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

//namespace picoapi_cshape
namespace OTSMeasureApp.ServiceCenter
{
   

    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct PACKET_HEAD_STRUCT
    {
        public uint dwSize;
        public uint dwMsg;
    }

    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct CHK_CERTIFICATION_CODE
    {
        public PACKET_HEAD_STRUCT Header;
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 256)]
        public byte[] btCode;
    }

    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct GET_COLUMN_PARAMETERS_COMMAND
    {
        public PACKET_HEAD_STRUCT Header;
        public uint dwRequest;
        public uint dwInterval;
    }

    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct SET_COLUMN_PARAMETERS_STRUCT
    {
        public PACKET_HEAD_STRUCT Header;
        public uint dwSet;
        public uint dwGunHV;
        public uint dwMag;
        public uint dwSpot;
        public uint dwWD;
        public uint dwBrightness;
        public uint dwContast;
    }


    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct GET_COLUMN_PARAMETERS_STRUCT_HUIHONG
    {
        public PACKET_HEAD_STRUCT Header;
        public uint dwData;
        public uint dwState;
        public uint dwSignal;
        public uint dwGunHV;
        public uint dwScanSpeed;
        public uint dwMag;
        public uint dwSpot;
        public uint dwWD;
        public uint dwBrightness;
        public uint dwContast;
    }

    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct GET_STAGE_PARAMETERS_STRUCT
    {
        public PACKET_HEAD_STRUCT Header;
        public uint dwData;
        public float dwXPos;
        public float dwYPos;
        public float dwZPos;
        public float dwRPos;
        public float dwTPos;
        public float dwLimit;
        public float dwXMax;
        public float dwYMax;
        public float dwZMax;
        public float dwRMax;
        public float dwTMax;
    }

    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct SET_STAGE_PARAMETERS_STRUCT
    {
        public PACKET_HEAD_STRUCT Header;
        public uint dwSet;
        public uint dwXPos;
        public uint dwYPos;
        public uint dwZPos;
        public uint dwRPos;
        public uint dwTPos;
    }

    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct GET_STAGE_PARAMETERS_COMMAND
    {
        public PACKET_HEAD_STRUCT Header;
        public uint dwRequest;
        public uint dwInterval;
    }

    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct GET_STAGE_MOVE_COMPLETED_STRUCT
    {
        public PACKET_HEAD_STRUCT Header;
        public uint dwAxis;
        public uint dwMotion;
    }

    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct GET_SCANMODE_STRUCT
    {
        public PACKET_HEAD_STRUCT Header;
        public uint dwDataType;
    }

    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct SET_SCANMODE_STRUCT
    {
        public PACKET_HEAD_STRUCT Header;
        public uint dwDataType;
    }

    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct GET_SCANSPEED_STRUCT
    {
        public PACKET_HEAD_STRUCT Header;
        public uint dwDataType;
    }

    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct SET_SCANSPEED_STRUCT
    {
        public PACKET_HEAD_STRUCT Header;
        public uint dwDataType;
    }

    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct GET_IMAGE_STRUCT
    {
        public PACKET_HEAD_STRUCT Header;
        public int dwDataType;
        public uint LIVE;
        public uint SCANSPEED;
        public uint width;
        public uint height;
        public uint chanel;
    }

    [StructLayout(LayoutKind.Sequential, Pack = 1)]
    public struct SET_STAGE_AXIS_STOP_COMMAND
    {
        public PACKET_HEAD_STRUCT Header;
        public uint dwAxisStop;
    }

    public class ModelInfo
    {
        string currentPath = AppDomain.CurrentDomain.BaseDirectory;
        public const string DLL_FIlENAME = "D:\\proj\\opton\\SEM API\\SemApiTest\\bin\\Release\\SemApi.dll";
       
    }

    public class PicoSmartApi_cshape
    {
        #region exten c api
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern IntPtr create();

        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern void set_port(IntPtr m_api, int port);
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern int get_port(IntPtr m_api);
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern void set_ip(IntPtr m_api, string server_ip);
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern int start(IntPtr m_api);
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern int stop(IntPtr m_api);
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern void GET_COLUMN(IntPtr m_api, uint dwRequest, uint dwInterval);
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern int GET_COLUMN_MSGDATA(IntPtr m_api, ref GET_COLUMN_PARAMETERS_STRUCT_HUIHONG COLUMN_PARAMETERS, int iWaitMs);

        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern void SET_COLUMN(IntPtr m_api, uint dwSet, uint dwGunHV, uint dwMag, uint dwSpot, uint dwBrightness, uint dwContast);
        
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern void GET_STAGE(IntPtr m_api, uint dwRequest, uint dwInterval);
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern int GET_STAGE_MSGDATA(IntPtr m_api, ref GET_STAGE_PARAMETERS_STRUCT STAGE_PARAMETERS, int iWaitMs);//硬件最小发送间隔默认为1秒
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern int GET_STAGE_MOVE(IntPtr m_api, ref GET_STAGE_MOVE_COMPLETED_STRUCT STAGE_MOVE, int iWaitMs);//硬件最小发送间隔默认为1秒
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern void SET_STAGE(IntPtr m_api, uint dwSet, float dwXPos, float dwYPos, float dwZPos, float dwRPos, float dwTPos);

        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern void STOP_STAGE(IntPtr m_api);

        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern void GET_IMAGE(IntPtr m_api, uint dwDataType, int image_index, int chanel, int speed, int live);
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern int GET_IMAGE_MSGDATA(IntPtr m_api, IntPtr IMAGE, int iWaitMs);
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern void GET_SCANMODE(IntPtr m_api);
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
     
        private static extern int GET_SCANMODE_MSGDATA(IntPtr m_api, ref GET_SCANMODE_STRUCT SCANMODE, int iWaitMs);
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern void SET_SCANMODE(IntPtr m_api, uint dwDataType);
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]

        private static extern void GET_SCANSPEED(IntPtr m_api);
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern int GET_SCANSPEED_MSGDATA(IntPtr m_api, ref GET_SCANSPEED_STRUCT SCANSPEED, int iWaitMs);
        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]
        private static extern void SET_SCANSPEED(IntPtr m_api, uint dwDataType);

        [DllImport(ModelInfo.DLL_FIlENAME, CallingConvention = CallingConvention.Cdecl)]

        private static extern int isStart(IntPtr api);
        #endregion
        #region c# api
        private IntPtr m_api = IntPtr.Zero;

        int [] m_nGunHVTable =  { 30000, 25000, 20000, 15000, 10000, 5000, 3000, 2000, 1500, 1000 };
        int[] m_nMagStepValue = { 30, 35, 40, 45, 50, 60, 70, 80, 90, 100,
                                      110, 120, 130, 150, 180, 200, 220, 250, 300, 350,
                                      400, 450, 500, 600, 700, 800, 900, 1000, 1100, 1200,
                                      1300, 1500, 1800, 2000, 2200, 2500, 3000, 3500, 4000, 4500,
                                      5000, 6000, 7000, 8000, 9000, 10000, 11000, 12000, 13000, 15000,
                                      18000, 20000, 22000, 25000, 30000, 35000, 40000, 45000, 50000,
                                      60000, 70000, 80000, 90000, 100000, 110000, 120000, 130000, 150000, 180000,
                                      200000, 220000, 250000, 300000 };
        public PicoSmartApi_cshape()
        {
            if (File.Exists(ModelInfo.DLL_FIlENAME) == false)
                return;
            this.m_api = create();
        }
        public void set_port(int port)
        {
            set_port(m_api, port);
        }
        public int get_port()
        {
            return get_port(m_api);
        }
        public void set_ip(string ip)
        {
            set_ip(m_api, ip);
        }
        public int start()
        {

            return start(m_api);
        }
        public int stop()
        {
            return stop(m_api);
        }
        public void GET_COLUMN(uint dwRequest, uint dwInterval)
        {
            GET_COLUMN(m_api, dwRequest, dwInterval);
        }
        public GET_COLUMN_PARAMETERS_STRUCT_HUIHONG sem_COLUMN_PARAMETERS=new GET_COLUMN_PARAMETERS_STRUCT_HUIHONG();
        public GET_STAGE_PARAMETERS_STRUCT sem_stage_struct = new GET_STAGE_PARAMETERS_STRUCT();
        public GET_SCANMODE_STRUCT sem_scanmode= new GET_SCANMODE_STRUCT();
        public GET_SCANSPEED_STRUCT sem_scanspeed=new GET_SCANSPEED_STRUCT();
        public void GET_STAGE_PARAMETERS_STRUCT_copy(GET_STAGE_PARAMETERS_STRUCT stage,ref GET_STAGE_PARAMETERS_STRUCT sem_stage_struct)
        {
            sem_stage_struct.dwTMax = stage.dwTMax;
            sem_stage_struct.dwZMax = stage.dwZMax;
            sem_stage_struct.dwYMax = stage.dwYMax;
            sem_stage_struct.dwXMax = stage.dwXMax;
            sem_stage_struct.dwData=stage.dwData;
            sem_stage_struct.dwRMax = stage.dwRMax;
            sem_stage_struct.dwLimit=stage.dwLimit;
            sem_stage_struct.dwTPos = stage.dwTPos;
            sem_stage_struct.dwXPos = stage.dwXPos;
            sem_stage_struct.dwZPos = stage.dwZPos;
            sem_stage_struct.dwXPos= stage.dwXPos;
            sem_stage_struct.dwRPos = stage.dwRPos;
        }

        public void GET_COLUMN_PARAMETERS_STRUCT_HUIHONG_copy(GET_COLUMN_PARAMETERS_STRUCT_HUIHONG COLUMN_PARAMETERS,ref GET_COLUMN_PARAMETERS_STRUCT_HUIHONG sem_COLUMN_PARAMETERS)
        {
          
            sem_COLUMN_PARAMETERS.dwMag = COLUMN_PARAMETERS.dwMag;
            sem_COLUMN_PARAMETERS.dwBrightness = COLUMN_PARAMETERS.dwBrightness;
            sem_COLUMN_PARAMETERS.dwContast = COLUMN_PARAMETERS.dwContast;
            sem_COLUMN_PARAMETERS.dwData = COLUMN_PARAMETERS.dwData;
            sem_COLUMN_PARAMETERS.dwGunHV = COLUMN_PARAMETERS.dwGunHV;
            sem_COLUMN_PARAMETERS.dwScanSpeed = COLUMN_PARAMETERS.dwScanSpeed;
            sem_COLUMN_PARAMETERS.dwSignal = COLUMN_PARAMETERS.dwSignal;
            sem_COLUMN_PARAMETERS.dwSpot = COLUMN_PARAMETERS.dwSpot;
            sem_COLUMN_PARAMETERS.dwState = COLUMN_PARAMETERS.dwState;
            sem_COLUMN_PARAMETERS.dwWD= COLUMN_PARAMETERS.dwWD;
           
        }
        public int GET_COLUMN_MSGDATA(ref GET_COLUMN_PARAMETERS_STRUCT_HUIHONG COLUMN_PARAMETERS, int iWaitMs)
        {
            GET_COLUMN(0, 0);
            int result = GET_COLUMN_MSGDATA(m_api, ref COLUMN_PARAMETERS, iWaitMs);
            if(result == 1)
            {
                GET_COLUMN_PARAMETERS_STRUCT_HUIHONG_copy(COLUMN_PARAMETERS,ref this.sem_COLUMN_PARAMETERS);
            }
            return result;


        }
        public bool GetMagnification(ref double a_dMagnification)
        {
            GET_COLUMN_PARAMETERS_STRUCT_HUIHONG COLUMN_PARAMETERS=new GET_COLUMN_PARAMETERS_STRUCT_HUIHONG();
            if(GET_COLUMN_MSGDATA( ref COLUMN_PARAMETERS, 50)==1)
            {
                a_dMagnification = COLUMN_PARAMETERS.dwMag;
                return true;
            }
            return false;
        }
        public bool GetWorkingDistance(ref double a_distance)
        {
            GET_COLUMN_PARAMETERS_STRUCT_HUIHONG COLUMN_PARAMETERS = new GET_COLUMN_PARAMETERS_STRUCT_HUIHONG();
            if (GET_COLUMN_MSGDATA(ref COLUMN_PARAMETERS, 150) == 1)
            {
                a_distance = COLUMN_PARAMETERS.dwWD;
                return true;
            }
            return false;
        }
        public bool GetSemBrightness(ref double a_dSemBrightness)
        {
            GET_COLUMN_PARAMETERS_STRUCT_HUIHONG COLUMN_PARAMETERS = new GET_COLUMN_PARAMETERS_STRUCT_HUIHONG();
            if (GET_COLUMN_MSGDATA(ref COLUMN_PARAMETERS, 50) == 1)
            {
                a_dSemBrightness = COLUMN_PARAMETERS.dwBrightness;
                return true;
            }
            return false;
        }
        public bool GetSemContrast(ref double a_dContrast)
        {
            GET_COLUMN_PARAMETERS_STRUCT_HUIHONG COLUMN_PARAMETERS = new GET_COLUMN_PARAMETERS_STRUCT_HUIHONG();
            if (GET_COLUMN_MSGDATA(ref COLUMN_PARAMETERS, 50) == 1)
            {
                a_dContrast = COLUMN_PARAMETERS.dwContast;
                return true;
            }
            return false;
        }
        public bool GetSemHighTension(ref double a_dKV)
        {
            GET_COLUMN_PARAMETERS_STRUCT_HUIHONG COLUMN_PARAMETERS = new GET_COLUMN_PARAMETERS_STRUCT_HUIHONG();
            if (GET_COLUMN_MSGDATA(ref COLUMN_PARAMETERS, 50) == 1)
            {
                a_dKV = COLUMN_PARAMETERS.dwGunHV;
                return true;
            }
            return false;
        }
     
        public void SET_COLUMN(uint dwSet, uint dwGunHV, uint dwMag, uint dwSpot, uint dwBrightness, uint dwContast)
        {
            SET_COLUMN(m_api, dwSet, dwGunHV, dwMag, dwSpot, dwBrightness, dwContast);
        }
        public bool SetMagnification(double a_dMagnification)
        {
            SET_COLUMN(m_api, 0, sem_COLUMN_PARAMETERS.dwGunHV,(uint) a_dMagnification, sem_COLUMN_PARAMETERS. dwSpot, sem_COLUMN_PARAMETERS. dwBrightness, sem_COLUMN_PARAMETERS. dwContast);
            return true;
        }
        public bool SetSemBrightness(double a_dBrightness)
        {
            SET_COLUMN(m_api, 0, sem_COLUMN_PARAMETERS.dwGunHV, sem_COLUMN_PARAMETERS.dwMag, sem_COLUMN_PARAMETERS.dwSpot,(uint) a_dBrightness, sem_COLUMN_PARAMETERS.dwContast);
            return true;
        }
        public bool SetSemContrast(double a_dContrast)
        {
            SET_COLUMN(m_api, 0, sem_COLUMN_PARAMETERS.dwGunHV, sem_COLUMN_PARAMETERS.dwMag, sem_COLUMN_PARAMETERS.dwSpot, sem_COLUMN_PARAMETERS.dwBrightness, (uint)a_dContrast);
            return true;
        }
        public bool SetSemHighTension(double a_dKV)
        {
            SET_COLUMN(m_api, 0, (uint)a_dKV, sem_COLUMN_PARAMETERS.dwMag, sem_COLUMN_PARAMETERS.dwSpot, sem_COLUMN_PARAMETERS.dwBrightness, sem_COLUMN_PARAMETERS.dwContast);
            return true;
        }

        public void GET_STAGE(uint dwRequest, uint dwInterval)
        {
            GET_STAGE(m_api, dwRequest, dwInterval);
        }
   
        public int GET_STAGE_MSGDATA(ref GET_STAGE_PARAMETERS_STRUCT STAGE_PARAMETERS, int iWaitMs)//硬件最小发送间隔默认为1秒
        {
            GET_STAGE(m_api, 0, 0);
            int result= GET_STAGE_MSGDATA(m_api, ref STAGE_PARAMETERS, iWaitMs);
            if(result == 1)
            {
                GET_STAGE_PARAMETERS_STRUCT_copy(STAGE_PARAMETERS,ref sem_stage_struct);
            }
            return result;
        }
        public int GET_STAGE_MOVE( ref GET_STAGE_MOVE_COMPLETED_STRUCT STAGE_MOVE, int iWaitMs)//硬件最小发送间隔默认为1秒
        {
        return GET_STAGE_MOVE( m_api,ref STAGE_MOVE,  iWaitMs);//硬件最小发送间隔默认为1秒
    }
        public void SET_STAGE( uint dwSet, float dwXPos, float dwYPos, float dwZPos, float dwRPos, float dwTPos)
        {
             SET_STAGE(m_api, dwSet, dwXPos, dwYPos, dwZPos, dwRPos, dwTPos);
        }

        public bool MoveSEMToPoint(double a_dPositionX, double a_dPositionY)
        {
            SET_STAGE(m_api, 0,(float) a_dPositionX, (float)a_dPositionY, 1, 1, 1);
            return true;
        }
        public void STOP_STAGE()
        {
             STOP_STAGE( m_api);
        }
       
        public void GET_IMAGE( uint dwDataType, int image_index, int chanel=3, int speed=0, int live=1)
        {
             GET_IMAGE( m_api,  dwDataType,  image_index,  chanel,  speed,  live);
        }
        public int GET_IMAGE_MSGDATA(ref Mat IMAGE, int iWaitMs)
        {
          
            return GET_IMAGE_MSGDATA(m_api, IMAGE.CvPtr, iWaitMs);
        }
        public void GET_SCANMODE()
        {
             GET_SCANMODE( m_api);
        }

        public int GET_SCANMODE_MSGDATA(ref GET_SCANMODE_STRUCT SCANMODE, int iWaitMs)
        {
            return  GET_SCANMODE_MSGDATA( m_api, ref  SCANMODE,  iWaitMs);
        }
     
        public void SET_SCANMODE( uint dwDataType)
        {
             SET_SCANMODE( m_api,  dwDataType);
        }
        public void GET_SCANSPEED()
        {
             GET_SCANSPEED( m_api);
        }
        public int GET_SCANSPEED_MSGDATA( ref GET_SCANSPEED_STRUCT SCANSPEED, int iWaitMs)
        {
            return GET_SCANSPEED_MSGDATA( m_api, ref  SCANSPEED,  iWaitMs);
        }
        public void SET_SCANSPEED( uint dwDataType)
        {
             SET_SCANSPEED( m_api,  dwDataType);
        }
        public int isStart()
        {
            return isStart(m_api);
        }

        #endregion

        #region custom thread

        private Thread recThread;
        private volatile bool rec_running; // 用于控制线程运行的布尔变量  
  

        // 定义一个事件，用于通知主线程消费产品  
        public event Action<GET_COLUMN_PARAMETERS_STRUCT_HUIHONG> COLUMN_MSGProduced;
        public event Action<Mat>IMAGE_MSGProduced;
   

        // 启动生产者线程  
        public void StartProducing()
        {
            if (recThread == null || !recThread.IsAlive)
            {
                rec_running = true;
                recThread = new Thread(Produce);
                recThread.Start();
            }
        }

        // 停止生产者线程  
        public void StopProducing()
        {
            rec_running = false;
            if (recThread != null && recThread.IsAlive)
            {
                recThread.Join(); // 等待线程终止  
            }
        }
       private GET_COLUMN_PARAMETERS_STRUCT_HUIHONG COLUMN = new GET_COLUMN_PARAMETERS_STRUCT_HUIHONG();
        // 生产方法（线程入口点）  
        private void Produce()
        {
            GET_COLUMN(0, 1);
           Mat IMAGE= new Mat();
            while (rec_running)
            {

                if(GET_COLUMN_MSGDATA(ref COLUMN,10)==1)
                {
                    OnGET_COLUMN_MSG(COLUMN);
                }
                if(GET_IMAGE_MSGDATA(ref IMAGE,10)==1)
                {
                    onGET_IMAGE_MSG(IMAGE);
                }
                Thread.Sleep(1); 
            }
            IMAGE.Dispose();
        }

        // 触发产品生产事件  
        public virtual void OnGET_COLUMN_MSG(GET_COLUMN_PARAMETERS_STRUCT_HUIHONG product)
        {
            COLUMN_MSGProduced?.Invoke(product);
        }
        public void onGET_IMAGE_MSG(Mat image)
        {
            IMAGE_MSGProduced?.Invoke(image);
        }
        #endregion
    }
}