <summary>
        /// 高度值
        /// </summary>
        public float fHeight;
        /// <summary>
        /// 景深
        /// </summary>
        public float fDepth;
        /// <summary>
        /// XL
        /// </summary>
        public float fMarginX;
        /// <summary>
        /// XROI
        /// </summary>
        public float fMarginRangeX;
        /// <summary>
        /// YL
        /// </summary>
        public float fMarginY;
        /// <summary>
        /// YROI
        /// </summary>
        public float fMarginRangeY;
        /// <summary>
        /// M
        /// </summary>
        public int nPartitionX;
        /// <summary>
        /// N
        /// </summary>
        public int nPartitionY;
    }
    /// <summary>
    /// TRANS_INFO数据结构
    /// </summary>
    public struct TRANS_INFO
    {
        /// <summary>
        /// x偏移
        /// </summary>
        public float x;
        /// <summary>
        /// y偏移
        /// </summary>
        public float y;
        /// <summary>
        /// z偏移
        /// </summary>
        public float z;
        /// <summary>
        /// x偏角
        /// </summary>
        public float xAngle;
        /// <summary>
        /// y偏角
        /// </summary>
        public float yAngle;
        /// <summary>
        /// z偏角
        /// </summary>
        public float zAngle;
    }
    /// <summary>
    /// 值类型
    /// </summary>
    enum ValueType
    {
        /// <summary>
        /// 整型
        /// </summary>
        _Int,
        /// <summary>
        /// 浮点型
        /// </summary>
        _Float,
        /// <summary>
        /// 布尔类型
        /// </summary>
        _Bool,
        /// <summary>
        /// 枚举类型
        /// </summary>
        _Enum,
        /// <summary>
        /// ROI类型
        /// </summary>
        _Roi,
        /// <summary>
        /// 范围
        /// </summary>
        _Range,
        /// <summary>
        /// 浮点型数组
        /// </summary>
        _FloatArray,
    };

    #region  兰宝PHM6000传感器

    /// <summary>
    /// 兰宝线扫描传感器兴趣区结构定义
    /// </summary>
    [StructLayout(LayoutKind.Sequential/*, Pack = 1*/)]  // 保证内存布局顺序
    public struct LBProfileROI
    {
        /// <summary>
        /// 兴趣区X向中心位置 (单位：mm)
        /// </summary>
        [DisplayName("xAxisCenter")]
        [Category("LBProfileROI")]
        [Description("兴趣区X向中心位置 (单位：mm)")]
        public double xAxisCenter { get; set; }

        /// <summary>
        /// 兴趣区X向宽度 (单位：mm)
        /// </summary>
        [DisplayName("width")]
        [Category("LBProfileROI")]
        [Description("兴趣区X向宽度 (单位：mm)")]
        public double width { get; set; }

        /// <summary>
        /// 兴趣区Z向高度 (单位：mm)
        /// </summary>
        [DisplayName("height")]
        [Category("LBProfileROI")]
        [Description("兴趣区Z向高度 (单位：mm)")]
        public double height { get; set; }
    }
    /// <summary>
    /// 兰宝线扫描传感器信息结构定义
    /// </summary>
    [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
    public struct LBCameraInfo
    {
        /// <summary>
        /// 模块型号
        /// </summary>
        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 260)]
        public string szModuleType;

        /// <summary>
        /// 模块序列号
        /// </summary>
        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 260)]
        public string szSerialNumber;

        /// <summary>
        /// 网络地址
        /// </summary>
        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 16)]
        public string szIpAddress;

        /// <summary>
        /// 监听端口
        /// </summary>
        public int nPort;
    }

    /// <summary>
    /// 通用输入输出端口(GPIO)枚举值
    /// </summary>
    public enum GPIOLine
    {
        /// <summary>
        /// 控制盒上接插件引线编号Line21
        /// </summary>
        Line21 = 0,
        /// <summary>
        /// 控制盒上接插件引线编号Line22
        /// </summary>
        Line22,
        /// <summary>
        /// 控制盒上接插件引线编号Line23
        /// </summary>
        Line23,
        /// <summary>
        /// 控制盒上接插件引线编号Line24
        /// </summary>
        Line24,
        /// <summary>
        /// 控制盒上接插件引线编号Line25
        /// </summary>
        Line25,
        /// <summary>
        /// 控制盒上接插件引线编号Line26
        /// </summary>
        Line26,
        /// <summary>
        /// 控制盒上接插件引线编号Line27
        /// </summary>
        Line27,
        /// <summary>
        /// 控制盒上接插件引线编号Line28
        /// </summary>
        Line28,
    };

    #endregion
}