using AntdUI;
using AntdUI.Svg;
using DH.Commons.Enums;
using DH.Devices.Camera;
using DH.Devices.Motion;
using DH.Devices.PLC;
using DH.Devices.Vision;
using DHSoftware.Languages;
using DHSoftware.Models;
using DHSoftware.Utils;
using DVPCameraType;
using HalconDotNet;
using Microsoft.Win32;
using OpenCvSharp;
using System;
using System.CodeDom;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using XKRS.Common.Model;
using static AntdUI.Math3D;
using Camera = DHSoftware.Models.Camera;

namespace DHSoftware
{



    public partial class MainWindow : AntdUI.Window
    {
        private UserControl currControl;
        private bool isUpdatingTabs = false;//用于阻止Tabs更新
        private bool isLight = true;
        // 定义一个语言切换事件
        public event EventHandler LanguageChanged;


        private System.Windows.Forms.Timer refreshTimer;
        private int testCounter = 1;

        Dictionary<string, List<string>> _cameraRelatedDetectionDict = null;
        public MainWindow()
        {
            InitializeComponent();
            refreshTimer = new System.Windows.Forms.Timer();
            refreshTimer.Interval = 1000; // 1秒间隔
            refreshTimer.Tick += RefreshTimer_Tick;
            //refreshTimer.Start();
            //初始化数据
            InitData();
            //绑定事件
            BindEventHandler();
            tabImgDisplay.Pages.Clear();
            List<Camera> Cameras = new List<Camera>
        {
            new Camera
            {
                DeviceName = "Cam1",
                Alias = "相机1",
                ImagePath = @"D:\1.jpeg"
            },
            new Camera
            {
              DeviceName = "Cam2",
                Alias = "相机2",
                ImagePath = @"D:\2.jpeg"
            },
            new Camera
            {
               DeviceName = "Cam3",
                Alias = "相机3",
                ImagePath = @"D:\3.jpeg"
            },
            new Camera
            {
               DeviceName = "Cam4",
                Alias = "相机4",
                ImagePath = @"D:\4.jpeg"
            },
            new Camera
            {
                DeviceName = "Cam5",
                Alias = "相机5",
                ImagePath = @"D:\5.jpeg"
            }
        };

            if (Cameras.Count > 0)
            {
                tabImgDisplay.Controls.Clear();
                foreach (var cam in Cameras)
                {
                    AntdUI.TabPage tabPage = new AntdUI.TabPage();
                    tabPage.Name = $"tab{cam.DeviceName}";
                    tabPage.Text = cam.Alias;
                    //ImgDisplayControl imgDisplayControl = new ImgDisplayControl();
                    //imgDisplayControl.Name = $"img{cam.DeviceName}";
                    //imgDisplayControl.Dock = DockStyle.Fill;
                    //tabPage.Controls.Add(imgDisplayControl);
                    PictureBox pictureBox = new PictureBox();
                    pictureBox.Name = $"pic{cam.DeviceName}";
                    pictureBox.Dock = DockStyle.Fill;
                    pictureBox.SizeMode = PictureBoxSizeMode.Zoom;
                    tabPage.Controls.Add(pictureBox);
                    tabImgDisplay.Pages.Add(tabPage);

                }

            }
        }

        private void RefreshTimer_Tick(object sender, EventArgs e)
        {
            // 获取相机1的控件（通过控件名称查找）
            var targetControl = FindControlRecursive(tabImgDisplay, "picCam1") as PictureBox;

            if (targetControl != null)
            {
                // 生成测试路径（示例路径）
                string testPath = $@"D:\{testCounter}.png"; // 循环1-5的图片
                testCounter++;

                // 加载并显示图片
                targetControl.Image = Image.FromFile(testPath);
                if (testCounter == 5)
                {
                    testCounter = 1;
                }
                targetControl.Parent.Invalidate();
            }
        }
        // 递归查找控件的方法
        private Control FindControlRecursive(Control parent, string name)
        {
            if (parent.Name == name) return parent;

            foreach (Control child in parent.Controls)
            {
                var found = FindControlRecursive(child, name);
                if (found != null) return found;
            }
            return null;
        }
        // 触发事件
        protected virtual void OnLanguageChanged(EventArgs e)
        {
            LanguageChanged?.Invoke(this, e);
        }

        private void InitData()
        {

            //根据系统亮暗初始化一次
            isLight = ThemeHelper.IsLightMode();
            button_color.Toggle = !isLight;
            ThemeHelper.SetColorMode(this, isLight);
            //初始化消息弹出位置
            Config.ShowInWindow = true;





        }

        private void BindEventHandler()
        {
            buttonSZ.Click += ButtonSZ_Click;
            button_color.Click += Button_color_Click;




            //监听系统深浅色变化
            SystemEvents.UserPreferenceChanged += SystemEvents_UserPreferenceChanged;
        }








        private void SystemEvents_UserPreferenceChanged(object sender, UserPreferenceChangedEventArgs e)
        {
            if (e.Category == UserPreferenceCategory.General)
            {
                isLight = ThemeHelper.IsLightMode();
                button_color.Toggle = !isLight;
                ThemeHelper.SetColorMode(this, isLight);
            }
        }

        private void Button_color_Click(object sender, EventArgs e)
        {
            isLight = !isLight;
            //这里使用了Toggle属性切换图标
            button_color.Toggle = !isLight;
            ThemeHelper.SetColorMode(this, isLight);
        }

        private void ButtonSZ_Click(object sender, EventArgs e)
        {

        }




        public List<HikVisionCamera> HKCameras { get; } = new List<HikVisionCamera>();
        public List<Do3ThinkCamera> Cameras { get; } = new List<Do3ThinkCamera>();
        public Dictionary<string, SimboObjectDetection> Dectection { get; } = new Dictionary<string, SimboObjectDetection>();
        public XinJEPLCTcpNet PLC { get; } = new XinJEPLCTcpNet();
        SLDMotion sLDMotion = new SLDMotion();
        private void MainWindow_Load(object sender, EventArgs e)
        {

        }

        private void MainWindow_FormClosed(object sender, FormClosedEventArgs e)
        {
            foreach (var camera in Cameras)
            {
                camera.CameraDisConnect();
            }
            foreach (var camera in HKCameras)
            {
                camera.CameraDisConnect();
            }
            PLC.PLCDisConnect();
        }

        private void segmented1_SelectIndexChanged(object sender, EventArgs e)
        {
            // Get the index of the selected item
            int selectedIndex = segmented1.SelectIndex;

            // Handle each button based on its index
            switch (selectedIndex)
            {
                case 0: // "启动" (Start)
                    HandleStartButton();
                    break;
                case 1: // "停止" (Stop)
                    HandleStopButton();
                    break;
                case 2: // "复位" (Reset)
                    HandleResetButton();
                    break;
                case 3: // "设置" (Settings)
                    HandleSettingsButton();
                    break;
                case 4: // "登录" (Login)
                    HandleLoginButton();
                    break;
                default:
                    break;
            }
        }
        public bool CurrentMachine = false;
        public volatile int ProductNum_Total = 0;
        public volatile int ProductNum_OK = 0;
        private readonly object _cameraSummaryLock = new object();
        List<DetectionConfig> DetectionConfigs = new List<DetectionConfig>();
        List<SimboStationMLEngineSet> SimboStationMLEngineList = new List<SimboStationMLEngineSet>();
        Dictionary<string, HDevEngineTool> HalconToolDict = new Dictionary<string, HDevEngineTool>();
        public List<RecongnitionLabel> RecongnitionLabelList { get; set; } = new List<RecongnitionLabel>();
        public DateTime startTime;
        private void HandleStartButton()
        {
            CurrentMachine = true;
            //[Category("深度学习检测配置")]
            //[DisplayName("检测标签定义集合")]
            //[Description("定义检测标签的集合，例如：Seg/Detection模式：断裂、油污、划伤...；Class模式：ok、ng、上面、下面、套环、正常...")]
            //[TypeConverter(typeof(CollectionCountConvert))]
            //[Editor(typeof(ComplexCollectionEditor<RecongnitionLabel>), typeof(UITypeEditor))]
            RecongnitionLabel recongnition = new RecongnitionLabel
            {
                LabelName = "youwu",
                LabelDescription = "油污",
                LabelCategory = "A_NG"
            };
            RecongnitionLabel recongnition2 = new RecongnitionLabel
            {
                LabelName = "youwu",
                LabelDescription = "油污",
                LabelCategory = "A_NG"
            };
            RecongnitionLabel recongnition3 = new RecongnitionLabel
            {
                LabelName = "youwu",
                LabelDescription = "油污",
                LabelCategory = "A_NG"
            };
            RecongnitionLabelList.Add(recongnition);
            RecongnitionLabelList.Add(recongnition2);
            RecongnitionLabelList.Add(recongnition3);



            var det1 = new DetectionConfig("相机1", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam1.onnx", false, "Cam1");
            var det2 = new DetectionConfig("相机2", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam2.onnx", false, "Cam2");
            var det3 = new DetectionConfig("相机3", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam3.onnx", false, "Cam3");
            var det4 = new DetectionConfig("相机4", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam4.onnx", false, "Cam4");
            var det5 = new DetectionConfig("相机5", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam5.onnx", false, "Cam5");
            var det6 = new DetectionConfig("相机6", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam6.onnx", false, "Cam6");
            var det7 = new DetectionConfig("相机7", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam7.onnx", false, "Cam7");
            var det8 = new DetectionConfig("相机8", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam8.onnx", false, "Cam8");
            List<RelatedCamera> CameraCollects = new List<RelatedCamera>();
            CameraCollects.Add(new RelatedCamera("Cam1"));
            List<RelatedCamera> CameraCollects2 = new List<RelatedCamera>();
            CameraCollects2.Add(new RelatedCamera("Cam2"));
            List<RelatedCamera> CameraCollects3 = new List<RelatedCamera>();
            CameraCollects3.Add(new RelatedCamera("Cam3"));
            List<RelatedCamera> CameraCollects4 = new List<RelatedCamera>();
            CameraCollects4.Add(new RelatedCamera("Cam4"));
            List<RelatedCamera> CameraCollects5 = new List<RelatedCamera>();
            CameraCollects5.Add(new RelatedCamera("Cam5"));
            List<RelatedCamera> CameraCollects6 = new List<RelatedCamera>();
            CameraCollects6.Add(new RelatedCamera("Cam6"));
            List<RelatedCamera> CameraCollects7 = new List<RelatedCamera>();
            CameraCollects7.Add(new RelatedCamera("Cam7"));
            List<RelatedCamera> CameraCollects8 = new List<RelatedCamera>();
            CameraCollects8.Add(new RelatedCamera("Cam8"));

            float Conf = 0.5f;


            det1.CameraCollects = CameraCollects;
            det1.ModelconfThreshold = Conf;
            det1.ModelWidth = 640;
            det1.ModelHeight = 640;
            det1.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam1.txt";
            det1.IsEnabled = true;

            det2.CameraCollects = CameraCollects2;
            det2.ModelconfThreshold = Conf;
            det2.ModelWidth = 640;
            det2.ModelHeight = 640;
            det2.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam2.txt";
            det2.IsEnabled = true;

            det3.CameraCollects = CameraCollects3;
            det3.ModelconfThreshold = Conf;
            det3.ModelWidth = 640;
            det3.ModelHeight = 640;
            det3.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam3.txt";
            det3.IsEnabled = true;

            det4.CameraCollects = CameraCollects4;
            det4.ModelconfThreshold = Conf;
            det4.ModelWidth = 640;
            det4.ModelHeight = 640;
            det4.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam4.txt";
            det4.IsEnabled = true;



            det5.CameraCollects = CameraCollects5;
            det5.ModelconfThreshold = Conf;
            det5.ModelWidth = 640;
            det5.ModelHeight = 640;
            det5.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam5.txt";
            det5.IsEnabled = true;

            det6.CameraCollects = CameraCollects6;
            det6.ModelconfThreshold = Conf;
            det6.ModelWidth = 640;
            det6.ModelHeight = 640;
            det6.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam6.txt";
            det6.IsEnabled = true;

            det7.CameraCollects = CameraCollects7;
            det7.ModelconfThreshold = Conf;
            det7.ModelWidth = 640;
            det7.ModelHeight = 640;
            det7.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam7.txt";
            det7.IsEnabled = true;

            det8.CameraCollects = CameraCollects8;
            det8.ModelconfThreshold = Conf;
            det8.ModelWidth = 640;
            det8.ModelHeight = 640;
            det8.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam8.txt";
            det8.IsEnabled = true;

            DetectionConfigs.Add(det1);
            DetectionConfigs.Add(det2);
            DetectionConfigs.Add(det3);
            DetectionConfigs.Add(det4);
            DetectionConfigs.Add(det5);
            DetectionConfigs.Add(det6);
            DetectionConfigs.Add(det7);
            DetectionConfigs.Add(det8);

            Cameras.Clear();
            HKCameras.Clear();
            Dectection.Clear();
            _cameraRelatedDetectionDict = new();

#if false
            for (int i = 1; i <= 8; i++)
            {
                HikVisionCamera camera = new HikVisionCamera();
                camera.CameraName = $"Cam{i}";
                camera.CameraIP = $"192.168.{i}.1";
                camera.ComputerIP = $"192.168.{i}.1";
                camera.CameraConnect();
                camera.OnHImageOutput += OnCameraHImageOutput;
                HKCameras.Add(camera);


            }
#else
            //Do3ThinkCamera do3ThinkCamera1 = new Do3ThinkCamera();

            //do3ThinkCamera1.dvpStreamFormat = dvpStreamFormat.S_RAW8;
            //do3ThinkCamera1.CameraName = "Cam1";
            //do3ThinkCamera1.CameraConnect();
            //do3ThinkCamera1.OnHImageOutput += OnCameraHImageOutput;
            // Cameras.Add(do3ThinkCamera1);
            for (int i = 1; i <= 8; i++)
            {

                Do3ThinkCamera cam = new Do3ThinkCamera();
                if (i == 1)
                {
                    cam.dvpStreamFormat = dvpStreamFormat.S_RAW8;
                }
                else
                {
                    cam.dvpStreamFormat = dvpStreamFormat.S_RGB24;
                }

                cam.CameraName = $"Cam{i}";
                Cameras.Add(cam);
                cam.CameraConnect();
                cam.OnHImageOutput += OnCameraHImageOutput;
            }


#endif


            DetectionConfigs.ForEach(detection =>
            {

                detection.CameraCollects.ForEach(cam =>
               {
                   List<string> Dets = new List<string>
                   {
                        detection.Id
                   };
                   if (!_cameraRelatedDetectionDict.ContainsKey(cam.CameraSourceId))
                   {
                       _cameraRelatedDetectionDict.Add(cam.CameraSourceId, Dets);
                   }
                   else
                   {
                       _cameraRelatedDetectionDict[cam.CameraSourceId].Add(detection.Id);
                   }


               }
               );
            });
            string inferenceDevice = "CPU";





            //Add the code for the "启动" button click here

            //初始化Halcon工具
            InitialHalconTools();

            //深度学习模型加载
            bool resultOK = InitialSimboMLEnginesAsync();
            if (resultOK)
            {
                //初始化失败
                // return;
            }
            //位置比较卡

            sLDMotion.AxisSettings = new List<AxisSetting>();
            AxisSetting axis1 = new AxisSetting();
            axis1.AxisIndex = 0;
            axis1.AxisName = "转盘1";
            axis1.IsAxisEnabled = true;
            //axis1.AlarmLogic = AxisDirection.Positive;
            sLDMotion.IODefinitionCollection = new List<IODefinition>();
            Motion(sLDMotion.IODefinitionCollection);



            sLDMotion.SnapshotSettings = new List<SnapshotSetting>();
            int[] cameraPositions = { 24161, 33608, 39702, 45701 };


            sLDMotion.SnapshotSettings.Add(new SnapshotSetting
            {
                IsEnabled = true,
                CameraIO = sLDMotion.IODefinitionCollection.FirstOrDefault(t => t.IOType == IOType.OUTPUT && t.IOIndex == 13),
                CameraPosition = 7613,
                StationNumber = 0
            });
            for (int i = 0; i < 4; i++)
            {
                sLDMotion.SnapshotSettings.Add(new SnapshotSetting
                {
                    IsEnabled = true,
                    CameraIO = sLDMotion.IODefinitionCollection.FirstOrDefault(t => t.IOType == IOType.OUTPUT && t.IOIndex == i),
                    CameraPosition = cameraPositions[i],
                    StationNumber = 0
                });
            }



            sLDMotion.BlowSettings = new List<BlowSetting>();
            int[] BlowPositions = { 61353, 68566 };
            sLDMotion.BlowSettings.Add(new BlowSetting
            {
                IsEnabled = true,
                BlowIO = sLDMotion.IODefinitionCollection.FirstOrDefault(t => t.IOType == IOType.OUTPUT && t.IOIndex == 5),
                BlowPosition = BlowPositions[0],
                StationNumber = 0
            });
            sLDMotion.BlowSettings.Add(new BlowSetting
            {
                IsEnabled = true,
                BlowIO = sLDMotion.IODefinitionCollection.FirstOrDefault(t => t.IOType == IOType.OUTPUT && t.IOIndex == 6),
                BlowPosition = BlowPositions[1],
                StationNumber = 0
            });

            //SnapshotSetting sna1 = new SnapshotSetting();
            //sna1.IsEnabled = true;
            //sna1.CameraIO= sLDMotion.IODefinitionCollection.FirstOrDefault(t => t.IOType == IOType.OUTPUT && t.IOIndex == 0);
            //sna1.CameraPosition = 17000;
            //sna1.StationNumber = 0;



            // sLDMotion.SnapshotSettings.Add(sna1);
            sLDMotion.AxisSettings.Add(axis1);
            sLDMotion.Init();
            sLDMotion.OnNewPieces -= MainMotion_NewPieces;
            sLDMotion.OnNewPieces += MainMotion_NewPieces;
            // sLDMotion.Start();

            //PLC.IP = "192.168.6.6";
            //PLC.Port = 502;
            //PLC.PLCConnect();
            //PLC.OnNewPieces -= MainMotion_NewPieces;
            //PLC.OnNewPieces += MainMotion_NewPieces;
            ProductBaseCount = 8;
            for (int i = 0; i < ProductBaseCount * ProductListMulti; i++)
            {
                ConcurrentDictionary<uint, ProductData> products = new ConcurrentDictionary<uint, ProductData>();
                _productLists.Add(products);
            }
            sLDMotion.AxisStop();
            bool e = sLDMotion.CArdReset();
            //转盘速度
            sLDMotion.JOGRun(14000, 100000);
            startTime = DateTime.Now;
        }
        public void Motion(List<IODefinition> iODefinitions)
        {
            for (int i = 0; i < 16; i++)
            {
                iODefinitions.Add(new IODefinition
                {
                    IOType = IOType.INPUT,
                    IOIndex = i,
                    IODesc = $"入料传感器{i + 1}"
                });
            }
            for (int i = 0; i < 16; i++)
            {
                iODefinitions.Add(new IODefinition
                {
                    IOType = IOType.OUTPUT,
                    IOIndex = i,
                    IODesc = $"入料传感器{i + 1}"
                });
            }
        }

        private uint PieceCount = 0;
        private List<ConcurrentDictionary<uint, ProductData>> _productLists = new List<ConcurrentDictionary<uint, ProductData>>();
        private int ProductListMulti = 2;
        private int ProductBaseCount = 0;
        private int PieceNumberToIndex(uint pn)
        {
            // 物料编号，取余 集合数量

            int ret = (int)(pn % (ProductBaseCount * ProductListMulti));
            return ret;
        }
        DateTime _ctTime = DateTime.Now;
        public async void MainMotion_NewPieces(int axisIndex, uint pieceNumber)
        {
            //if (MachineState != MachineState.Running && MachineState != MachineState.Warning)
            //{
            //    return;
            //}


            PieceCount++;


            int index = PieceNumberToIndex(pieceNumber);
            // productDatas.Add(pData);
            //转盘2 的物料是不是重新覆盖之前的pDta
            if (axisIndex == 1)
            {
                ProductData pData = new ProductData("", pieceNumber, ProductBaseCount);
                _productLists[index][pieceNumber] = pData;
            }
            string logStr = $"时间：{DateTime.Now} 轴{axisIndex}新产品{pieceNumber}加入队列{index}----入料计数{PieceCount}\n";
            Task.Run(() =>
            {
                this.BeginInvoke(new MethodInvoker(delegate () { richTextBox1.AppendText(logStr); }));

            });
            DateTime dtNow = DateTime.Now;
            UpdateCT(null, (float)(dtNow - _ctTime).TotalSeconds);
            _ctTime = dtNow;


        }
        public async Task UpdateCT(object objData, float ctTime)
        {
            await Task.Run(() =>
            {
                //OnUpdateCT?.Invoke(objData, ctTime);
            });
        }
        /// <summary>
        /// 初始化深度学习工具
        /// </summary>
        private bool InitialSimboMLEnginesAsync()
        {
            //深度学习 模型加载
            var resultOK = MLLoadModel();
            return resultOK;
        }
        /// <summary>
        /// 深度学习 模型加载
        /// </summary>
        /// <returns></returns>
        private bool MLLoadModel()
        {
            bool resultOK = false;
            try
            {
                SimboStationMLEngineList = new List<SimboStationMLEngineSet>();
                // _cameraRelatedDetectionDict = IConfig.DetectionConfigs.Select(t => t.ModelPath).Distinct().ToList();
                DetectionConfigs.ForEach(dc =>
                //_cameraRelatedDetectionDict.ForEach(dc =>
                 {

                     if (dc.IsEnabled && !string.IsNullOrWhiteSpace(dc.ModelPath))
                     {
                         if (dc.IsEnableGPU)
                         {
                             //if (IIConfig.IsLockGPU)
                             //{
                             //foreach (var validGPU in ValidGPUList2)
                             //{
                             //    if (validGPU.DetectionIds.Contains(dc.Id))
                             //    {
                             var engine = SingleMLLoadModel(dc, true, 0);
                             SimboStationMLEngineList.Add(engine);
                             //    }
                             //}
                             //}
                             //else
                             //{
                             //    foreach (var validGPU in ValidGPUList)
                             //    {
                             //        //var validGPU = ValidGPUList.FirstOrDefault(u => u.DetectionIds.Contains(dc.Id));
                             //        if (validGPU.DetectionId == dc.Id)
                             //        {
                             //            var engine = SingleMLLoadModel(dc, true, validGPU.GPUNo);
                             //            SimboStationMLEngineList.Add(engine);
                             //        }
                             //    }
                             //}

                         }
                         else
                         {
                             //for (int i = 0; i < IConfig.CPUNums; i++)
                             for (int i = 0; i < 1; i++)
                             {
                                 //var engine = SingleMLLoadModel(dc, false, i);
                                 var engine = SingleMLLoadModel(dc, false, i);
                                 SimboStationMLEngineList.Add(engine);
                             }
                         }
                     }
                 });
                resultOK = true;
            }
            catch (Exception ex)
            {
                // LogAsync(DateTime.Now, LogLevel.Exception, $"异常：模型并发加载异常:{ex.GetExceptionMessage()}");
                resultOK = false;
            }

            return resultOK;
        }
        /// <summary>
        /// 单个模型加载
        /// </summary>
        /// <param name="dc"></param>
        /// <param name="gpuNum"></param>
        /// <returns></returns>
        private SimboStationMLEngineSet SingleMLLoadModel(DetectionConfig dc, bool isGPU, int coreInx)
        {
            SimboStationMLEngineSet mLEngineSet = new SimboStationMLEngineSet();
            try
            {
                mLEngineSet.IsUseGPU = isGPU;
                if (isGPU)
                {
                    mLEngineSet.GPUNo = coreInx;
                }
                else
                {
                    mLEngineSet.CPUNo = coreInx;
                }
                mLEngineSet.DetectionId = dc.Id;
                mLEngineSet.DetectionName = dc.Name;

                if (!string.IsNullOrWhiteSpace(dc.ModelPath))
                {
                    // 根据算法类型创建不同的实例
                    switch (dc.ModelType)
                    {
                        case MLModelType.ImageClassification:
                            break;
                        case MLModelType.ObjectDetection:
                            mLEngineSet.StationMLEngine = new SimboObjectDetection();
                            break;
                        case MLModelType.SemanticSegmentation:

                            break;
                        case MLModelType.InstanceSegmentation:
                            mLEngineSet.StationMLEngine = new SimboInstanceSegmentation();
                            break;
                        case MLModelType.ObjectGPUDetection:
                            mLEngineSet.StationMLEngine = new SimboDetection();
                            break;
                        default:
                            break;
                    }
                    MLInit mLInit;
                    string inferenceDevice = "CPU";
                    if (dc.IsEnableGPU)
                    {
                        inferenceDevice = "GPU";
                        mLInit = new MLInit(dc.ModelPath, isGPU, coreInx, dc.ModelconfThreshold);
                    }
                    else
                    {
                        mLInit = new MLInit(dc.ModelPath, "images", inferenceDevice, (int)dc.ModelWidth, (int)dc.ModelHeight);

                    }

                    bool isSuccess = mLEngineSet.StationMLEngine.Load(mLInit);
                    if (!isSuccess)
                    {
                        // throw new ProcessException("异常：模型加载异常", null);
                    }
                    //LogAsync(DateTime.Now, LogLevel.Information, $"模型加载成功；是否GPU:{isGPU} CoreInx:{coreInx} - {dc.Name}" + $" {dc.ModelType.GetEnumDescription()}:{dc.ModelPath}");
                }
            }
            catch (Exception ex)
            {
                //throw new ProcessException($"异常：是否GPU:{isGPU} CoreInx:{coreInx} - {dc.Name}模型加载异常：{ex.GetExceptionMessage()}");
            }
            return mLEngineSet;
        }
        private void InitialHalconTools()
        {
            HOperatorSet.SetSystem("parallelize_operators", "true");
            HOperatorSet.SetSystem("reentrant", "true");
            HOperatorSet.SetSystem("global_mem_cache", "exclusive");

            HalconToolDict = new Dictionary<string, HDevEngineTool>();

            DetectionConfigs.ForEach(c =>
            {
                if (!c.IsEnabled)
                    return;

                if (c.HalconAlgorithemPath_Pre != null)
                    LoadHalconTool(c.HalconAlgorithemPath_Pre);

            });
        }

        private void LoadHalconTool(string path)
        {
            if (!HalconToolDict.ContainsKey(path))
            {


                string algorithemPath = path;

                if (string.IsNullOrWhiteSpace(algorithemPath))
                    return;

                string directoryPath = Path.GetDirectoryName(algorithemPath);
                string fileName = Path.GetFileNameWithoutExtension(algorithemPath);

                HDevEngineTool tool = new HDevEngineTool(directoryPath);
                tool.LoadProcedure(fileName);

                HalconToolDict[path] = tool;
            }
        }

        /// <summary>
        /// 预处理
        /// </summary>
        /// <param name="detectConfig"></param>
        /// <param name="detectResult"></param>
        public void PreTreated(DetectionConfig detectConfig, DetectStationResult detectResult, Mat MhImage)
        {
            try
            {
                // detectResult.VisionImageSet.DetectionOriginImage = detectResult.VisionImageSet.HImage.ConvertHImageToBitmap();
                //detectResult.VisionImageSet.PreTreatedBitmap = detectResult.VisionImageSet.HImage.ConvertHImageToBitmap();
                //detectResult.VisionImageSet.DetectionResultImage = detectResult.VisionImageSet.PreTreatedBitmap?.CopyBitmap();
                if (!string.IsNullOrWhiteSpace(detectConfig.HalconAlgorithemPath_Pre))
                {
                    HObject obj = OpenCVHelper.MatToHImage(MhImage);
                    HImage hImage = HalconHelper.ConvertHObjectToHImage(obj);
                    string toolKey = detectConfig.HalconAlgorithemPath_Pre;
                    if (!HalconToolDict.ContainsKey(toolKey))
                    {
                        // LogAsync(DateTime.Now, LogLevel.Exception, $"{detectConfig.Name}未获取预处理算法");
                        return;
                    }
                    //Mean_Thre Deviation_Thre  Mean_standard Deviation_standard
                    var tool = HalconToolDict[toolKey];

                    ////tool.InputTupleDic["Mean_Thre"] = 123;
                    for (int i = 0; i < detectConfig.PreTreatParams.Count; i++)
                    {
                        var param = detectConfig.PreTreatParams[i];
                        tool.InputTupleDic[param.Name] = double.Parse(param.Value);
                    }

                    // tool.InputTupleDic["fCricularity"] = 200;

                    tool.InputImageDic["INPUT_Image"] = hImage;


                    if (!tool.RunProcedure(out string errorMsg, out _))
                    {
                        //  detectResult.PreTreatedFlag = false;

                        detectResult.IsPreTreatDone = false;


                        return;
                    }

                    var preTreatRet = tool.GetResultTuple("OUTPUT_Flag").I;

                    //var fRCricularity = tool.GetResultTuple("fRCricularity");


                    // detectResult.IsPreTreatDone = detectResult.VisionImageSet.PreTreatedFlag = preTreatRet == 1;
                    //detectResult.IsPreTreatDone = detectResult.VisionImageSet.PreTreatedFlag = true;
                    //  detectResult.VisionImageSet.PreTreatedTime = DateTime.Now;

                    for (int i = 0; i < detectConfig.OUTPreTreatParams.Count; i++)
                    {
                        var param = detectConfig.OUTPreTreatParams[i];
                        tool.InputTupleDic[param.Name] = double.Parse(param.Value);
                    }




                    // 2023/10/16 新增预处理结果反馈，如果预处理结果为NG，直接返回
                    if (preTreatRet != 0)
                    {
                        detectResult.ResultState = ResultState.DetectNG;

                        detectResult.IsPreTreatNG = true;



                        // if (detectResult.VisionImageSet.PreTreatedFlag)
                        {
                            //detectResult.VisionImageSet.MLImage = tool.GetResultObject("OUTPUT_PreTreatedImage");
                            //DetectionResultImage
                            // detectResult.VisionImageSet.DetectionResultImage = detectResult.VisionImageSet.MLImage.ConvertHImageToBitmap();

                        }

                    }
                    else
                    {
                        // detectResult.VisionImageSet.DetectionResultImage = detectResult.VisionImageSet.MLImage.ConvertHImageToBitmap();

                    }
                }
            }
            catch (Exception ex)
            {

            }
            finally
            {
                //detectResult.VisionImageSet.HImage?.Dispose();
                //detectResult.VisionImageSet.HImage = null;
                // MhImage?.Dispose();
                //MhImage = null;
            }

        }
        /// <summary>
        /// 相机回调
        /// </summary>
        /// <param name="dt"></param>
        /// <param name="camera"></param>
        /// <param name="imageSet"></param>
        private void OnCameraHImageOutput(DateTime dt, CameraBase camera, Mat imageSet)
        {

            //if (camera.CameraName.Equals("cam1", StringComparison.OrdinalIgnoreCase))
            //{
            //    Console.WriteLine();
            //}
            //if (camera.CameraName.Equals("cam2", StringComparison.OrdinalIgnoreCase))
            //{
            //    Console.WriteLine();
            //}

            // 获取该相机的拍照计数
            uint productNumber = (uint)camera.SnapshotCount;

            Task.Run(async () =>
            {
                using (Mat localImageSet = imageSet.Clone())  // 复制 Mat 避免并发问题
                {
                    // imageSet?.Dispose();
                    // 拍照计数与物件编号一致，查找对应的产品
                    ProductData product = null;
                    //内外壁模组多个相机的处理方法
                    //计算队列的方法不变
                    int index = PieceNumberToIndex(productNumber);
                    // 找到产品存放在哪个队列里
                    ConcurrentDictionary<uint, ProductData> tmpDic = _productLists[index];

                    try
                    {
                        int retryTimes = 100;
                        while (product == null && retryTimes > 0)
                        {
                            if (tmpDic.ContainsKey(productNumber))
                            {
                                product = tmpDic[productNumber];
                            }
                            else
                            {
                                // Thread.Sleep(20);
                                await Task.Delay(20);
                            }
                            retryTimes--;
                        }
                        // 如果产品为空，则销毁图片，提示错误
                        if (null == product)
                        {
                            List<uint> pnList = tmpDic.Keys.ToList();

                            string pnStr = "";
                            if (pnList != null && pnList.Count > 0)
                            {
                                pnStr = string.Join(",", pnList);
                            }

                            //LogAsync(DateTime.Now, LogLevel.Error, $"{camera.Name} 未找到产品，编号：{productNumber}，队列{index}数量：{tmpDic.Count}，列表：{pnStr}");
                            localImageSet.Dispose();
                            this.BeginInvoke(new MethodInvoker(delegate ()
                            {

                                int currentScrollPosition = richTextBox1.GetPositionFromCharIndex(richTextBox1.TextLength).Y;

                                richTextBox1.AppendText(productNumber + "提前推出" + camera.CameraName);

                                // 设置回原来的滚动位置
                                richTextBox1.SelectionStart = richTextBox1.TextLength;
                                richTextBox1.ScrollToCaret();
                            }));
                            //重新生成实例 销毁之前的实例

                            using (StreamWriter sw = new StreamWriter("D://123log.txt", true, Encoding.UTF8))
                            {
                                sw.WriteLine(productNumber + "提前推出" + camera.CameraName);
                            }
                            return;
                        }

                        // LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 找到产品{productNumber}，队列{index}数量：{tmpDic.Count}");

                        if (!_cameraRelatedDetectionDict.ContainsKey(camera.CameraName))
                        {

                            localImageSet.Dispose();
                            this.BeginInvoke(new MethodInvoker(delegate ()
                            {

                                int currentScrollPosition = richTextBox1.GetPositionFromCharIndex(richTextBox1.TextLength).Y;

                                richTextBox1.AppendText(productNumber+"提前推出" + camera.CameraName);

                                // 设置回原来的滚动位置
                                richTextBox1.SelectionStart = richTextBox1.TextLength;
                                richTextBox1.ScrollToCaret();
                            }));
                            //重新生成实例 销毁之前的实例
                           
                            using (StreamWriter sw = new StreamWriter("D://123log.txt", true, Encoding.UTF8))
                            {
                                sw.WriteLine(productNumber+"提前推出" + camera.CameraName);
                            }
                            //  LogAsync(DateTime.Now, LogLevel.Warning, $"{camera.Name} 找到产品{productNumber}，但是没有推理1");

                            return;
                        }


                        double totalTime = 0.0;
                        List<ResultState> resultStates = new List<ResultState>();
                        List<string>? detectionDict = _cameraRelatedDetectionDict[camera.CameraName];


                        for (int i = 0; i < detectionDict.Count; i++)
                        {
                            string detectionId = detectionDict[i];

                            DetectionConfig detectConfig = null;
                            //找到对应的配置
                            if (!string.IsNullOrWhiteSpace(detectionId))
                            {
                                detectConfig = DetectionConfigs.FirstOrDefault(u => u.Id == detectionId);
                            }
                            else
                            {
                                detectConfig = DetectionConfigs.FirstOrDefault(u => u.CameraSourceId == camera.CameraName);
                            }

                            if (detectConfig == null)
                            {

                                //未能获得检测配置
                                return;
                            }

                            // 1. 预处理
                            using (Mat inferenceImage = localImageSet.Clone()) // 仅在此处克隆，确保推理过程中 Mat 有独立副本
                            {
                                DetectStationResult detectResult = new DetectStationResult();
                                #region 1.预处理

                                using (Mat PreTMat = inferenceImage.Clone())
                                {
                                    PreTreated(detectConfig, detectResult, PreTMat);
                                }



                                #endregion
                                if (detectResult.IsPreTreatNG)
                                {
                                    detectResult.ResultState = ResultState.DetectNG;
                                    detectResult.IsPreTreatDone = true;
                                    detectResult.IsMLDetectDone = false;

                                }



                                if (!string.IsNullOrWhiteSpace(detectConfig.ModelPath) && detectConfig.IsEnabled)
                                {


                                    SimboStationMLEngineSet mlSet = null;
                                    mlSet = SimboStationMLEngineList.FirstOrDefault(t => t.DetectionId == detectConfig.Id);
                                    if (mlSet == null)
                                    {
                                        // LogAsync(DateTime.Now, LogLevel.Exception, $"异常：{detectConfig.Name}未能获取对应配置的模型检测工具");
                                        detectResult.IsMLDetectDone = false;

                                        //HandleDetectDone(detectResult, detectConfig);
                                        return;
                                    }

                                    #region 2.深度学习推理 
                                    //LogAsync(DateTime.Now, LogLevel.Information, $"{detectConfig.Name} 产品{detectResult.TempPid} 模型检测执行");

                                    if (!string.IsNullOrWhiteSpace(detectConfig.ModelPath))
                                    {
                                        Stopwatch mlWatch = new Stopwatch();
                                        var req = new MLRequest();
                                        //之前的检测图片都是相机存储成HImage


                                        req.ResizeWidth = (int)detectConfig.ModelWidth;
                                        req.ResizeHeight = (int)detectConfig.ModelHeight;
                                        // req.LabelNames = detectConfig.GetLabelNames();
                                        // req.Score = IIConfig.Score;
                                        req.mImage = inferenceImage.Clone();

                                        req.in_lable_path = detectConfig.in_lable_path;

                                        req.confThreshold = detectConfig.ModelconfThreshold;
                                        req.iouThreshold = 0.3f;
                                        req.segmentWidth = 320;
                                        req.out_node_name = "output0";
                                        switch (detectConfig.ModelType)
                                        {
                                            case MLModelType.ImageClassification:
                                                break;
                                            case MLModelType.ObjectDetection:

                                                break;
                                            case MLModelType.SemanticSegmentation:
                                                break;
                                            case MLModelType.InstanceSegmentation:
                                                break;
                                            case MLModelType.ObjectGPUDetection:

                                                break;
                                            default:
                                                break;
                                        }

                                        //  LogAsync(DateTime.Now, LogLevel.Information, $"{detectConfig.Name} 产品{detectResult.TempPid} RunInference BEGIN");
                                        mlWatch.Start();
                                        //20230802改成多线程推理 RunInferenceFixed

                                        var result = mlSet.StationMLEngine.RunInference(req);
                                        // var result = mlSet.StationMLEngine.RunInferenceFixed(req);
                                        mlWatch.Stop();
                                        // LogAsync(DateTime.Now, LogLevel.Information, $"{detectConfig.Name} 产品{detectResult.TempPid} RunInference END");






                                        //            var req = new MLRequest();

                                        //req.mImage = inferenceImage;

                                        //req.ResizeWidth = detectConfig.ModelWidth;
                                        //req.ResizeHeight = detectConfig.ModelHeight;
                                        //req.confThreshold = detectConfig.ModelconfThreshold;
                                        //req.iouThreshold = 0.3f;
                                        //req.out_node_name = "output0";
                                        //req.in_lable_path = detectConfig.in_lable_path;

                                        //Stopwatch sw = Stopwatch.StartNew();
                                        //var result =   Dectection[detectionId].RunInference(req);
                                        //sw.Stop();
                                        //LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 推理进度1.1，产品{productNumber}，耗时{sw.ElapsedMilliseconds}ms");

                                        this.BeginInvoke(new MethodInvoker(delegate ()
                                        {
                                            pictureBox1.Image?.Dispose(); // 释放旧图像
                                            pictureBox1.Image = result.ResultMap;
                                            richTextBox1.AppendText($"推理成功 {productNumber}, {result.IsSuccess}相机名字{camera.CameraName} 耗时 {mlWatch.ElapsedMilliseconds}ms\n");
                                        }));
                                        req.mImage?.Dispose();




                                        if (result == null || (result != null && !result.IsSuccess))
                                        {
                                            detectResult.IsMLDetectDone = false;
                                        }
                                        if (result != null && result.IsSuccess)
                                        {
                                            detectResult.DetectDetails = result.ResultDetails;
                                            if (detectResult.DetectDetails != null)
                                            {
                                            }
                                            else
                                            {
                                                detectResult.IsMLDetectDone = false;
                                            }
                                        }
                                    }
                                    #endregion



                                    #region 3.后处理
                                    #endregion
                                    //根据那些得分大于阈值的推理结果，判断产品是否成功
                                    #region 4.最终过滤（逻辑过滤）
                                    detectResult.DetectDetails?.ForEach(d =>
                                    {


                                        //当前检测项的 过滤条件
                                        //var conditionList = detectConfig.DetectionFilterList
                                        //    .Where(u => u.IsEnabled && u.LabelName == d.LabelName)
                                        //    .GroupBy(u => u.ResultState)
                                        //    .OrderBy(u => u.Key)
                                        //    .ToList();
                                        //当前检测项的 过滤条件
                                        var conditionList = detectConfig.DetectionFilterList
                                            .Where(u => u.IsEnabled && u.LabelName == d.LabelName)
                                            .GroupBy(u => u.ResultState)
                                            .OrderBy(u => u.Key)
                                            .ToList();

                                        if (conditionList.Count == 0)
                                        {

                                            d.FinalResult = d.LabelName.ToLower() == "ok"
                                           ? ResultState.OK
                                           : ResultState.DetectNG;
                                        }
                                        else
                                        {
                                            d.FinalResult = detectConfig.IsMixModel
                                           ? ResultState.A_NG
                                           : ResultState.OK;


                                        }


                                        foreach (IGrouping<ResultState, DetectionFilter> group in conditionList)
                                        {
                                            //bool b = group.ToList().Any(f =>
                                            //{
                                            //    return f.FilterOperation(d);
                                            //});


                                            //if (b)
                                            //{
                                            //    d.FinalResult = group.Key;
                                            //    break;
                                            //}

                                            if (group.Any(f => f.FilterOperation(d)))
                                            {
                                                d.FinalResult = group.Key;
                                                break;
                                            }
                                            //else 
                                            //{
                                            //    d.FinalResult = d.InferenceResult = ResultState.OK;
                                            //}
                                        }
                                    });
                                    #endregion
                                    #region 5.统计缺陷过滤结果或预处理直接NG
                                    //if (detectResult.DetectDetails?.Count > 0)
                                    //{
                                    //    detectResult.ResultState = detectResult.DetectDetails.GroupBy(u => u.FinalResult).OrderBy(u => u.Key).First().First().FinalResult;
                                    //    detectResult.ResultLabel = detectResult.ResultLabel;
                                    //    detectResult.ResultLabelCategoryId = detectResult.ResultLabel;//TODO:设置优先级


                                    //}
                                    detectResult.ResultState = detectResult.DetectDetails?
                               .GroupBy(u => u.FinalResult)
                               .OrderBy(u => u.Key)
                               .FirstOrDefault()?.Key ?? ResultState.OK;
                                    detectResult.ResultLabel = detectResult.ResultLabel;
                                    detectResult.ResultLabelCategoryId = detectResult.ResultLabel;//TODO:设置优先级
                                    #endregion

                                    resultStates.Add(detectResult.ResultState);

                                    product.ResultCollection.Add(detectResult);






                                }


                            }


                        }

                        product.InferenceOne();

                        // LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 推理完成，产品{productNumber}");

                        if (!product.InferenceFinished())
                        {

                            return;
                        }
                        ProductNum_Total++;
                        CalculateOEE();
                        this.BeginInvoke(new MethodInvoker(delegate ()
                        {

                            int currentScrollPosition = richTextBox1.GetPositionFromCharIndex(richTextBox1.TextLength).Y;

                            richTextBox1.AppendText($"统计结果成功，{productNumber}  吹气！\n");

                            // 设置回原来的滚动位置
                            richTextBox1.SelectionStart = richTextBox1.TextLength;
                            richTextBox1.ScrollToCaret();
                        }));
                        #region 6. 统计产品结果
                        product.ProductResult = product.ResultCollection.Any(u => u.ResultState != ResultState.OK)
                            ? ResultState.B_NG
                            : ResultState.OK;
                        product.ProductLabelCategory = product.ProductResult.GetEnumDescription();
                        product.ProductLabel = product.ProductResult.GetEnumDescription();
                        #endregion
                        #region 7.产品吹气

                        #endregion





                        // 出列  
                        ProductData temp = null;

                        int tryTimes = 10;
                        while (temp == null && tryTimes > 0)
                        {
                            if (tmpDic.TryRemove(productNumber, out temp))
                            {
                                break;
                            }

                            tryTimes--;
                            Thread.Sleep(5);
                        }
                        if (temp == null)
                        {
                            string logStr = $"{DateTime.Now}产品{productNumber}出列失败：true，" +
                               $"当前队列产品数量：{tmpDic.Count}";
                            this.BeginInvoke(new MethodInvoker(delegate ()
                            {

                                int currentScrollPosition = richTextBox1.GetPositionFromCharIndex(richTextBox1.TextLength).Y;

                                richTextBox1.AppendText(logStr);

                                // 设置回原来的滚动位置
                                richTextBox1.SelectionStart = richTextBox1.TextLength;
                                richTextBox1.ScrollToCaret();
                            }));
                        }
                        else
                        {
                            try
                            {
                                string logStr = $"{DateTime.Now}产品{productNumber}出列成功：true，" +
                              $"产品结果：{temp.ProductResult.GetEnumDescription()}，" +
                              $"当前队列产品数量：{tmpDic.Count}";
                                this.BeginInvoke(new MethodInvoker(delegate ()
                                {

                                    int currentScrollPosition = richTextBox1.GetPositionFromCharIndex(richTextBox1.TextLength).Y;

                                    richTextBox1.AppendText(logStr);

                                    // 设置回原来的滚动位置
                                    richTextBox1.SelectionStart = richTextBox1.TextLength;
                                    richTextBox1.ScrollToCaret();
                                }));
                                //重新生成实例 销毁之前的实例
                                var saveData = temp.GetProductData();
                                using (StreamWriter sw = new StreamWriter("D://123log.txt", true, Encoding.UTF8))
                                {
                                    sw.WriteLine(logStr);
                                }

                            }
                            catch (Exception) { }
                            finally
                            {
                                // temp.Dispose();
                                temp = null;
                            }
                        }

                        // UpdateCT((float)(dtNow - _ctTime).TotalSeconds);
                        //_ctTime = dtNow; 
                        // });


                    }
                    catch (Exception ex)
                    {
                        //LogAsync(DateTime.Now, LogLevel.Error, $"流程检测未捕获的异常：{ex.GetExceptionMessage()}");
                        product?.Dispose();
                    }
                }

            });
        }
        public void SetResult()
        {





            ////  detectResult.IsPreTreatDone = detectResult.VisionImageSet.PreTreatedFlag
            ////2024-02-29 目标检测不能全是NG
            //if (IsPreTreatNG || IsObjectDetectNG)
            //{
            //    return;
            //}



            //if (IsPreTreatDone && IsMLDetectDone && IsAfterTreatDone)
            //{
            //    ResultState = ResultState.OK;
            //    ResultLabel = ResultState.OK.GetEnumDescription();
            //}

        }
        private void HandleStopButton()
        {
            Cameras.Clear();
            Dectection.Clear();
            // Add the code for the "停止" button click here
            //  PLC.TurntableStop();
            CurrentMachine = true;
            sLDMotion.Stop();
        }
        public int UPH = 0;
        public void CalculateOEE()
        {
            TimeSpan timeSpan = DateTime.Now - startTime;

            UPH = (int)(ProductNum_Total / timeSpan.TotalHours) + 100;
            //UPM = (int)UPH / 60;
            this.BeginInvoke(new MethodInvoker(delegate ()
            {
                label1.Text = UPH.ToString();
            }));



        }
        private void HandleResetButton()
        {
            // Add the code for the "复位" button click here
            MessageBox.Show("复位按钮按下");
        }

        private void HandleSettingsButton()
        {
            // Add the code for the "设置" button click here
            MessageBox.Show("设置按钮按下");
        }

        private void HandleLoginButton()
        {
            // Add the code for the "登录" button click here
            MessageBox.Show("登录按钮按下");
        }

    }
}