using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
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 OpenCvSharp;
using OpenCvSharp.Extensions;
using PaintDotNet.Adjust;
using PaintDotNet.Adjust.BaseImage;
using PaintDotNet.Base.SettingModel;
using TUCAMAPI;
using TUCamera;

namespace PaintDotNet.ImageCollect
{
    internal class CameraRealTimeStitchingDialog : FloatingToolForm
    {
        #region
        /// <summary>
        /// Required designer variable.
        /// </summary>
        private System.ComponentModel.IContainer components = null;

        /// <summary>
        /// Clean up any resources being used.
        /// </summary>
        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
        protected override void Dispose(bool disposing)
        {
            if (disposing && (components != null))
            {
                components.Dispose();
            }
            base.Dispose(disposing);
        }

        #region Windows Form Designer generated code

        private void InitializeLanguageText()
        {
            this.groupBox1.Text = PdnResources.GetString("Menu.operation.text");
            this.btnCreatImgFile.Text = PdnResources.GetString("Menu.Createpicture.text");
            this.btnWorking.Text = PdnResources.GetString("Menu.Started.text");
            this.groupBox3.Text = PdnResources.GetString("Menu.Preview.text");
            this.groupBox4.Text = PdnResources.GetString("Menu.Puzzleeffect.text");
            this.Text = PdnResources.GetString("Menu.imagecapture.Reatimldexpansion.Reaestitching.text");

        }

        /// <summary>
        /// Required method for Designer support - do not modify
        /// the contents of this method with the code editor.
        /// </summary>
        private void InitializeComponent()
        {
            this.groupBox1 = new System.Windows.Forms.GroupBox();
            this.btnCreatImgFile = new System.Windows.Forms.Button();
            this.btnWorking = new System.Windows.Forms.Button();
            this.groupBox3 = new System.Windows.Forms.GroupBox();
            this.picPreview = new System.Windows.Forms.PictureBox();
            this.groupBox4 = new System.Windows.Forms.GroupBox();
            this.picMatch = new System.Windows.Forms.PictureBox();
            this.groupBox1.SuspendLayout();
            this.groupBox3.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.picPreview)).BeginInit();
            this.groupBox4.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.picMatch)).BeginInit();
            this.SuspendLayout();
            // 
            // groupBox1
            // 
            this.groupBox1.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left)
            | System.Windows.Forms.AnchorStyles.Right)));
            this.groupBox1.Controls.Add(this.btnCreatImgFile);
            this.groupBox1.Controls.Add(this.btnWorking);
            this.groupBox1.Location = new System.Drawing.Point(12, 12);
            this.groupBox1.Name = "groupBox1";
            this.groupBox1.Size = new System.Drawing.Size(1217, 87);
            this.groupBox1.TabIndex = 1;
            this.groupBox1.TabStop = false;
            this.groupBox1.Text = "操作";
            // 
            // btnCreatImgFile
            // 
            this.btnCreatImgFile.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
            this.btnCreatImgFile.Location = new System.Drawing.Point(1106, 28);
            this.btnCreatImgFile.Name = "btnCreatImgFile";
            this.btnCreatImgFile.Size = new System.Drawing.Size(92, 34);
            this.btnCreatImgFile.TabIndex = 1;
            this.btnCreatImgFile.Text = "创建图片";
            this.btnCreatImgFile.UseVisualStyleBackColor = true;
            this.btnCreatImgFile.Click += new System.EventHandler(this.btnCreatImgFile_Click);
            // 
            // btnWorking
            // 
            this.btnWorking.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
            this.btnWorking.Location = new System.Drawing.Point(993, 28);
            this.btnWorking.Name = "btnWorking";
            this.btnWorking.Size = new System.Drawing.Size(89, 34);
            this.btnWorking.TabIndex = 0;
            this.btnWorking.Text = "开始";
            this.btnWorking.UseVisualStyleBackColor = true;
            this.btnWorking.Click += new System.EventHandler(this.btnWorking_Click);
            // 
            // groupBox3
            // 
            this.groupBox3.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
            | System.Windows.Forms.AnchorStyles.Left)));
            this.groupBox3.Controls.Add(this.picPreview);
            this.groupBox3.Location = new System.Drawing.Point(12, 105);
            this.groupBox3.Name = "groupBox3";
            this.groupBox3.Size = new System.Drawing.Size(466, 517);
            this.groupBox3.TabIndex = 3;
            this.groupBox3.TabStop = false;
            this.groupBox3.Text = "预览";
            // 
            // picPreview
            // 
            this.picPreview.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
            | System.Windows.Forms.AnchorStyles.Left)
            | System.Windows.Forms.AnchorStyles.Right)));
            this.picPreview.Location = new System.Drawing.Point(20, 74);
            this.picPreview.Name = "picPreview";
            this.picPreview.Size = new System.Drawing.Size(429, 364);
            this.picPreview.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
            this.picPreview.TabIndex = 0;
            this.picPreview.TabStop = false;
            // 
            // groupBox4
            // 
            this.groupBox4.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
            | System.Windows.Forms.AnchorStyles.Left)
            | System.Windows.Forms.AnchorStyles.Right)));
            this.groupBox4.Controls.Add(this.picMatch);
            this.groupBox4.Location = new System.Drawing.Point(484, 105);
            this.groupBox4.Name = "groupBox4";
            this.groupBox4.Size = new System.Drawing.Size(745, 517);
            this.groupBox4.TabIndex = 4;
            this.groupBox4.TabStop = false;
            this.groupBox4.Text = "拼图效果";
            // 
            // picMatch
            // 
            this.picMatch.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
            | System.Windows.Forms.AnchorStyles.Left)
            | System.Windows.Forms.AnchorStyles.Right)));
            this.picMatch.Location = new System.Drawing.Point(17, 74);
            this.picMatch.Name = "picMatch";
            this.picMatch.Size = new System.Drawing.Size(709, 416);
            this.picMatch.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
            this.picMatch.TabIndex = 1;
            this.picMatch.TabStop = false;
            // 
            // CameraRealTimeStitchingDialog
            // 
            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
            this.ClientSize = new System.Drawing.Size(1241, 634);
            this.Controls.Add(this.groupBox4);
            this.Controls.Add(this.groupBox3);
            this.Controls.Add(this.groupBox1);
            this.Name = "CameraRealTimeStitchingDialog";
            this.Text = "图像实时拼接";
            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.CameraRealTimeStitchingDialog_FormClosing);
            this.Load += new System.EventHandler(this.CameraRealTimeStitchingDialog_Load);
            this.Controls.SetChildIndex(this.groupBox1, 0);
            this.Controls.SetChildIndex(this.groupBox3, 0);
            this.Controls.SetChildIndex(this.groupBox4, 0);
            this.groupBox1.ResumeLayout(false);
            this.groupBox3.ResumeLayout(false);
            ((System.ComponentModel.ISupportInitialize)(this.picPreview)).EndInit();
            this.groupBox4.ResumeLayout(false);
            ((System.ComponentModel.ISupportInitialize)(this.picMatch)).EndInit();
            this.ResumeLayout(false);

        }

        #endregion

        private System.Windows.Forms.GroupBox groupBox1;
        private System.Windows.Forms.Button btnCreatImgFile;
        private System.Windows.Forms.Button btnWorking;
        private System.Windows.Forms.GroupBox groupBox3;
        private System.Windows.Forms.PictureBox picPreview;
        private System.Windows.Forms.GroupBox groupBox4;
        private System.Windows.Forms.PictureBox picMatch;
        #endregion
        private AppWorkspace m_appWorkspace;

        private TUCamera.TUCamera m_camera;
        private CameraParamModel m_cameraParamModel;
        private Mat m_mat;

        private Thread m_stitchingThread;
        private bool is_depth;
        private Mat[] Coll_Ori = new Mat[2];

        private Mat m_merge;

        private string m_filePath = Application.StartupPath + "\\Picture\\";


        private bool m_isWorking;

        public CameraRealTimeStitchingDialog(AppWorkspace appWorkspace)
        {
            m_appWorkspace = appWorkspace;
            InitializeComponent();
            InitializeLanguageText();
        }

        private void CameraRealTimeStitchingDialog_Load(object sender, EventArgs e)
        {

            m_camera = TUCameraManager.GetInstance().GetCurrentCamera();
            m_cameraParamModel = Startup.instance.cameraParamModel;

            CameraConfigs cameraConfig = CameraConfigs.GetInstance();
            cameraConfig.CameraParamInit();

            m_camera.m_bufHandler += CallbackDraw;
            m_camera.StartWaitForFrame();
        }

        private byte[] m_pbuf;

        /// <summary>
        /// 绘制
        /// </summary>
        /// <param name="pBuf"></param>
        /// <param name="obj"></param>
        public void CallbackDraw(Bitmap bitmap)
        {
            m_mat = BitmapConverter.ToMat(bitmap);
            picPreview.Image = (Image)bitmap.Clone();
        }


        private void btnWorking_Click(object sender, EventArgs e)
        {
            if (m_isWorking)
            {
                m_isWorking = false;
                btnWorking.Text = PdnResources.GetString("Menu.Started.text");
                return;
            }
            m_isWorking = true;
            btnWorking.Text = PdnResources.GetString("Menu.stop.text");
            m_merge = null;
            m_stitchingThread = new Thread(new ThreadStart(WaitForStitchingThreadEntry));
            m_stitchingThread.Start();
        }

        /// <summary>
        /// 图像拼接
        /// </summary>
        private void WaitForStitchingThreadEntry()
        {
            while (m_isWorking)
            {
                if (m_mat == null)
                {
                    Thread.Sleep(100);
                    continue;
                }
                Mat mat = m_mat;//.Clone();

                if (m_merge == null)
                {
                    AdjustIntent.InitMatchPicOneByOne();
                }
                Rect rect;
                var result = AdjustIntent.MatchPicRealtime(mat, m_merge, out bool error, out rect);
                if (!error)
                {
                    m_merge = result;
                }
                else
                {
                    Console.WriteLine("拼图失败");
                }

                var tmp = m_merge.Clone();
                Cv2.Rectangle(tmp, rect, Scalar.Lime, 5, LineTypes.Link4, 4);

                picMatch.Image = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(tmp);
                picMatch.Invalidate();
                GC.Collect();

            }
        }

        private void btnCreatImgFile_Click(object sender, EventArgs e)
        {
            if (m_merge == null)
            {
                MessageBox.Show(PdnResources.GetString("Menu.mageMosaicimagehanotbeengeneratedyet.Text"));
                return;
            }

            Bitmap bitmap = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(m_merge);

            DocumentWorkspace dw = m_appWorkspace.AddNewDocumentWorkspace();
            Document document = Document.FromImage(bitmap);
            dw.Document = document;
            dw.xmlSaveModel = Startup.instance.ruleDB;
            dw.InitRulerInfo();
            dw.fileText = "1";
            m_appWorkspace.ActiveDocumentWorkspace = dw;
        }

        private void CameraRealTimeStitchingDialog_FormClosing(object sender, FormClosingEventArgs e)
        {
            if (m_stitchingThread != null)
            {
                m_isWorking = false;
                m_stitchingThread.Join();
                m_stitchingThread.Abort();
                m_stitchingThread.DisableComObjectEagerCleanup();
            }
            m_camera.m_bufHandler -= CallbackDraw;
            m_camera.StopWaitForFrame();
            if (m_mat != null && !m_mat.IsDisposed)
            {
                m_mat.Dispose();
            }
            if (m_merge != null && !m_merge.IsDisposed)
            {
                m_merge.Dispose();
            }
            GC.Collect();
        }
    }
}