using Aurora;
using Aurora.Api;
using Aurora.Api.DataType;
using Hermes;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.IO;
using System.Runtime.InteropServices;
using System.Threading;
using System.Threading.Tasks;
using VisionCommon;
using VisionCommonUI;
using VisionCommonUI.Resources;

#if USE_COGNEX
using Cognex.VisionPro;
using CogCamera;
using CogCommon;

// Cognex인 경우 여기에 구현
// ...
#else
using Matrox.MatroxImagingLibrary;
using MilCamera;
using MilCommon;

namespace WeldingCommon.Vision.Camera {
    /// <summary>
    /// 장비 카메라 디바이스 A (클래스 이름 변경 금지)
    /// 장비에 맞게 변경하여 사용한다.
    /// 아래 코드는 레이저 스캐너 용접기 전용 카메라로 사용된다.
    /// </summary>
    public class MachineCamera_A : CameraBase {
        private MIL_ID _Digitizer = MIL.M_NULL;
        private MIL_ID _OriginalImage = MIL.M_NULL;               // 원본 이미지 버퍼
        private MIL_ID _FilteredImage = MIL.M_NULL;               // Flip + Rotation 이미지 버퍼
        private MIL_ID _FilteredLiveImage = MIL.M_NULL;           // Flip + Rotation 라이브 이미지 버퍼
        private MIL_ID _CroppedImage = MIL.M_NULL;                // Flip + Rotation + Crop 이미지 버퍼
        private MIL_ID _CroppedLiveImage = MIL.M_NULL;            // Flip + Rotation + Crop 라이브 이미지 버퍼

        private IMilCameraDisplay _MilCameraDisplay;              // Fov별로 가지는 MilCameraDisplay를 호출시마다 받아서 사용
        private MilImgFlipAndRotationTool _MilImgFlipAndRotationTool;

        private readonly object _SwTrigLock = new object();

        #region For Hw Trigger
        private const int GRAB_HANDLER_WAITING_TIME = 250;    // GrabHandler에 들어올 때까지 기다리는 최대 시간 (ms) -> 버퍼 그랩의 경우 기다릴 필요X
        private MIL_ID[] MilProcImages = null;      // SW트리거 콜백용
        private GCHandle _UserDataHandle;
        private HookDataStruct _HookData = new HookDataStruct();
        private MIL_DIG_HOOK_FUNCTION_PTR _HookFuncPtr = null;
        #endregion

        #region For RCC Flying
        private GCHandle _FlyingUserDataHandle;
        private HookDataStruct _FlyingHookData = new HookDataStruct();
        private MIL_DIG_HOOK_FUNCTION_PTR _FlyingHookFuncPtr = null;
        #endregion

        public MachineCamera_A(string deviceId) : base(deviceId) {
            var subject = string.Format("MachineCamera_A[{0}]", deviceId);
            LOG = new Logger(subject);
            TactTimeChecker = new TactTimeChecker(subject);
        }

        protected override int DoActivate(IDeviceConfig config) {
            if (IsActivated) {
                LOG.FuncI("Already Activated!");
                return E1.OK;
            }

            CamConfig = config as CamConfig;
            eCamId camId = CamRecipe.GetCamIdFromDevId(DeviceId);
            _MilImgFlipAndRotationTool = new MilImgFlipAndRotationTool(camId, CamConfig);

            var res = Init();
            if (res == E1.OK) {
                CheckImageBufferRotationChanged();
            }

            return res;
        }

        private void CheckImageBufferRotationChanged() {
            if (OldRatioX != CamConfig.ImageSizeRatioX ||
                OldRatioY != CamConfig.ImageSizeRatioY ||
                OldRotationType != CamConfig.FlipAndRotation.ImageRotation) {

                OldRatioX = CamConfig.ImageSizeRatioX;
                OldRatioY = CamConfig.ImageSizeRatioY;
                OldRotationType = CamConfig.FlipAndRotation.ImageRotation;

                VisionEnv.AuroraEnv.EventPublisher.Publish(
                    new EventMessage(DeviceId, VisionEventId.UPDATE_GRAB_IMAGE_BUFFER));
            }
        }

        #region Init
        private int Init() {
            MilEnvironment.Instance.AllocSys(CamConfig.CamConnConfig.BoardType, CamConfig.CamConnConfig.BoardSlotPos);

            if (!MilEnvironment.Instance.HasValidLicense()) {
                MessageBoxUtil.ShowMessageBoxError(StrTokens.MSG_E_NoMilLicense);
                return E1.GENERIC;
            }
            if (E1.OK != InitDigitizer()) {
                MessageBoxUtil.ShowMessageBoxError(StrTokens.MSG_E_DigitizerInitError);
                return E1.GENERIC;
            }
            if (E1.OK != SetImageSize()) {
                MessageBoxUtil.ShowMessageBoxError(StrTokens.MSG_E_ImageSizeSettingError);
                return E1.GENERIC;
            }
            if (E1.OK != AllocImages()) {
                MessageBoxUtil.ShowMessageBoxError(StrTokens.MSG_E_ImageNotAllocated);
                return E1.GENERIC;
            }
            if (E1.OK != SetExposureTimeFromConfig()) {
                MessageBoxUtil.ShowMessageBoxError(StrTokens.MSG_E_ExposureTimeSettingError);
                return E1.GENERIC;
            }
            if (E1.OK != StartGrabMdigProcess()) {
                MessageBoxUtil.ShowMessageBoxError(StrTokens.MSG_E_TriggerSettingError);
                return E1.GENERIC;
            }

            return E1.OK;
        }

        private int InitDigitizer() {
            try {
                if (CamConfig.CamConnConfig.ConnFilePath != string.Empty) {
                    if (File.Exists(CamConfig.CamConnConfig.ConnFilePath)) {
                        LOG.FuncV($"Set a digitizer with a dcf file. [{CamConfig.CamConnConfig.ConnFilePath}]");
                        InitDigitizerWithDcf();
                    }
                    else {
                        LOG.FuncE("Dcf file is exists not.");
                        return E2.NOT_FOUND;
                    }
                }
                else {
                    LOG.FuncV("Set a digitizer without a dcf file.");
                    InitDigitizerWithoutDcf(); // DcfFilePath가 공백이면, Dcf파일 없이 Digitizer 할당.
                }

                if (_Digitizer != MIL.M_NULL) {
                    MIL.MdigControl(_Digitizer, MIL.M_GRAB_ABORT, MIL.M_DEFAULT);
                    MIL.MdigControl(_Digitizer, MIL.M_GRAB_MODE, MIL.M_ASYNCHRONOUS);
                    MIL.MdigControl(_Digitizer, MIL.M_AUTO_EXPOSURE, MIL.M_DISABLE);

                    return E1.OK;
                }
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
            }

            return E1.GENERIC;
        }

        private void InitDigitizerWithDcf() {
            try {
                MIL.MdigAlloc(
                    MilEnvironment.Instance.GetSystem(CamConfig.CamConnConfig.BoardType, CamConfig.CamConnConfig.BoardSlotPos),
                    (int)CamConfig.CamConnConfig.BoardPortPos,
                    CamConfig.CamConnConfig.ConnFilePath,
                    MIL.M_DEFAULT,
                    ref _Digitizer);
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
            }
        }

        private void InitDigitizerWithoutDcf() {
            try {
                if (CamConfig.CamConnConfig.BoardType == eBoardType.MIL_GIGE) {
                    MIL.MdigAlloc(
                        MilEnvironment.Instance.GetSystem(CamConfig.CamConnConfig.BoardType, CamConfig.CamConnConfig.BoardSlotPos),
                        MIL.M_GC_CAMERA_ID(CamConfig.CamConnConfig.IpAddress),
                        "M_DEFAULT",
                        MIL.M_GC_DEVICE_IP_ADDRESS,
                        ref _Digitizer);
                }
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
            }
        }

        private int SetImageSize() {
            MIL_INT width = 0;
            MIL_INT height = 0;
            MIL_INT band = 0;
            MIL_INT bitDepth = 0;

            try {
                MIL.MdigInquire(_Digitizer, MIL.M_SIZE_X, ref width);
                MIL.MdigInquire(_Digitizer, MIL.M_SIZE_Y, ref height);
                MIL.MdigInquire(_Digitizer, MIL.M_SIZE_BAND, ref band);
                MIL.MdigInquire(_Digitizer, MIL.M_SIZE_BIT, ref bitDepth);

                CamConfig.ImageSize.Width = (int)width;
                CamConfig.ImageSize.Height = (int)height;
                CamConfig.ImageSize.Channel = (int)band;
                CamConfig.ImageSize.BitDepth = (int)bitDepth;
            }
            catch (Exception e) {
                LOG.E(e.Message);
                return E1.GENERIC;
            }

            return E1.OK;
        }

        protected int AllocImages() {
            try {
                var results = new List<int>();
                results.Add(AllocOriginalImage(ref _OriginalImage));
                results.Add(AllocFilteredImage(ref _FilteredImage));
                results.Add(AllocFilteredImage(ref _FilteredLiveImage));
                results.Add(AllocCroppedImage(ref _CroppedImage));
                results.Add(AllocCroppedImage(ref _CroppedLiveImage));
                results.AddRange(AllocProcImages());

                foreach (int result in results) {
                    if (result != E1.OK) {
                        return E1.GENERIC;
                    }
                }
            }
            catch (Exception e) {
                LOG.E(e.Message);
                return E1.GENERIC;
            }

            return E1.OK;
        }

        private int AllocOriginalImage(ref MIL_ID image) {
            return MilEnvironment.Instance.AllocOriginalImage(CamConfig, ref image);
        }

        private int AllocFilteredImage(ref MIL_ID image) {
            return MilEnvironment.Instance.AllocFilteredImage(CamConfig, ref image);
        }

        private int AllocCroppedImage(ref MIL_ID image) {
            return MilEnvironment.Instance.AllocCroppedImage(CamConfig, ref image);
        }

        private int SetExposureTimeFromConfig() {
            try {
                SetInitialExposure();
                SetExposure(CamConfig.ExposureTime_Ms);
            }
            catch (Exception e) {
                LOG.E(e.Message);
                return E1.GENERIC;
            }

            return E1.OK;
        }
        #endregion

        /// <summary>
        /// 이미지 버퍼 복제
        /// </summary>
        /// <returns>복제 버퍼</returns>
        public override object CloneImageBuffer() {
            return MilEnvironment.CloneImage(_CroppedImage);
        }

        private int StartGrabMdigProcess() {
            try {
                lock (LockThis) {
                    // Grab과 Live는 SW Trigger만 사용한다.
                    SetSwTrigger();

                    _HookData.HookDigitizer = _Digitizer;
                    _HookData.HookImage = _OriginalImage;
                    _HookData.HookCnt = 0;

                    if (!_UserDataHandle.IsAllocated) {
                        _UserDataHandle = GCHandle.Alloc(_HookData);
                    }

                    if (_HookFuncPtr == null) {
                        _HookFuncPtr = new MIL_DIG_HOOK_FUNCTION_PTR(HookHandler);
                    }

                    MIL.MdigProcess(_Digitizer, MilProcImages, (MIL_INT)MilProcImages.Length, MIL.M_START, MIL.M_DEFAULT, _HookFuncPtr, GCHandle.ToIntPtr(_UserDataHandle));
                }
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
                return E1.GENERIC;
            }

            return E1.OK;
        }

        private int SetSwTrigger() {
            try {
                lock (LockThis) {
                    if (CamConfig.CamConnConfig.BoardType == eBoardType.MIL_CXP_RAPIXO) {
                        //FlyingVision
                        MIL.MdigControl(_Digitizer, MIL.M_TIMER1 + MIL.M_TIMER_STATE, MIL.M_DISABLE);
                        MIL.MdigControl(_Digitizer, MIL.M_TIMER1 + MIL.M_TIMER_TRIGGER_SOURCE, MIL.M_SOFTWARE);
                        MIL.MdigControl(_Digitizer, MIL.M_TIMER1 + MIL.M_TIMER_STATE, MIL.M_ENABLE);
                    }
                    else if (CamConfig.CamConnConfig.BoardType == eBoardType.MIL_GIGE) {
                        // GigE
                        MIL.MdigControl(_Digitizer, MIL.M_GRAB_TRIGGER_STATE, MIL.M_ENABLE);
                        MIL.MdigControl(_Digitizer, MIL.M_GRAB_TRIGGER_SOURCE, MIL.M_SOFTWARE);

                    }
                    else {
                        LOG.E("Check Cam BoardType.");
                    }
                }
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
                return E1.GENERIC;
            }

            return E1.OK;
        }

        private int SetHwTrigger() {
            try {
                lock (LockThis) {
                    // TODO : HW Trigger 설정 확인 필요
                    //MIL.MdigControlFeature(_Digitizer, MIL.M_FEATURE_VALUE_AS_STRING, "TriggerSource", MIL.M_DEFAULT, "Line0");
                    //MIL.MdigControlFeature(_Digitizer, MIL.M_FEATURE_VALUE_AS_STRING, "AcquisitionMode", MIL.M_DEFAULT, "Continuous");
                    //MIL.MdigControlFeature(_Digitizer, MIL.M_FEATURE_VALUE_AS_STRING, "TriggerMode", MIL.M_DEFAULT, "On");
                    MIL.MdigControl(_Digitizer, MIL.M_TIMER1 + MIL.M_TIMER_STATE, MIL.M_DISABLE);

                    MIL.MdigControl(_Digitizer, MIL.M_GRAB_ABORT, MIL.M_DEFAULT);

                    MIL.MdigControl(_Digitizer, MIL.M_TIMER1 + MIL.M_TIMER_STATE, MIL.M_EDGE_RISING);
                    MIL.MdigControl(_Digitizer, MIL.M_TIMER1 + MIL.M_TIMER_TRIGGER_SOURCE, MIL.M_AUX_IO2);
                    MIL.MdigControl(_Digitizer, MIL.M_TIMER1 + MIL.M_TIMER_STATE, MIL.M_ENABLE);

                    //MIL.MdigControl(_Digitizer, MIL.M_TIMER_TRIGGER_SOURCE, MIL.M_AUX_IO2);

                    //MIL.MdigControl(_Digitizer, MIL.M_GRAB_TRIGGER_STATE, MIL.M_ENABLE);
                    //MIL.MdigControl(_Digitizer, MIL.M_TIMER_TRIGGER_SOURCE, MIL.M_AUX_IO2);
                }
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
                return E1.GENERIC;
            }

            return E1.OK;
        }

        private int AllocProcImage(ref MIL_ID[] milProcImages) {
            try {
                if (milProcImages == null) {
                    milProcImages = new MIL_ID[CamConfig.HwTrigConfig.ProcBufSize];
                }

                return AllocGrayProcImage(ref milProcImages);
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
            }
            return E1.GENERIC;
        }

        private int AllocGrayProcImage(ref MIL_ID[] milProcImages) {
            for (int i = 0; i < CamConfig.HwTrigConfig.ProcBufSize; i++) {
                MIL.MbufAlloc2d(
                        MilEnvironment.Instance.GetSystem(CamConfig.CamConnConfig.BoardType, CamConfig.CamConnConfig.BoardSlotPos),
                        CamConfig.ImageSize.Width,
                        CamConfig.ImageSize.Height,
                        8 + MIL.M_UNSIGNED,
                        MIL.M_IMAGE + MIL.M_GRAB + MIL.M_PROC + MIL.M_DISP,
                        ref milProcImages[i]);
                MIL.MbufClear(milProcImages[i], 0);
            }

            return E1.OK;
        }

        private void FreeProcImage(ref MIL_ID[] milProcImages) {
            try {
                if (milProcImages == null) {
                    return;
                }

                for (int i = 0; i < milProcImages.Length; i++) {
                    MilEnvironment.FreeImage(milProcImages[i]);
                    milProcImages[i] = MIL.M_NULL;
                }
                milProcImages = null;
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
                return;
            }
        }

        protected override int DoDeactivate() {
            if (!IsActivated) {
                LOG.I("Already Deactivated!");
                return E1.OK;
            }

            return Dispose();
        }

        #region Dispose
        private int Dispose() {
            try {
                StopBufLive();

                StopGrabMdigProcess();

                #region For RCC Flying
                StopFlyingMdigProcess();
                SetFlyingStart(false);
                #endregion

                FreeImages();

                if (_Digitizer != MIL.M_NULL) {
                    MIL.MdigFree(_Digitizer);
                    _Digitizer = MIL.M_NULL;
                }

                // MIL Sys와 App은 할당 후, 런타임 중에 해지하지 않고 쓰기로 함.
                //MilEnvironment.Instance.Dispose();

                return E1.OK;
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
            }

            return E1.GENERIC;
        }

        private void StopBufLive() {
            if (!IsActivated)
                return;

            try {
                lock (LockThis) {
                    LiveOff();
                    MIL.MdigHalt(_Digitizer);
                }
            }
            catch (Exception e) {
                LOG.E(e.Message);
            }
        }

        private void StopGrabMdigProcess() {
            try {
                lock (LockThis) {
                    if (MilProcImages?.Length > 0) {
                        MIL.MdigControl(_Digitizer, MIL.M_PROCESS_TIMEOUT, 5);
                        //MIL.MdigProcess(_Digitizer, MilProcImages, (MIL_INT)MilProcImages.Length, MIL.M_STOP + MIL.M_WAIT, MIL.M_DEFAULT, _HookFuncPtr, GCHandle.ToIntPtr(_UserDataHandle));
                        MIL.MdigProcess(_Digitizer, MilProcImages, (MIL_INT)MilProcImages.Length, MIL.M_STOP, MIL.M_DEFAULT, _HookFuncPtr, GCHandle.ToIntPtr(_UserDataHandle));
                    }
                }
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
            }
        }

        private void FreeImages() {
            try {
                MilEnvironment.FreeImage(_OriginalImage);
                MilEnvironment.FreeImage(_FilteredImage);
                MilEnvironment.FreeImage(_FilteredLiveImage);
                MilEnvironment.FreeImage(_CroppedImage);
                MilEnvironment.FreeImage(_CroppedLiveImage);

                FreeProcImage(ref MilProcImages);
                MilEnvironment.FreeImage(_ParentImage);

                int bufSize = CamConfig.ChildImage.Enabled ? CamConfig.ChildImage.ChildBufRowCols.Count : CamConfig.HwTrigConfig.ProcBufSize;
                MilEnvironment.FreeProcImages(bufSize, _ProcImages);
            }
            catch (Exception e) {
                LOG.E(e.Message);
            }
        }
        #endregion

        public override bool IsConnected() {
            MIL_INT isConnected = 0;
            MIL.MdigInquire(_Digitizer, MIL.M_CAMERA_PRESENT, ref isConnected);

            return (isConnected == MIL.M_YES);
        }

        public override int GetGain() => throw new NotImplementedException();
        public override int SetGain(int gain) => throw new NotImplementedException();

        public override double GetMinExposure() {
            if (!IsActivated) {
                return E2.NOT_READY;
            }

            double exposureTime = 0;
            MIL.MdigInquire(_Digitizer, MIL.M_EXPOSURE_TIME + MIL.M_MIN_VALUE, ref exposureTime);
            return (int)(exposureTime / 1_000);
        }

        public override double GetMaxExposure() {
            if (!IsActivated) {
                return E2.NOT_READY;
            }

            //CXP 카메라 사용 시 ExposurteTime 못받아와서 하드코딩해둠
            //double exposureTime = 5000 * 1000;
            double exposureTime = 0;
            MIL.MdigInquire(_Digitizer, MIL.M_EXPOSURE_TIME + MIL.M_MAX_VALUE, ref exposureTime);
            return (int)(exposureTime / 1_000);
        }

        #region For Custumizing
        private double _InitialExposureTime_Ms = 0;    // 최초 노출시간 (ms)

        /// <summary>
        /// 카메라로부터 최초 노출시간 가져오기
        /// 현재 노출시간은 아니고, 프로그램 시작시 DCF파일로부터 읽은 값임.
        /// </summary>
        /// <returns>최초 노출시간(ms)</returns>
        public double GetInitialExposure() {
            if (!IsActivated) {
                return E2.NOT_READY;
            }

            return _InitialExposureTime_Ms;
        }

        /// <summary>
        /// 카메라로부터 최초 노출시간 가져오기 (현재 노출시간은 아님)
        /// </summary>
        /// <returns>성공 유무</returns>
        private int SetInitialExposure() {
            if (!IsActivated) {
                return E2.NOT_READY;
            }

            _InitialExposureTime_Ms = GetExposure();
            return E1.OK;
        }
        #endregion

        /// <summary>
        /// 카메라로부터 현재 노출시간 가져오기
        /// </summary>
        /// <returns>노출시간(ms)</returns>
        public override double GetExposure() {
            if (!IsActivated) {
                return E2.NOT_READY;
            }

            double exposureTime = 0;
            MIL.MdigInquire(_Digitizer, MIL.M_EXPOSURE_TIME, ref exposureTime);
            return (int)(exposureTime / 1_000);
        }

        /// <summary>
        /// 카메라 노출시간 쓰기. GigE 카메라가 아닌 경우 HW에서 설정해주어야 함. (MIL에서 지원X)
        /// </summary>
        /// <param name="exposureTime_ms">노출시간[ms]</param>
        /// <returns>성공 유무</returns>
        public override int SetExposure(double exposureTime_ms) {
            if (!IsConnected()) {
                return E2.NOT_READY;
            }
            // [원래 코드]
            //MIL.MdigControl(_Digitizer, MIL.M_EXPOSURE_TIME, (double)(exposureTime * 1_000));

            var exposureTime_us = MathUtil.ConvertUnitMilliToMicro(exposureTime_ms);
            if (CamConfig.CamConnConfig.BoardType == eBoardType.MIL_GIGE) {
                MIL.MdigControlFeature(_Digitizer, MIL.M_FEATURE_VALUE_AS_STRING, "ExposureTimeAbs", MIL.M_DEFAULT, exposureTime_us.ToString());
            } else {
                MIL.MdigControlFeature(_Digitizer, MIL.M_FEATURE_VALUE_AS_STRING, "ExposureTime", MIL.M_DEFAULT, exposureTime_us.ToString());
            }
            //MIL.MdigControl(_Digitizer, MIL.M_EXPOSURE_TIME, exposureTime_us);    // GigE에만 해당, 특정 HW에서는 동작하지 않았음.
            LOG.I($"Exposure Time Set : {exposureTime_ms} ms");

            return E1.OK;
        }

        /// <summary>
        /// 이미지 반전 & 회전 Config 갱신
        /// </summary>
        /// <param name="flipAndRotation">이미지 반전 & 회전 Config</param>
        /// <returns>성공 유무</returns>
        public override int ResetFlipAndRotation(FlipAndRotation flipAndRotation) {
            _MilImgFlipAndRotationTool?.ResetFlipAndRotation(flipAndRotation);
            return E1.OK;
        }

        /// <summary>
        /// 디스플레이 가져오기
        /// </summary>
        /// <returns>디스플레이</returns>
        public override ICameraDisplay GetDisplay() {
            return _MilCameraDisplay;
        }

        /// <summary>
        /// 디스플레이 지정하기
        /// </summary>
        /// <param name="cameraDisplay">디스플레이</param>
        public override void SetDisplay(ICameraDisplay cameraDisplay) {
            _MilCameraDisplay = cameraDisplay as IMilCameraDisplay;
        }

        /// <summary>
        /// 이미지 사이즈 가져오기
        /// </summary>
        /// <returns>이미지 사이즈</returns>
        public override ImageSize GetImageSize() {
            return MilEnvironment.Instance.GetImageSize(CamConfig);
        }

        #region Grab
        /// <summary>
        /// 버퍼로부터 이미지를 꺼내온다.
        /// </summary>
        /// <param name="cameraDisplay">디스플레이</param>
        /// <param name="image">이미지</param>
        /// <returns>성공 유무</returns>
        public override int GetGrabImageFromBuffer(ICameraDisplay cameraDisplay, ref object image) {
            SetDisplay(cameraDisplay as IMilCameraDisplay);
            MilEnvironment.ClearImage(image);
            MilEnvironment.ClearImage(_OriginalImage);

            return GetGrabImage(ref image, isExtTrig: true);
        }

        public override int GrabSync(ICameraDisplay cameraDisplay, ref object image) {
            SetDisplay(cameraDisplay as IMilCameraDisplay);
            MilEnvironment.ClearImage(image);
            MilEnvironment.ClearImage(_OriginalImage);

            return GrabSync_SwTrig(ref image);
        }

        private int GrabSync_SwTrig(ref object image) {
            try {
                lock (_SwTrigLock) {
                    SetHookCompleted(false);
                    SwTriggerOn();

                    return GetGrabImage(ref image, isExtTrig: false);
                }
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
            }

            return E1.GENERIC;
        }

        private int GetGrabImage(ref object image, bool isExtTrig) {
            var stopWatch = Stopwatch.StartNew();
            while (stopWatch.ElapsedMilliseconds < CamConfig.GrabTimeout_Ms) {
                bool hookCompleted = isExtTrig ? IsHookCompletedByExtTrig() : IsHookCompleted();
                if (hookCompleted) {
                    // TODO : Live 실행 시 연속 Log 발생으로 주석 처리
                    //LOG.W($"Grab Completed : {stopWatch.ElapsedMilliseconds} ms");

                    FlipAndRotateImage();
                    CropImage();
                    SetDisplayImage();

                    image = IsLiveOn() ? _CroppedLiveImage : _CroppedImage;

                    return E1.OK;
                }
                Thread.Sleep(10);
            }

            LOG.E($"HookHandler Time Out!! [{CamConfig.GrabTimeout_Ms} ms] ");
            return E1.GENERIC;
        }
        #endregion

        #region Live
        public override void StartLive(ICameraDisplay cameraDisplay) {
            if (_CroppedLiveImage == MIL.M_NULL) {
                MessageBoxUtil.ShowMessageBoxError(string.Format(StrTokens.MSG_E_SomethingNotAllocated, "_CroppedLiveImage"));
                return;
            }

            lock (_LiveLock) {
                // 이미 라이브가 실행중이면, 디스플레이만 변경한다.
                SetDisplay(cameraDisplay);

                if (!IsLiveOn()) {
                    LiveOn();
                    Task.Run(() => { StartLive_SwTrig(); });
                }
            }
        }

        public override void StopLive() {
            LiveOff();
        }

        private void StartLive_SwTrig() {
            try {
                object tmpImage = null;     // 라이브때 리턴 이미지는 필요X

                while (IsLiveOn()) {
                    GrabSync(_MilCameraDisplay, ref tmpImage);
                    Thread.Sleep(CamConfig.LiveDelay_Ms);
                }
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
            }
        }
        #endregion

        public override object GetImageFromDisplay(ICameraDisplay cameraDisplay) {
            // 버퍼 그랩 이후, 디스플레이로부터 이미지를 꺼내오는 부분
            // 이미지를 꺼내오기 전에 cameraDisplay와 동일한 _MilCameraDisplay가 사전에 Set되어 있어야 함.
            var milCameraDisplay = cameraDisplay as IMilCameraDisplay;
            if (milCameraDisplay.IsSetImage()) {
                return milCameraDisplay.GetImage();
            }

            LOG.FuncE("Image of milCameraDisplay is null.");
            return MIL.M_NULL;
        }

        private MIL_INT HookHandler(MIL_INT HookType, MIL_ID HookId, IntPtr HookDataPtr) {
            try {
                PrintHookLog(HookId);

                //MIL_ID MilBufferId = MIL.M_NULL;
                MIL.MdigGetHookInfo(HookId, MIL.M_MODIFIED_BUFFER + MIL.M_BUFFER_ID, ref _OriginalImage);
                //MIL.MbufCopy(MilBufferId, _OriginalImage);    // 중복 Copy 제거

                SetHookCompleted(true);
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
                return E1.GENERIC;
            }

            return E1.OK;
        }

        // 플라잉 이미지 밀림 방지를 위해 Handler를 따로 씀.
        private MIL_INT FlyingHookHandler(MIL_INT HookType, MIL_ID HookId, IntPtr HookDataPtr) {
            try {
                //MIL_ID MilBufferId = MIL.M_NULL;
                //MIL.MdigGetHookInfo(HookId, MIL.M_MODIFIED_BUFFER + MIL.M_BUFFER_ID, ref MilBufferId);
                MIL_ID MilBufferIndex = MIL.M_NULL;
                MIL.MdigGetHookInfo(HookId, MIL.M_MODIFIED_BUFFER + MIL.M_BUFFER_INDEX, ref MilBufferIndex);
                LOG.D($"MilBufferIndex : {MilBufferIndex}");
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
                return E1.GENERIC;
            }

            return E1.OK;
        }

        private void PrintHookLog(MIL_ID hookId) {
            if (!IsLiveOn()) {
                MIL_ID hookBufferIndex = MIL.M_NULL;
                MIL.MdigGetHookInfo(hookId, MIL.M_MODIFIED_BUFFER + MIL.M_BUFFER_INDEX, ref hookBufferIndex);
                LOG.D($"Hook Buffer Index : {hookBufferIndex}");
            }
        }

        private void PrintFrameLog() {
            try {
                //MIL_INT frameCnt = 0;
                //MIL.MdigInquire(_Digitizer, MIL.M_PROCESS_FRAME_COUNT, ref frameCnt);

                double frameRate = 0;
                MIL.MdigInquire(_Digitizer, MIL.M_PROCESS_FRAME_RATE, ref frameRate);
                LOG.FuncI(string.Format("Frame Rate : {0:0.0} [f/s]", frameRate));
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
            }
        }

        #region For Child Image
        /// <summary>
        /// Child 이미지들로 Parent(원장) 이미지가 정상적으로 만들어지는지 검증
        /// </summary>
        /// <param name="cameraDisplay">디스플레이</param>
        /// <param name="image">원장(부모) 이미지</param>
        /// <returns>성공 유무</returns>
        public override int VerifyChildImage(ICameraDisplay cameraDisplay, ref object image) {
            try {
                SetDisplay(cameraDisplay);

                foreach (ChildBufRowCol childBufRowCol in CamConfig.ChildImage.ChildBufRowCols) {
                    if (!childBufRowCol.Enabled) {
                        continue;
                    }

                    SetExposure((childBufRowCol.PosIdx + 1) * 5);
                    Thread.Sleep(50);
                    object childImage = null;
                    GrabSync(_MilCameraDisplay, ref childImage);

                    if (_ProcImages.Length > childBufRowCol.PosIdx) {
                        MilEnvironment.CopyImage((MIL_ID)childImage, (MIL_ID)_ProcImages[childBufRowCol.PosIdx]);
                    }
                    else {
                        LOG.FuncE("[ERROR] _ProcImages.Length <= childBufRowCol.PosIdx");
                    }
                }
                image = GetParentImage();

                return E1.OK;
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
            }
            return E1.GENERIC;
        }
        #endregion

        private void SetDisplayImage() {
            if (_MilCameraDisplay == null) {
                return;
            }

            if (IsLiveOn()) {
                if (_CroppedLiveImage != null) {
                    _MilCameraDisplay.SetImage(_CroppedLiveImage);
                }
            }
            else {
                if (_CroppedImage != null) {
                    _MilCameraDisplay.SetImage(_CroppedImage);
                }
            }
        }

        private void FlipAndRotateImage() {
            if (_OriginalImage == null) {
                LOG.FuncE("_OriginalImage is null.");
                return;
            }

            if (IsLiveOn()) {
                _MilImgFlipAndRotationTool.FlipAndRotation(_OriginalImage, ref _FilteredLiveImage);
            }
            else {
                _MilImgFlipAndRotationTool.FlipAndRotation(_OriginalImage, ref _FilteredImage);
            }
        }

        private void CropImage() {
            var cropRoi = GetCropRoi();
            if (IsLiveOn()) {
                if (_FilteredLiveImage != null) {
                    _CroppedLiveImage = MilEnvironment.CropImage(_FilteredLiveImage, cropRoi);
                }
            }
            else {
                if (_FilteredImage != null) {
                    _CroppedImage = MilEnvironment.CropImage(_FilteredImage, cropRoi);
                }
            }
        }

        #region For RCC Flying
        private List<int> AllocProcImages() {
            var results = new List<int>();

            AllocProcImage(ref MilProcImages);  // SW트리거 콜백용

            if (!CamConfig.IsAlwaysSwTrigger()) {
                if (_ProcImages?.Length > 0) {
                    MilEnvironment.FreeProcImages(_ProcImages.Length, _ProcImages);
                }

                if (CamConfig.ChildImage.Enabled) {
                    results.Add(MilEnvironment.Instance.AllocParentImage(CamConfig, ref _ParentImage));
                    results.Add(MilEnvironment.Instance.AllocChildImages(CamConfig, _ParentImage, ref _ProcImages));
                }
            }

            return results;
        }

        private void AllocFlyingImage(ref MIL_ID flyingImage, int row, int col) {
            try {
                if (!IsFlyingEnabled()) {
                    return;
                }

                if (flyingImage != MIL.M_NULL) {
                    MilEnvironment.FreeImage(flyingImage);
                }

                int flyingImageWidth = CamConfig.ImageSize.Width * col;
                int flyingImageHeight = CamConfig.ImageSize.Height * row;

                MIL.MbufAlloc2d(
                    MilEnvironment.Instance.GetSystem(CamConfig.CamConnConfig.BoardType, CamConfig.CamConnConfig.BoardSlotPos),
                    flyingImageWidth,
                    flyingImageHeight,
                    8 + MIL.M_UNSIGNED,
                    MIL.M_IMAGE + MIL.M_GRAB + MIL.M_PROC + MIL.M_DISP,
                    ref flyingImage);

                if (flyingImage == MIL.M_NULL) {
                    LOG.FuncE($"_FlyingImage is null");
                    return;
                }

                MIL.MbufClear(flyingImage, 0);
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
                return;
            }
        }

        private void FreeFlyingImage(ref MIL_ID flyingImage) {
            try {
                if (!IsFlyingEnabled()) {
                    return;
                }

                MilEnvironment.FreeImage(flyingImage);
                flyingImage = MIL.M_NULL;
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
                return;
            }
        }

        private int AllocFlyingChildImages(
            MIL_ID flyingImage, ref MIL_ID[] flyingChildImages) {
            try {
                if (!IsFlyingEnabled()) {
                    return E1.GENERIC;
                }

                if (IsFlyingStart()) {
                    return E1.GENERIC;
                }

                if (flyingImage == MIL.M_NULL) {
                    LOG.FuncE($"flyingImage is null");
                    return E1.GENERIC;
                }

                if (flyingChildImages == null) {
                    flyingChildImages = new MIL_ID[CamConfig.ChildImage.ChildBufRowCols.Count];
                    for (int i = 0; i < flyingChildImages.Length; i++) {
                        flyingChildImages[i] = MIL.M_NULL;
                    }
                }

                int width = CamConfig.ImageSize.Width;
                int height = CamConfig.ImageSize.Height;

                for (int i = 0; i < CamConfig.ChildImage.ChildBufRowCols.Count; i++) {
                    int col = CamConfig.ChildImage.ChildBufRowCols[i].ColIdx;
                    int row = CamConfig.ChildImage.ChildBufRowCols[i].RowIdx;
                    int offsetX = col * width;
                    int offsetY = row * height;

                    //LOG.D($"({row}, {col}) : {offsetX}, {offsetY}");

                    if (flyingChildImages[i] != MIL.M_NULL) {
                        MilEnvironment.FreeImage(flyingChildImages[i]);
                    }
                    MIL.MbufChild2d(flyingImage, offsetX, offsetY, width, height, ref flyingChildImages[i]);
                }
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
                return E1.GENERIC;
            }

            return E1.OK;
        }

        private void FreeFlyingChildImages(ref MIL_ID[] flyingChildImages) {
            try {
                if (!IsFlyingEnabled()) {
                    return;
                }

                if (flyingChildImages == null) {
                    return;
                }

                for (int i = 0; i < flyingChildImages.Length; i++) {
                    MilEnvironment.FreeImage(flyingChildImages[i]);
                    flyingChildImages[i] = MIL.M_NULL;
                }
                flyingChildImages = null;
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
                return;
            }
        }

        /// <summary>
        /// 플라잉 종료
        /// </summary>
        /// <param name="param">추가 파라미터</param>
        /// <returns>성공 유무</returns>
        public override int StopFlying(object param = null) {
            if (!IsActivated || !IsFlyingEnabled()) {
                return E1.GENERIC;
            }

            try {
                lock (LockThis) {
                    if (!IsFlyingStart()) {
                        return E1.OK;
                    }

                    StopFlyingMdigProcess();
                    StartGrabMdigProcess();
                    SetFlyingStart(false);

                    var sw = Stopwatch.StartNew();
                    LOG.I($"T/T Flip Start");
                    for (int i = 0; i < _ProcImages.Length; i++) {
                        var childImg = (MIL_ID)_ProcImages[i];
                        _MilImgFlipAndRotationTool.FlipAndRotation(childImg, ref childImg);     // 회전 불필요
                        //var cropRoi = GetCropRoi();       // Crop 불필요
                        //childImg = MilEnvironment.CropImage(childImg, cropRoi);
                    }
                    sw.Stop();
                    LOG.I($"T/T Flip : {sw.ElapsedMilliseconds} ms");
                }
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
                return E1.GENERIC;
            }
            return E1.OK;
        }

        private int StopFlyingMdigProcess() {
            try {
                lock (LockThis) {
                    if (!IsFlyingEnabled()) {
                        return E1.GENERIC;
                    }

                    MIL.MdigControl(_Digitizer, MIL.M_PROCESS_TIMEOUT, 5);

                    // [원래 코드]
                    //MIL.MdigProcess(_Digitizer, _FlyingChildImages, (MIL_INT)_FlyingChildImages.Length, MIL.M_STOP + MIL.M_WAIT, MIL.M_SYNCHRONOUS, _FlyingHookFuncPtr, GCHandle.ToIntPtr(_FlyingUserDataHandle));

                    if (_ProcImages?.Length > 0) {
                        //MIL.MdigProcess(_Digitizer, Array.ConvertAll(_ProcImages, item => (MIL_ID)item), (MIL_INT)_ProcImages.Length, MIL.M_STOP + MIL.M_WAIT, MIL.M_SYNCHRONOUS, _FlyingHookFuncPtr, GCHandle.ToIntPtr(_FlyingUserDataHandle));
                        MIL.MdigProcess(_Digitizer, Array.ConvertAll(_ProcImages, item => (MIL_ID)item), (MIL_INT)_ProcImages.Length, MIL.M_STOP, MIL.M_SYNCHRONOUS, _FlyingHookFuncPtr, GCHandle.ToIntPtr(_FlyingUserDataHandle));
                    }
                }
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
                return E1.GENERIC;
            }
            return E1.OK;
        }

        /// <summary>
        /// 플라잉 시작
        /// </summary>
        /// <param name="fovInfo">FOV 정보</param>
        /// <param name="param">추가 파라미터</param>
        /// <returns>성공 유무</returns>
        public override int StartFlying(FovInfo fovInfo, object param = null) {
            if (!IsActivated || !IsFlyingEnabled()) {
                return E1.GENERIC;
            }

            try {
                lock (LockThis) {
                    var sw = Stopwatch.StartNew();
                    MilEnvironment.ClearImage(_ParentImage);
                    sw.Stop();
                    LOG.I($"ClearImage {sw.ElapsedMilliseconds} msec");

                    sw.Restart();
                    StopLive();
                    sw.Stop();
                    LOG.I($"StopLive Process {sw.ElapsedMilliseconds} msec");
                    sw.Restart();
                    StopGrabMdigProcess();
                    sw.Stop();
                    LOG.I($"StopGrabMdigProcess Process {sw.ElapsedMilliseconds} msec");
                    sw.Restart();
                    StopFlyingMdigProcess();
                    sw.Stop();
                    LOG.I($"StopFlyingMdigProcess Process {sw.ElapsedMilliseconds} msec");

                    if (CamConfig.IsAlwaysSwTrigger()) {
                        SetSwTrigger();
                    }
                    else {
                        SetHwTrigger();
                    }

                    sw.Restart();
                    StartFlyingMdigProcess();
                    sw.Stop();
                    LOG.I($"StartFlyingMdigProcess {sw.ElapsedMilliseconds} msec");

                    SetFlyingStart(true);
                }
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
                return E1.GENERIC;
            }

            return E1.OK;
        }

        private int StartFlyingMdigProcess() {
            try {
                lock (LockThis) {
                    _FlyingHookData.HookDigitizer = _Digitizer;
                    _FlyingHookData.HookImage = _OriginalImage;
                    _FlyingHookData.HookCnt = 0;

                    if (!_FlyingUserDataHandle.IsAllocated) {
                        _FlyingUserDataHandle = GCHandle.Alloc(_FlyingHookData);
                    }

                    if (_FlyingHookFuncPtr == null) {
                        _FlyingHookFuncPtr = new MIL_DIG_HOOK_FUNCTION_PTR(FlyingHookHandler);
                    }

                    if (_ProcImages != null) {
                        MIL.MdigProcess(
                            _Digitizer, Array.ConvertAll(_ProcImages, item => (MIL_ID)item), (MIL_INT)_ProcImages.Length, MIL.M_START, MIL.M_DEFAULT, _FlyingHookFuncPtr, GCHandle.ToIntPtr(_FlyingUserDataHandle));
                    }

                    // 원래 코드
                    //MIL.MdigProcess(_Digitizer, _FlyingChildImages, (MIL_INT)_FlyingChildImages.Length, MIL.M_START, MIL.M_DEFAULT, _FlyingHookFuncPtr, GCHandle.ToIntPtr(_FlyingUserDataHandle));
                }
            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
                return E1.GENERIC;
            }

            return E1.OK;
        }

        private bool IsFlyingEnabled() {
            return CamConfig.TriggerMode.IsFlying;
        }

        private bool IsFlyingStart() {
            lock (LockThis) {
                return IsActivated && IsFlyingEnabled() && _IsFlyingRunning;
            }
        }

        private void SetFlyingStart(bool isFlyingStart) {
            lock (LockThis) {
                if (IsFlyingEnabled()) {
                    _IsFlyingRunning = isFlyingStart;
                }
            }
        }

        /// <summary>
        /// 호환되는 회색조 이미지 버퍼 가져오기
        /// </summary>
        /// <param name="imageSize">이미지 사이즈</param>
        /// <param name="systemId">MIL 시스템 Id</param>
        /// <returns>이미지 버퍼 MIL ID</returns>
        public static MIL_ID GetCompatibleGrayImageBuffer(ImageSize imageSize, MIL_ID systemId) {
            if (!MilEnvironment.Instance.HasValidLicense()) {
                return MIL.M_NULL;
            }

            MIL_ID BufIdPtr = MIL.M_NULL;
            MIL.MbufAlloc2d(systemId, imageSize.Width, imageSize.Height, 8, 60L, ref BufIdPtr);
            MIL.MbufClear(BufIdPtr, 0.0);

            return BufIdPtr;
        }

        private void SwTriggerOn() {
            if (!IsActivated) {
                return;
            }

            try {
                if (CamConfig.CamConnConfig.BoardType == eBoardType.MIL_CXP_RAPIXO) {
                    //FlyingVision
                    MIL.MdigControl(_Digitizer, MIL.M_TIMER1 + MIL.M_TIMER_TRIGGER_SOFTWARE, 1);
                }
                else if (CamConfig.CamConnConfig.BoardType == eBoardType.MIL_GIGE) {
                    // GigE
                    MIL.MdigControl(_Digitizer, MIL.M_GRAB_TRIGGER_SOFTWARE, MIL.M_ACTIVATE);
                }
                else {
                    LOG.FuncE("Check Cam BoardType");
                }

            }
            catch (Exception e) {
                LOG.FuncE(e.Message);
            }
        }
        #endregion

        private class HookDataStruct {
            public MIL_ID HookDigitizer;
            public MIL_ID HookImage;
            public int HookCnt;
        }
    }
}
#endif