#pragma once
#include <missionBase.hpp>
#include <detCallbackChain.hpp>
#include <share.h>
#include <QObject>
#include <opencvPaintAlgo.hpp>
#pragma region 基础函数
#define CATCH_EXCEPTIONS \
    catch (HDevEngineCpp::HDevEngineException& ex) { \
        std::cout << "HDevEngineException: " << ex.Message() << std::endl; \
        qDebug() << "HDevEngineException: " << ex.Message(); \
    } \
    catch (HalconCpp::HException& ex) { \
        std::cout << "Halcon Exception Caught!" << std::endl; \
        std::cout << "Error Code: " << ex.ErrorCode() << std::endl; \
        std::cout << "Error Message: " << ex.ErrorMessage() << std::endl; \
        qDebug() << "Halcon Exception Caught!"; \
        qDebug() << "Error Code: " << ex.ErrorCode(); \
        qDebug() << "Error Message: " << ex.ErrorMessage(); \
    } \
    catch (const std::exception& e) { \
        std::cout << "Caught exception: " << e.what() << std::endl; \
        qDebug() << "Caught exception: " << e.what(); \
    }
struct yh_581_address {
    int triggerAddr = -1;
    int snAddr = -1;
    QByteArray completeAddr = "-1";
    QByteArray resultAddr = "-1";
    int valueOffsetAddr = -1;
};
static yh_581_address generateYh581Address(int startAddr, int offset) {//INPUT:开始地址/电芯地址偏移(0~3)
    return yh_581_address{
        startAddr + offset * 2,
        startAddr + 10 + offset * 22 ,
        QByteArray::number(startAddr + 98 + offset * 2),
        QByteArray::number(startAddr + 106 + offset * 2),
        startAddr + 114 + offset * 20
    };

}
static std::map<int, yh_581_address> generateYh581AddressMap(int startAddr, int cnt) {//INPUT:开始地址/0~3) 数量
    std::map<int, yh_581_address> result;
    for (auto i = 0; i < cnt; i++) {
        result[i] = generateYh581Address(startAddr, i);
    }
    return result;
}

class detParams {
public:

};
#pragma endregion

//算法回调函数需要包含完整的算法流程以及发送信号,发送ui图表，捕获异常，处理异常等操作
//并且注意 异常可能会导致运行不到发送信号的函数，请在处理异常时发送异常结果
static bool generalAlgoTest(std::shared_ptr <detData> data, detParams* _detParams, yh_581_address address) {
    try {
        qDebug() << "SN" << QString::fromStdString(data->SNcode) << "algo start";
        std::vector < std::string> defects = {"测试"};
        ///////////////////取图//处理//////////////////
        if (data->oriImgs.size() < 1)
        {
            qCritical() << "图片数量不满足要求：" << data->oriImgs.size();
            return false;
        }
        if (data->oriImgs[0].rows == 100) {
            cv::Mat Paint;
            data->oriImgs[0].copyTo(Paint);
            cv::putText(Paint, "time out", cv::Point(0, 50), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 2);
            return false;
        }

        cv::Mat Paint;
        QMutex paintMutex;
        clock_t start, finish;
        start = clock();       
        cv::Mat src1 = data->oriImgs[0];
        if (src1.channels() != 3)
            cv::cvtColor(src1, Paint, cv::COLOR_GRAY2BGR);
        else
            src1.copyTo(Paint);
        
        TextRendererZH textPainter(Paint.cols, Paint.rows, 15);
        textPainter.putText(Paint, "划伤", cv::Point(10,10), cv::Scalar(0, 255, 0));
        cv::putText(Paint, "pos:" + data->additional["触发地址"].toString().toStdString(), cv::Point(0, 50), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255, 0, 0), 2);
        data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//发送结果
        data->service->_missionResultHandle->handleAllResult(data->SNcode, !defects.size() > 0, defects);//发送图标操作
        data->resultImgs.push_back(Paint);
        return true;
    }
    CATCH_EXCEPTIONS
    data->service->_triggerManager->writeShort("D" + address.resultAddr + "_2");//发送异常结果
    return false;
}
template <typename paramTemplte>

//此类适用于单相机多触发地址需要联合判断的情况的情况 比如顶盖焊，包膜，入壳机台
//例触发地址有4个，输入信号为 1 0 0 1 则触发1和4的地址拍照检测，2和3拍照取图并废弃
class _581_Union_triggerTemplate {
public:
    paramTemplte _detParams;
    detCallbackChain<paramTemplte, yh_581_address>* generalDet;
    std::string cameraName;
    QString viewerName;
    std::map<int, yh_581_address>address;
    /// <summary>
    /// 初始化
    /// </summary>
    /// <param name="cameraNameIn">相机名</param>
    /// <param name="viewerNameIN">窗口名</param>
    /// <param name="startAddr">开始地址</param>
    /// <param name="triggerCount">触发信号数</param>
    /// <param name="oneTriggerCaptrueTimes">单次触发调用几次相机模块</param>
    /// <param name="detParamsIn">参数输入</param>
    /// <param name="_serviceManagerIn">默认</param>
    /// <param name="bridgeIn">默认</param>
    /// <param name="_processAlgoCallback">算法函数</param>
    /// <param name="resultHandlerIn"></param>
    void init(std::string cameraNameIn, QString viewerNameIN, int startAddr, int triggerCount,int oneTriggerCaptrueTimes,
        paramTemplte& detParamsIn, ServiceManager* _serviceManagerIn, qtFuncBridge* bridgeIn,
        typename detCallbackChain<paramTemplte, yh_581_address>::processAlgoCallback _processAlgoCallback,
        QString saveObjectNameIN = "") {
        viewerName = viewerNameIN;
        cameraName = cameraNameIn;
        _serviceManager = _serviceManagerIn;
        _detParams = detParamsIn;
        bridge = bridgeIn;

        saveObjectName = saveObjectNameIN;
        generalDet = new detCallbackChain<paramTemplte, yh_581_address>(_serviceManager, &_detParams, bridge);
        generalDet->registerProcessAlgoCallback(_processAlgoCallback);
        address = generateYh581AddressMap(startAddr, triggerCount);
		//联合触发器条件
        std::vector<std::pair<int, int>> conditions;
        for (int i = 0; i < triggerCount; i++) {
			conditions.push_back(std::make_pair(address[i].triggerAddr, 1));
			//注册清除完成信号触发器 任意触发地址归零时触发一次
            _serviceManager->_triggerManager->registerCallback(address[i].triggerAddr, 0, [this, i](int triggerPos, int triggerValue, QByteArray& byteArray)
                {_serviceManager->_triggerManager->writeShort("D" + address[0].completeAddr + "_0"); }, "D" + address[0].completeAddr.toStdString() + "清零");
        }
		//注册联合触发器 任意触发地址置1时触发
        _serviceManager->_triggerManager->registerUnionCallback(conditions, triggerManager::conditionMode::or ,[this](std::vector<std::pair<int, int>> vals, QByteArray& byteArray){
				int cnt = 0;
                for (auto& val : vals) {
                    if (val.second == 1)
                        evaluate(cnt, byteArray);
                    else
                        captrueAndDiscard();
                    cnt++;
                }
            }, "");
    }
    //获取图片并进行检测
    void evaluate(int batteryOffset, QByteArray& byteArray) {
        _serviceManager->_triggerManager->writeShort("D" + address[0].completeAddr + "_1");//完成信号 固定只发在第0位
        std::string sn = _serviceManager->_triggerManager->readSnFromQByteArray(byteArray, address[batteryOffset].snAddr, false, false, -1);
        auto camera = _serviceManager->_cameraManager->getCamera(cameraName);
        camera->clearCache();
        std::shared_ptr <detData> data = _serviceManager->_detDataManager->createDetData(
            QString::fromStdString(cameraName), sn, 1, camera->config.oriSaveFormat);//创建数据包
        camera->captureImage(data);//拍照
        data->saveObjectName = saveObjectName;
        generalDet->ansyncProcess(data, address[batteryOffset]);//处理算法
        data->resultImgShowSet.push_back(showImgPack(viewerName, "结果图"));
    }
    //获取图片然后废弃
    void captrueAndDiscard() {
        auto camera = _serviceManager->_cameraManager->getCamera(cameraName);
        std::shared_ptr <detData> data = _serviceManager->_detDataManager->createDetData();//创建数据包
        camera->captureImage(data);//拍照
        _serviceManager->_detDataManager->deleteDetData(data->uuid);
    }
private:
    QString saveObjectName = "";
    qtFuncBridge* bridge;
    ServiceManager* _serviceManager = nullptr;
};

template <typename paramTemplte2>
//此类适用于单相机多触发地址单次判断的情况，比如密封钉，三协机台
//例触发地址有4个，输入信号为 1 0 0 1 则按顺序触发1和4的地址拍照检测，2和3不做处理
class _581_Single_triggerTemplate {
public:
    paramTemplte2 _detParams;
    detCallbackChain<paramTemplte2, yh_581_address>* generalDet;
    std::string cameraName;
    QString viewerName;
    std::map<int, yh_581_address>address;
    /// <summary>
    /// 初始化
    /// </summary>
    /// <param name="cameraNameIn">相机名</param>
    /// <param name="viewerNameIN">窗口名</param>
    /// <param name="startAddr">开始地址</param>
    /// <param name="triggerCount">触发信号数</param>
    /// <param name="oneTriggerCaptrueTimes">单次触发调用几次相机模块</param>
    /// <param name="detParamsIn">参数输入</param>
    /// <param name="_serviceManagerIn">默认</param>
    /// <param name="bridgeIn">默认</param>
    /// <param name="_processAlgoCallback">算法函数</param>
    /// <param name="resultHandlerIn"></param>
    void init(std::string cameraNameIn, QString viewerNameIN, int startAddr, int triggerCount, int oneTriggerCaptrueTimes,
        paramTemplte2& detParamsIn, ServiceManager* _serviceManagerIn, qtFuncBridge* bridgeIn,
        typename detCallbackChain<paramTemplte2, yh_581_address>::processAlgoCallback _processAlgoCallback,
        QString saveObjectNameIN = "") {
        viewerName = viewerNameIN;
        cameraName = cameraNameIn;
        _serviceManager = _serviceManagerIn;
        _detParams = detParamsIn;
        bridge = bridgeIn;

        saveObjectName = saveObjectNameIN;
        generalDet = new detCallbackChain<paramTemplte2, yh_581_address>(_serviceManager, &_detParams, bridge);
        generalDet->registerProcessAlgoCallback(_processAlgoCallback);
        address = generateYh581AddressMap(startAddr, triggerCount);
        //单次触发器条件
        for (int i = 0; i < triggerCount; i++) {
            //注册单触发器 触发地址置1时触发
            _serviceManager->_triggerManager->registerCallback(address[i].triggerAddr, 1, [this, i](int triggerPos, int triggerValue, QByteArray& byteArray) {
                evaluate(i, byteArray);}, "");
            //注册清除完成信号触发器 任意触发地址归零时触发一次
            _serviceManager->_triggerManager->registerCallback(address[i].triggerAddr, 0, [this, i](int triggerPos, int triggerValue, QByteArray& byteArray) {
                _serviceManager->_triggerManager->writeShort("D" + address[0].completeAddr + "_0"); }, "D" + address[0].completeAddr.toStdString() + "清零");
        }
        
    }
    //获取图片并进行检测
    void evaluate(int batteryOffset, QByteArray& byteArray) {
        _serviceManager->_triggerManager->writeShort("D" + address[0].completeAddr + "_1");//完成信号 固定只发在第0位
        std::string sn = _serviceManager->_triggerManager->readSnFromQByteArray(byteArray, address[batteryOffset].snAddr, false, false, -1);
        auto camera = _serviceManager->_cameraManager->getCamera(cameraName);
        camera->clearCache();
        std::shared_ptr <detData> data = _serviceManager->_detDataManager->createDetData(
            QString::fromStdString(cameraName), sn, 1, camera->config.oriSaveFormat);//创建数据包
        camera->captureImage(data);//拍照
        data->saveObjectName = saveObjectName;
        generalDet->ansyncProcess(data, address[batteryOffset]);//处理算法
        data->resultImgShowSet.push_back(showImgPack(viewerName, "结果图"));
    }
private:
    QString saveObjectName = "";
    qtFuncBridge* bridge;
    ServiceManager* _serviceManager = nullptr;
};