using DVPCameraType;
using OpenCvSharp;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Net.NetworkInformation;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Xml.Linq;
using static DVPCameraType.DVPCamera;
using static System.Windows.Forms.VisualStyles.VisualStyleElement;



public class MGSCameraDriver
{
    private uint m_handle = 0;
    private dvpCameraInfo stDevInfo = new dvpCameraInfo();
    private dvpStatus nRet = dvpStatus.DVP_STATUS_OK;
    private DVPCamera.dvpEventCallback pCallBackFunc;

    /// <summary>
    /// 相机拍照计数
    /// </summary>
    public volatile int SnapshotCount = 0;


    /// <summary>
    /// 当前相机的配置
    /// </summary>


    public  bool IfSuccess=false;
    private float _lastExposure = 0;
    private float _lastGain = 0;


    #region CameraBase

    public bool IsValidHandle(uint handle)
    {
        bool bValidHandle = false;
        dvpStatus status = DVPCamera.dvpIsValid(handle, ref bValidHandle);
        if (status == dvpStatus.DVP_STATUS_OK)
        {
            return bValidHandle;
        }
        return false;
    }
    /// <summary>
    /// 获取曝光
    /// </summary>
    /// <returns></returns>
    public double dvpGetExposure()
    {
        dvpStatus status;
        double exposure = 0;
        float gain = 0;
        if (IsValidHandle(m_handle))
        {
            // 读取曝光
            status = DVPCamera.dvpGetExposure(m_handle, ref exposure);
            if (status == dvpStatus.DVP_STATUS_OK)
            {
                //opConfig.Exposure = (float)exposure;
                return exposure;
            }
        }
        return exposure;
    }
    /// <summary>
    /// 获取增益
    /// </summary>
    /// <returns></returns>
    public float dvpGetAnalogGain()
    {
        dvpStatus status;
        double exposure = 0;
        float gain = 0;
        if (IsValidHandle(m_handle))
        {
            // 读取曝光
            status = DVPCamera.dvpGetAnalogGain(m_handle, ref gain);
            if (status == dvpStatus.DVP_STATUS_OK)
            {
                //opConfig.Exposure = (float)exposure;
                return gain;
            }
        }
        return gain;
    }
    //public override IOperationConfig GetOperationConfigFromDevice()
    //{
    //    MGSCameraOperationConfig opConfig = new MGSCameraOperationConfig();

    //    dvpStatus status;
    //    double exposure = 0;
    //    float gain = 0;
    //    if (IsValidHandle(m_handle))
    //    {
    //        // 读取曝光
    //        status = DVPCamera.dvpGetExposure(m_handle, ref exposure);
    //        if (status == dvpStatus.DVP_STATUS_OK)
    //        {
    //            opConfig.Exposure = (float)exposure;
    //        }
    //        // 读取增益
    //        status = DVPCamera.dvpGetAnalogGain(m_handle, ref gain);
    //        if (status == dvpStatus.DVP_STATUS_OK)
    //        {
    //            opConfig.Gain = gain;
    //        }
    //    }
    //    return opConfig;
    //}




    //public override void UploadOperationConfig(IOperationConfig config)
    //{
    //    if (CurrentState != DeviceState.DSOpen)
    //    {
    //        return;
    //    }

    //    if (!IsValidHandle(m_handle))
    //    {
    //        return;
    //    }

    //    CameraOprerationConfigBase opConfig = config as CameraOprerationConfigBase;

    //    if (opConfig.Exposure != 0 && opConfig.Exposure != _lastExposure)
    //    {
    //        SetExposure(opConfig.Exposure);
    //        _lastExposure = opConfig.Exposure;
    //    }

    //    if (opConfig.Gain != 0 && opConfig.Gain != _lastGain)
    //    {
    //        SetGain(opConfig.Gain);
    //        _lastGain = opConfig.Gain;
    //    }
    //}


    public void Init()
    {
        DVPCamera.dvpGetCameraInfo(m_handle, ref stDevInfo);

        _bufferImgSet = new Mat();

        pCallBackFunc = new DVPCamera.dvpEventCallback(cbExceptiondelegate);
    }


    protected void Pause()
    {

    }

    protected void Resume()
    {

    }
    public class CamConfig
    {
        public string CameraName = "Cam1";
        public double DefaultExposure;
        public float Gain;
        public bool IsDirectHardwareTrigger = true;
    }
    public CamConfig IIConfig;
    public void Start(string DeviceName)
    {
        try
        {

            DVPCamera.dvpGetCameraInfo(m_handle, ref stDevInfo);

            _bufferImgSet = new Mat();

            pCallBackFunc = new DVPCamera.dvpEventCallback(cbExceptiondelegate);


            nRet = DVPCamera.dvpOpenByUserId(DeviceName,
                dvpOpenMode.OPEN_NORMAL,
                ref m_handle);

            // ch:打开设备 | en:Open device
            if (dvpStatus.DVP_STATUS_OK != nRet)
            {
                throw new Exception($"Create device failed:{nRet:x8}");
            }

            nRet = DVPCamera.dvpSetTargetFormat(m_handle, (dvpStreamFormat)dvpImageFormat.FORMAT_BGR24);
            if (dvpStatus.DVP_STATUS_OK != nRet)
            {
                throw new Exception($"Set image format failed:{nRet:x8}");
            }


            // ch:注册异常回调函数 | en:Register Exception Callback
            nRet = DVPCamera.dvpRegisterEventCallback(m_handle, pCallBackFunc, dvpEvent.EVENT_DISCONNECTED, IntPtr.Zero);
            if (nRet != dvpStatus.DVP_STATUS_OK)
            {
                throw new Exception($"Register expection callback failed:{nRet}");
            }
            GC.KeepAlive(pCallBackFunc);
            dvpStatus status;
            double exposure = 0;
            float gain = 0;
            if (IsValidHandle(m_handle))
            {
                // 读取曝光
                //status = DVPCamera.dvpGetExposure(m_handle, ref exposure);
                //if (status == dvpStatus.DVP_STATUS_OK)
                //{
                //    IIConfig.DefaultExposure = (float)exposure;
                //}
                //// 读取增益
                //status = DVPCamera.dvpGetAnalogGain(m_handle, ref gain);
                //if (status == dvpStatus.DVP_STATUS_OK)
                //{
                //    IIConfig.Gain = gain;
                //}
            }

            // ch:设置采集连续模式 | en:Set Continues Aquisition Mode 
            if (false)//IIConfig.IsContinueMode)
            {
                // ch:设置触发模式为off || en:set trigger mode as off
                nRet = DVPCamera.dvpSetTriggerState(m_handle, false);
                if (dvpStatus.DVP_STATUS_OK != nRet)
                {
                    throw new Exception("Set TriggerMode failed!");
                }
            }
            else
            {
                // ch:设置触发模式为on || en:set trigger mode as on
                nRet = DVPCamera.dvpSetTriggerState(m_handle, true);
                if (dvpStatus.DVP_STATUS_OK != nRet)
                {
                    throw new Exception("Set TriggerMode failed!");
                }

                // 硬触发
                if (false)//IIConfig.IsHardwareTrigger)
                {
                    // ch:触发源选择:1 - Line1; | en:Trigger source select:1 - Line1;
                    nRet = DVPCamera.dvpSetTriggerSource(m_handle, dvpTriggerSource.TRIGGER_SOURCE_LINE1);
                    if (dvpStatus.DVP_STATUS_OK != nRet)
                    {
                        throw new Exception("Set Line1 Trigger failed!");
                    }

                    // ch:注册回调函数 | en:Register image callback 
                    ImageCallback = new DVPCamera.dvpStreamCallback(ImageCallbackFunc);
                    nRet = DVPCamera.dvpRegisterStreamCallback(m_handle, ImageCallback, dvpStreamEvent.STREAM_EVENT_PROCESSED, IntPtr.Zero);
                    if (dvpStatus.DVP_STATUS_OK != nRet)
                    {
                        throw new Exception("Register image callback failed!");
                    }
                }
                else // 软触发
                {
                    nRet = DVPCamera.dvpSetTriggerSource(m_handle, dvpTriggerSource.TRIGGER_SOURCE_SOFTWARE);
                    if (dvpStatus.DVP_STATUS_OK != nRet)
                    {
                        throw new Exception("Set Software Trigger failed!");
                    }
                    //_proc = _dvpStreamCallback;
                    //nRet = DVPCamera.dvpRegisterStreamCallback(m_handle, _proc, dvpStreamEvent.STREAM_EVENT_PROCESSED, IntPtr.Zero);
                    //if (dvpStatus.DVP_STATUS_OK != nRet)
                    //{
                    //    throw new Exception("Register image callback failed!");
                    //}
                    // ch:注册回调函数 | en:Register image callback 
                    ImageCallback = new DVPCamera.dvpStreamCallback(ImageCallbackFunc);
                    nRet = DVPCamera.dvpRegisterStreamCallback(m_handle, ImageCallback, dvpStreamEvent.STREAM_EVENT_PROCESSED, IntPtr.Zero);
                    if (dvpStatus.DVP_STATUS_OK != nRet)
                    {
                        throw new Exception("Register image callback failed!");
                    }
                    using (Process curProcess = Process.GetCurrentProcess())
                    using (ProcessModule curModule = curProcess.MainModule)
                    {
                        status = DVPCamera.dvpRegisterStreamCallback(m_handle, _proc, dvpStreamEvent.STREAM_EVENT_PROCESSED, IntPtr.Zero);
                        //Debug.Assert(status == dvpStatus.DVP_STATUS_OK);
                    }
                }
                m_dfDisplayCount = 0;

                if (IsValidHandle(m_handle))
                {
                    dvpStreamState state = new dvpStreamState();


                    // Implement a button to start and stop according to the current video's status.
                    status = DVPCamera.dvpGetStreamState(m_handle, ref state);

                    if (state == dvpStreamState.STATE_STARTED)
                    {
                        nRet = DVPCamera.dvpStop(m_handle);
                    }
                    else
                    {


                        nRet = DVPCamera.dvpStart(m_handle);
                    }
                    Debug.Assert(status == dvpStatus.DVP_STATUS_OK);
                    nRet = DVPCamera.dvpSetTriggerSource(m_handle, dvpTriggerSource.TRIGGER_SOURCE_SOFTWARE);
                    if (dvpStatus.DVP_STATUS_OK != nRet)
                    {
                        throw new Exception("Set Software Trigger failed!");
                    }
                    else
                    {
                        IfSuccess = true;
                    }
                }
                // ch:开启抓图 || en: start grab image
                //nRet = DVPCamera.dvpStart(m_handle);
                //if (dvpStatus.DVP_STATUS_OK != nRet)
                //{
                //    throw new Exception($"Start grabbing failed:{nRet:x8}");
                //}
                // 曝光
                //if (IIConfig.DefaultExposure != 0)
                //{
                //    SetExposure(IIConfig.DefaultExposure);
                //}
                //// 增益
                //if (IIConfig.Gain >= 0)
                //{
                //    SetGain(IIConfig.Gain);
                //}

                // 设置 触发延迟
                //if (IIConfig.TriggerDelay > 0)
                //{
                //    nRet = DVPCamera.dvpSetTriggerDelay(m_handle, IIConfig.TriggerDelay);
                //    if (nRet != dvpStatus.DVP_STATUS_OK)
                //    {
                //        throw new Exception("Set TriggerDelay failed!");
                //    }
                //}

                // 信号消抖
                //if (IIConfig.LineDebouncerTime > 0)
                //{
                //    nRet = DVPCamera.dvpSetTriggerJitterFilter(m_handle, IIConfig.LineDebouncerTime);
                //    if (nRet != dvpStatus.DVP_STATUS_OK)
                //    {
                //        throw new Exception($"LineDebouncerTime set failed:{nRet}");
                //    }
                //}



            }

        }
        catch (Exception e)
        {

        }

    }



    public void Stop()
    {


        // ch:停止抓图 | en:Stop grab image 
        // check camear
        dvpStreamState StreamState = new dvpStreamState();
        nRet = DVPCamera.dvpGetStreamState(m_handle, ref StreamState);
        Debug.Assert(nRet == dvpStatus.DVP_STATUS_OK);
        if (StreamState == dvpStreamState.STATE_STARTED)
        {
            // stop camera
            nRet = DVPCamera.dvpStop(m_handle);
            Debug.Assert(nRet == dvpStatus.DVP_STATUS_OK);
            if (nRet != dvpStatus.DVP_STATUS_OK)
            {
                throw new Exception($"Stop grabbing failed{nRet:x8}");
            }
        }

        nRet = DVPCamera.dvpUnregisterEventCallback(m_handle, pCallBackFunc, dvpEvent.EVENT_DISCONNECTED, IntPtr.Zero);
        if (nRet != dvpStatus.DVP_STATUS_OK)
        {
            throw new Exception($"Unregister expection callback failed:{nRet}");
        }

        // ch:关闭设备 | en:Close device
        nRet = DVPCamera.dvpClose(m_handle);
        if (nRet != dvpStatus.DVP_STATUS_OK)
        {
            throw new Exception($"Close device failed{nRet:x8}");
        }

        m_handle = 0;
    }


    #endregion


    #region MGSCamera   


    private DVPCamera.dvpStreamCallback ImageCallback;
    private DVPCamera.dvpStreamCallback _proc;
    private dvpFrameBuffer _frame = new dvpFrameBuffer();
    private readonly ManualResetEvent _snapHandle = new ManualResetEvent(false);
    private bool _snapFlag = false;

    private Mat _bufferImgSet = null;
    private readonly ManualResetEvent _bufferHandle = new ManualResetEvent(false);
    public Action<DateTime,Mat,int> OnHImageOutput { get; set; }

    public static bool m_bTriggerMode = false;

    // Display param
    public static Stopwatch m_Stopwatch = new Stopwatch();
    public static Double m_dfDisplayCount = 0;

    public static dvpCameraInfo[] m_info = new dvpCameraInfo[16];
    public static int m_CamCount = 0;
    /// <summary>
    /// 设置曝光值
    /// </summary>
    /// <param name="exposure">曝光值</param>
    /// <exception cref="Exception"></exception>
    private void SetExposure(double exposure)
    {
        // 使用自动曝光
        if (false)
        {
            // 设置自动曝光
            //nRet = DVPCamera.dvpSetAeOperation(m_handle, dvpAeOperation.AE_OP_CONTINUOUS);

            if (nRet != dvpStatus.DVP_STATUS_OK)
            {
                throw new Exception($"Exposure set failed:{nRet}");
            }
            // 设置曝光值
            nRet = DVPCamera.dvpSetAeTarget(m_handle, (int)exposure);
            if (nRet != dvpStatus.DVP_STATUS_OK)
            {
                throw new Exception($"Exposure set failed:{nRet}");
            }
        }
        else // 不适用自动曝光
        {
            // 关闭自动曝光
            nRet = DVPCamera.dvpSetAeOperation(m_handle, dvpAeOperation.AE_OP_OFF);
            if (nRet != dvpStatus.DVP_STATUS_OK)
            {
                throw new Exception($"Exposure set failed:{nRet}");
            }
            // 设置曝光值
            nRet = DVPCamera.dvpSetExposure(m_handle, exposure);
            if (nRet != dvpStatus.DVP_STATUS_OK)
            {
                throw new Exception($"Exposure set failed:{nRet}");
            }
        }
    }


    /// <summary>
    /// 设置增益
    /// </summary>
    /// <param name="gain"></param>
    /// <exception cref="Exception"></exception>
    private void SetGain(float gain)
    {
        // 设置增益
        nRet = DVPCamera.dvpSetAnalogGain(m_handle, gain);

        if (nRet != dvpStatus.DVP_STATUS_OK)
        {
            throw new Exception($"Gain set failed:{nRet}");
        }
    }

   
    public int ImageCallbackFunc(uint handle, dvpStreamEvent _event, IntPtr pContext, ref dvpFrame refFrame, IntPtr pBuffer)
    {
        try
        {
            if (true)//硬触发
            {


                int nWidth = refFrame.iWidth;
                int nHeight = refFrame.iHeight;
                MatType matType = MatType.CV_8UC1;
                

                if (refFrame.format == dvpImageFormat.FORMAT_RGB24)
                {
                    IntPtr pTemp = pBuffer;
                    
                }
                else if (refFrame.format == dvpImageFormat.FORMAT_BGR24)
                {
                    IntPtr pTemp = pBuffer;
                    matType = MatType.CV_8UC3;
                   
                }
                Mat _mat = new Mat( nHeight,nWidth, matType, pBuffer);
                //加入内部队列

                //if (IIConfig.IsDirectHardwareTrigger)
                //{
                    // 传感器直接触发 收到图片后 传出
                     OnHImageOutput?.Invoke(DateTime.Now, _mat, SnapshotCount);
               // }
                //else
                //{
                //    _bufferImgSet = _mat;
                //    // _bufferImgSetQueue.Enqueue(outImgSet);
                //    _bufferHandle.Set();
                //}
                //处理完图片 会清理内部队列的图像
                //DisplayAndSaveOriginImage(imgSet.Id);
            }
            else if (_snapFlag)
            {
                _snapFlag = false;
                _frame = new dvpFrameBuffer
                {
                    frame = refFrame,
                    pData = pBuffer,
                };
                _snapHandle.Set();
            }


        }
        catch (Exception ex)
        {

            return dvpStatus.DVP_STATUS_GRAB_FAILED.ToInt();
        }
        return dvpStatus.DVP_STATUS_OK.ToInt();
    }






    private object _bufferLock = new object();




    public void Snapshot()
    {
        try
        {
            Stopwatch sw = new Stopwatch();
            sw.Start();
            // ImageSet set = new ImageSet();


            dvpFrameBuffer frameInfo = new dvpFrameBuffer();

            nRet = dvpStatus.DVP_STATUS_OK;
            if (true)//如果不是持续模式
            {
                // ch: 触发命令 || en: Trigger command
                nRet = DVPCamera.dvpTriggerFire(m_handle);
                if (dvpStatus.DVP_STATUS_OK != nRet)
                {
                    throw new Exception($"相机拍照触发失败:{nRet}");
                }

            }
            else
            {
                _snapHandle.Reset();
                _snapFlag = true;
                _snapHandle.WaitOne();
                //lock (_imgCallBackLock)
                {
                    frameInfo.frame = _frame.frame;
                    frameInfo.pData = _frame.pData;
                }
            }

            // ch:获取一帧图像 | en:Get one image
            if (dvpStatus.DVP_STATUS_OK == nRet)
            {
                Interlocked.Increment(ref SnapshotCount);
                if (frameInfo.pData != IntPtr.Zero)
                {
                    if (nRet == dvpStatus.DVP_STATUS_OK)
                    {
                        dvpFrame pFrameInfo = frameInfo.frame;
                        MatType matType = MatType.CV_8UC1;
                        if (pFrameInfo.format == dvpImageFormat.FORMAT_RGB24)
                        {

                        }
                        else if (pFrameInfo.format == dvpImageFormat.FORMAT_BGR24)
                        {

                            matType = MatType.CV_8UC3;

                        }
                        
                        //HImage hImage = new HImage();
                        //hImage.GenImage1("byte", pFrameInfo.iWidth, pFrameInfo.iHeight, frameInfo.pData);
                        Mat _mat = new Mat(pFrameInfo.iHeight, pFrameInfo.iWidth, matType, frameInfo.pData);
                        OnHImageOutput?.Invoke(DateTime.Now, _mat,SnapshotCount);
                        //_mat.ImWrite("D://123.jpg");
                    }
                }
            }
            else
            {
                throw new Exception($"Grap Image Failed:{nRet:x8}");
            }

            sw.Stop();
            // LogAsync(DateTime.Now, LogLevel.Information, $"取像耗时：{sw.ElapsedMilliseconds} ms");

        }
        catch (Exception ex) { 
        }
  
       

    }






    /// <summary>
    /// 回调函数
    /// </summary>
    /// <param name="handle"></param>
    /// <param name="_event"></param>
    /// <param name="pContext"></param>
    /// <param name="param"></param>
    /// <param name="refVariant"></param>
    /// <returns></returns>
    public int cbExceptiondelegate(uint handle, dvpEvent _event, IntPtr pContext, int param, ref dvpVariant refVariant)
    {

        if (_event == dvpEvent.EVENT_DISCONNECTED)
        {

            int reTryTimes = 3;
            do
            {
                try
                {
                    Task.Delay(1000).Wait();
                    Stop();

                    //Start();
                    reTryTimes = -1;
                }
                catch (Exception ex)
                {
                    reTryTimes--;

                    if (reTryTimes > 0)
                    {
                        // LogAsync(DateTime.Now, LogLevel.Information, $"{Name}重新连接异常,{ex.GetExceptionMessage()}");
                    }
                    else
                    {
                        throw ex;
                    }
                }
            } while (reTryTimes > 0);

        }


        return dvpStatus.DVP_STATUS_OK.ToInt();
    }




    #endregion




}