using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Aurora.Api;
using AuroraLaserScanner;
using Matrox.MatroxImagingLibrary;
using MilCommon;
using VisionCommon;
using WeldingCommon.Alarm;
using WeldingCommon.Data;
using WeldingCommon.Settings;
using WeldingCommon.Sequences;
using WeldingCommon.Utils;
using WeldingCommon;
using System.Threading;

namespace ILSOS_PrismaticScanner.Sequences
{
    class SeqEventQTest
    {
        static readonly Logger Log = new Logger("SeqAutoRunPrismaticScanner");

        #region 시퀸스 변수명
        const string SEQ_ENTER = "SEQ_ENTER";   // inputParam 으로 받자.
        const string SEQ_CHECK_INIT_CONDITION = "Check Init Condition";  // Check Init Condition

        const string SEQ_CHECK_SEQ_FINISH = "Check Seq Finish";
        const string SEQ_MOVE_SCANNER = "Move Scanner";
        const string SEQ_SEND_EVENT_SENDER = "Event Sender"; // Image Q 저장
        const string SEQ_EVENT_Q_SAVE_FILE = "EventQ Save File";
        const string SEQ_SAVE_IMAGES = "Save Images";

        const string SEQ_COMPLETE = "Complete";
        #endregion

        #region 변수 정의
        // 디바이스 정의
        private Scanner _Scanner;

        // 비전 정의
        private CameraAgentBase _CameraAgent;
        private ICameraDisplay _CameraDisplay;
        private PatternAgentBase _PatternAgent;
        private PatternInfo _PatternInfo;
        private PatternResult _PatternResult;
        private FieldScanParams _FieldScanParams;
        private object _GrabImage;
        private MIL_ID _GrabImageMilId;
        private MIL_ID _ResultImageMilId;
        private bool _SuccessVisionCompension = false;
        private int _SeqCount = 0;
        private int _RetryCount = 0;
        private double _OffsetXfromModelFinder = 0;
        private double _OffsetYfromModelFinder = 0;
        // 시스템 및 용접 파라미터 정의
        private SystemParameter _SystemParameter;
        private static SequenceSetting _SequenceSetting;
        public string EVENT_TRIGGER_SAVE_FILE = "EventTriggerSaveFile";
        #endregion

        public SequenceBuilder Builder()
        {
            var sb = new SequenceBuilder(1000, true);
            ////var sb = new SequenceBuilder(1000, false);        // With log

            sb.AddAction(SEQ_ENTER, Sequence_Enter);
            sb.AddDecision(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기

            ///// PLC_USE_PAGE_CHANGE_INTERFACE
            sb.AddDecision(SEQ_CHECK_SEQ_FINISH, CheckSeqFinish);
            sb.AddAction(SEQ_MOVE_SCANNER, MoveScanner);

            ///// Event Q
            sb.AddEventSender(SEQ_SEND_EVENT_SENDER, SendEvent);
            sb.AddEventQ(SEQ_EVENT_Q_SAVE_FILE, 2);
            sb.AddAction(SEQ_SAVE_IMAGES, SaveImagesEvent);
            sb.AddAction(SEQ_COMPLETE, Complete);

            // [Action] 초기 세팅
            sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION]
                    // [Decision] SEQ 끝낼지 고민된다면 !
                    > sb[SEQ_CHECK_SEQ_FINISH] > sb[SEQ_MOVE_SCANNER]
                    > sb[SEQ_SEND_EVENT_SENDER].Send(EVENT_TRIGGER_SAVE_FILE)
                    > sb[SEQ_CHECK_SEQ_FINISH]);

            // Scout Image Save Event Seq
            sb.Flows(sb[SEQ_EVENT_Q_SAVE_FILE].On(EVENT_TRIGGER_SAVE_FILE) > sb[SEQ_SAVE_IMAGES]>sb.FlowFinal);

            // Complete
            sb.Flows(sb[SEQ_CHECK_SEQ_FINISH] > sb[SEQ_COMPLETE]>sb.Final);

            ///// Fork2 & Join

            sb.OnForceError(OnForceError);
            sb.OnStopped(OnStopped);

            //sb.Draw("SeqEventQ.pdf");

            return sb;
        }

        private void OnStopped(SequenceContext context)
        {
            Log.I("SeqEventQ Stop");
        }

        private void OnForceError(SequenceContext context, string arg2)
        {
            Log.I("SeqEventQ Force Error");
        }

        private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.I("SeqEventQ Start");

            _SystemParameter = context.GetSetting<SystemParameter>(CommonSettingIds.SystemParameter);
            _SequenceSetting = context.GetSetting<SequenceSetting>(CommonSettingIds.Sequence);

            _Scanner = context.GetLaserScanner();

            if (!_Scanner.IsActivated)
            {
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_DeviceNotReady);
                Log.E("The devices are not active.");
                return null;
            }

            if (InitSequenceVariable(context) == false)
            {
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_InitVariableError);
                return null;
            }

            return SequenceAction.Ok();
        }

        private bool InitSequenceVariable(SequenceContext context)
        {
            // TODO: [장비구현필요] Initialize Variable 추가
            FovInfo _fovInfo = VisionRecipeManager.GetFovInfos().FirstOrDefault();
            _PatternAgent = FovPatternAgentManager.GetAgent(_fovInfo.ToSubSysInfo());
            List<PatternInfo> patterns = _PatternAgent.GetMainPatterns(_fovInfo);
            _PatternInfo = patterns[0];
            _CameraDisplay = CameraDisplayManager.GetDisplay(_fovInfo, eDisplayType.Pattern);
            _CameraAgent = CameraAgentManager.GetCameraAgent(_fovInfo);
            _FieldScanParams = FieldScanParams.GetInstance();
            _RetryCount = 3;
            _SeqCount = 0;

            var mainPage = CommonHelper.GetMainPage();

            return true;
        }

        private string CheckInitCondition(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
        {
            return SEQ_CHECK_SEQ_FINISH;
        }

        private string CheckSeqFinish(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
        {
            if (_SeqCount > 20) return SEQ_COMPLETE;
            else return SEQ_MOVE_SCANNER;
        }

        private SequenceActionResult MoveScanner(SequenceContext context, string id, SequenceActionResult param)
        {
            if (_SeqCount % 2 == 1) _Scanner.JumpAbs(1, 5);
            else _Scanner.JumpAbs(-10, 5);

            Thread.Sleep(20);

            //// 테스트를 위한 변경
            /// ClearAllGraphic으로 변경하였음. GC는 종종 생성해보임.
            _CameraDisplay.ClearMeasureGraphics();
            _CameraDisplay.ClearTrainGraphics();
            _CameraDisplay.ClearFindGraphics();
            object image = null;
            Log.D($"Image Grab Start");
            _CameraAgent.StopLive();
            _CameraAgent.GrabSync(_CameraDisplay, ref image);
            Log.D($"Image Grab Complete");


            Log.D($"Pattern Find Start");

            _PatternResult = _PatternAgent.Find(_PatternInfo, image, _CameraDisplay);
            _PatternAgent.Draw(_PatternInfo, _PatternResult, _CameraDisplay);

            if (_PatternResult.Status == eFoundStatus.FoundOK)
            {
                _PatternAgent.Draw(_PatternInfo, _PatternResult, _CameraDisplay);
                _SuccessVisionCompension = true;
                Log.D($"Pattern Find Success!!");
            }
            else
            {
                _SuccessVisionCompension = false;
            }

            Log.D($"Pattern Find Complete");

            // 성공하든 아니든 이미지를 남겨보자.
            MIL_ID temp1 = MilEnvironment.CloneImage((MIL_ID)image);
            MIL_ID temp2 = MilEnvironment.GetOverlayImage((IMilCameraDisplay)_CameraDisplay, temp1);

            // Event로 넘겨줄 Param은 따로 없음.
            SeqVisionData_Param seqParam = new SeqVisionData_Param
            {
                originalImageID = temp1,
                overlayImageID = temp2,
                IsSuccess = _SuccessVisionCompension
               ,
                VisionData_Foler = _SequenceSetting.VisionFolderName
            };
            return SequenceAction.Ok(seqParam);
        }

        private object SendEvent(SequenceContext context, string id, SequenceActionResult param)
        {
            var seqInfoParam = param.Param as SeqVisionData_Param;

            _SeqCount++;
            return seqInfoParam;
        }

        private SequenceActionResult SaveImagesEvent(SequenceContext context, string id, SequenceActionResult param)
        {
            SeqVisionData_Param seqParam = param.Param as SeqVisionData_Param;
            string SequenceSettingFilePath = seqParam.VisionData_Foler;
            string SuccessStatus = seqParam.IsSuccess ? "OK" : "NG";
            string CurrentTimeStamp = DateTime.Now.ToString("yyMMdd-HHmmss_fff");
            string rawFileName = $"{SequenceSettingFilePath}\\Raw\\{SuccessStatus}\\{CurrentTimeStamp}.png";
            string resultFileName = $"{SequenceSettingFilePath}\\Result\\{SuccessStatus}\\{CurrentTimeStamp}.png";

            if (seqParam.originalImageID != MIL.M_NULL)
            {
                ImageUtil.SaveFieldScanImageJPG(seqParam.originalImageID, rawFileName, 10);
                Log.D($"Update Q Raw Image Complete;{rawFileName}");
                MilEnvironment.FreeImage(seqParam.originalImageID);
                seqParam.originalImageID = MIL.M_NULL;
            }
            else
            {
                Log.E($"Update Q Raw Image Failed;{rawFileName};rawImage Is Null..");
            }
            if (seqParam.overlayImageID != MIL.M_NULL)
            {
                ImageUtil.SaveFieldScanImageJPG(seqParam.overlayImageID, resultFileName, 10);
                Log.D($"Update Q Overlay Image Complete;{resultFileName}");
                MilEnvironment.FreeImage(seqParam.overlayImageID);
                seqParam.overlayImageID = MIL.M_NULL;
            } else
            {
                Log.E($"Update Q Overlay Image Failed;{resultFileName};resultImage Is Null");
            }

            return SequenceAction.Ok();

        }

        private SequenceActionResult Complete(SequenceContext context, string id, SequenceActionResult param)
        {
            return SequenceAction.Ok();
        }

        public class SeqVisionData_Param
        {
            public MIL_ID originalImageID;
            public MIL_ID overlayImageID;
            public bool IsSuccess;
            public string VisionData_Foler;
        }
    }
}