#include "Hd_CameraModule_HIK_PCIE.h"
using namespace  std;
#include <QTextCodec>
#include <thread>
#include <atomic>
#include <chrono>
#include <mutex>
#include <qelapsedtimer.h>
enum statusEnum {
    CONNECTED,
    RECONNECTING,
    DISCONNECTED
};
enum triggerModeEnum {
    SOFTWARE,
    HARDWARE,
    EMPTY
};
std::atomic<statusEnum> cameraStatus(DISCONNECTED);
std::atomic<bool> reconnecting(false);
std::mutex handleMutex;
triggerModeEnum triggerMode = HARDWARE;
int getImageTimeOut = 3000;
bool runFlag = true;
//总取图数
int imgIndex = 0;
MV_GENTL_DEV_INFO_LIST  m_stDevList;         // ch:设备信息列表结构体变量，用来存储设备列表
MV_GENTL_IF_INFO_LIST   m_stIFList;
string Username = "";
int cameraIndex = -1;
QString lastError;
QQueue<cv::Mat> queuepic;
QMutex* n_mutex = new QMutex();
class callbackCollectTimeoutTimerClass : public QThread {
public:
    void run() {
        runFlag.store(true);
        counter = 0;
        while (runFlag.load() && counter < interval.load()) {
            QThread::msleep(ontTimeSleepInterval);
            counter += ontTimeSleepInterval;
        }
        if (runFlag.load() && counter >= interval.load())
            timeoutAction();
    }
    void timeoutAction() {
        QMutexLocker locker(n_mutex);
        if (queuepic.size() > 0) {
            queuepic.clear();
            qDebug() << QString::fromStdString(Username) << "上次回调后未取图，已因超时清除缓存,interval" << interval;
            std::cout << Username << "上次回调后未取图，已因超时清除缓存,interval" << interval << std::endl;
        }
    }
    void setInterval(int msec) {
        interval.store(msec);
    }
    void stop() {
        runFlag.store(false);
    }
private:
    int counter = 0;
    std::atomic<bool> runFlag = false;
    std::atomic<int> interval = 1500;
    int ontTimeSleepInterval = 10;
};
callbackCollectTimeoutTimerClass callbackCollectTimeoutTimer;
void* handle = NULL;
void CloseDevice();

//0106 断线重连
void __stdcall ReconnectDevice(unsigned int nMsgType, void* pUser);
void __stdcall ImageCallBackEx(unsigned char* pData0, MV_FRAME_OUT_INFO_EX* pFrameInfo0, void* pUser0);
//搜索所有设备
int SearchDevice(){

    if (m_stIFList.nInterfaceNum == 0) {
        const char* chCtiPath = "MvFGProducerXoF.cti";//.cti文件路径
        int nRet = 0;
        nRet = MV_CC_EnumInterfacesByGenTL(&m_stIFList, chCtiPath);
        if (nRet != MV_OK)
        {
            qDebug() << "EnumInterfacsByGenTL fail";
            return -1;
        }

    }
    if (m_stIFList.nInterfaceNum == 0)
    {
        qDebug() << "No Device";
        return -1;
    }
    int nRet = 0;
    // ch:枚举子网内所有设备 | en:Enumerate all devices within subnet
    for (int p = 0; p < m_stIFList.nInterfaceNum; p++)
    {
        memset(&m_stDevList, 0, sizeof(MV_CC_DEVICE_INFO_LIST));
        nRet = MV_CC_EnumDevicesByGenTL(m_stIFList.pIFInfo[p], &m_stDevList);
        for (int i = 0; i < m_stDevList.nDeviceNum; i++)
        {
            //SN
            unsigned char* name = m_stDevList.pDeviceInfo[i]->chSerialNumber;
            string userName = static_cast<string>((LPCSTR)name);
            if (Username == userName)
            {
                return i;
            }
        }
    }
    if (MV_OK != nRet)
    {
        return -1;
    }
    return -1;
}

bool connectDevice()
{
    int cameraIndex = SearchDevice();
    if (cameraIndex == -1) {
        //未匹配到相机
        qDebug() << "Hd_CameraModule_HIK not match --CameraName:" << QString::fromStdString(Username);
        lastError = "找不到相机" + QString::fromStdString(Username);
        return false;
    }
    if (handle != NULL)
    {
        MV_CC_StopGrabbing(handle);
        handle = NULL;
        //MV_CC_CloseDevice(handle);
        //MV_CC_DestroyHandle(handle);
    }

    int nRet = MV_CC_CreateHandleByGenTL(&handle, m_stDevList.pDeviceInfo[cameraIndex]);
    if (MV_OK != nRet)
    {
        handle = NULL;
        lastError = QString("MV_CC_CreateHandleByGenTL failed, nRet=0x%1").arg(QString::number(nRet, 16));
        return false;
    }
    nRet = MV_CC_OpenDevice(handle);
    //   //加载用户集，相机设置应当UserSet1
    nRet = MV_CC_SetEnumValueByString(handle, "UserSetSelector", "UserSet1");
    if (MV_OK != nRet)
    {
        qDebug() << "Set UserSetSelector fail! nRet " << nRet;
    }
    // ch:注册抓图回调 | en:Register image callback
    MV_CC_SetIntValueEx(handle, "GevHeartbeatTimeout", 3000);//心跳日志

    nRet = MV_CC_RegisterImageCallBackEx(handle, ImageCallBackEx, handle);//注册回调
    if (MV_OK != nRet)
        return false;
    nRet = MV_CC_RegisterExceptionCallBack(handle, ReconnectDevice, NULL);//断线重连
    if (MV_OK != nRet)
        return false;
    MV_CC_StartGrabbing(handle);
    cameraStatus.store(CONNECTED);
    return true;
}
void SetExposureTime(float exposureValue)
{
    qDebug() << "exposureValue:" << exposureValue;
    MV_CC_SetEnumValue(handle, "ExposureAuto", MV_EXPOSURE_AUTO_MODE_OFF);
    MV_CC_SetFloatValue(handle, "ExposureTime", exposureValue);
}

void SetGain(float GainValue)
{
    qDebug() << "GainValue:" << GainValue;
    MV_CC_SetEnumValue(handle, "GainAuto", 0);
    MV_CC_SetFloatValue(handle, "Gain", GainValue);
}

void __stdcall ReconnectDevice(unsigned int nMsgType, void* pUser) {

    qDebug() << " MV camera disconnects!";

    if (nMsgType == MV_EXCEPTION_DEV_DISCONNECT && cameraStatus.load() == CONNECTED) {

        // 防止重复启动重连线程
        bool expected = false;
        if (!reconnecting.compare_exchange_strong(expected, true)) {
            qDebug() << "Reconnect already in progress, skipping duplicate request";
            return;
        }

        cameraStatus.store(RECONNECTING);
        // 启动后台线程负责重连，避免在回调线程中长时间阻塞
        std::thread([]() {
            qDebug() << QString::fromStdString(Username) << " start reconnect thread";

            // 确保设备资源关闭
            CloseDevice();
            int times = 0;
            while (runFlag)
            {
                qDebug() << QString::fromStdString(Username) << " reconnect attempt:" << times++;
                if (connectDevice())
                {
                    qWarning() << QString::fromStdString(Username) << " reconnect success!";
                    cameraStatus.store(CONNECTED);
                    reconnecting.store(false);
                    return;
                }

                qDebug() << QString::fromStdString(Username) << " reconnect failed, waiting 1 seconds before retry...";
                std::this_thread::sleep_for(std::chrono::seconds(1));
            }

            // 如果runFlag为false，线程退出
            qDebug() << "reconnect thread stopped (runFlag=false)";
            cameraStatus.store(DISCONNECTED);
            reconnecting.store(false);
            }).detach();
    }
}



//回调函数；
//经测试，相机像素格式Mono8、RGB8是可以正常转换的，YUV422还需要优化；RGB8格式比YUV422帧率低；BGR格式会导致异色问题
void __stdcall ImageCallBackEx(unsigned char* pData0, MV_FRAME_OUT_INFO_EX* pFrameInfo0, void* pUser0)
{
    Q_UNUSED(pUser0)
    callbackCollectTimeoutTimer.stop();
    int frameNum = 0;
    double time_Start = (double)clock();
    QMutexLocker locker(n_mutex);
    cv::Mat srcImage = cv::Mat();
    //qDebug() << "[info]" << __FUNCTION__ << " line:" << __LINE__ << "--- start";
    if (pFrameInfo0)
    {
        //获取的是单通道灰度图
        if (pFrameInfo0->enPixelType == PixelType_Gvsp_Mono8)//获取当前采集到的图像格式
        {
            srcImage = cv::Mat(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC1, pData0);
        }
        //获取的是RGB8图
        else if (pFrameInfo0->enPixelType == PixelType_Gvsp_BGR8_Packed)
        {
            srcImage = cv::Mat(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC3, pData0);

            //cvtColor(srcImage, srcImage, COLOR_RGB2BGR);//导致异色
        }
        else if (IsColor(pFrameInfo0->enPixelType)) //其它格式彩色图
        {
            MvGvspPixelType enDstPixelType = PixelType_Gvsp_Undefined;
            enDstPixelType = PixelType_Gvsp_BGR8_Packed;
            unsigned char* pConvertData = NULL;
            pConvertData = (unsigned char*)malloc(pFrameInfo0->nWidth * pFrameInfo0->nHeight * 3);
            if (NULL == pConvertData)
            {
                printf("malloc pConvertData fail!\n");
            }
            else
            {
                unsigned int nConvertDataSize = 0;
                nConvertDataSize = pFrameInfo0->nWidth * pFrameInfo0->nHeight * 3;

                // ch:像素格式转换 | en:Convert pixel format
                MV_CC_PIXEL_CONVERT_PARAM stConvertParam = { 0 };

                frameNum = pFrameInfo0->nFrameNum;                 //ch:帧号 | en:frame number
                stConvertParam.nWidth = pFrameInfo0->nWidth;                 //ch:图像宽 | en:image width
                stConvertParam.nHeight = pFrameInfo0->nHeight;               //ch:图像高 | en:image height
                stConvertParam.pSrcData = pData0;                         //ch:输入数据缓存 | en:input data buffer
                stConvertParam.nSrcDataLen = pFrameInfo0->nFrameLen;         //ch:输入数据大小 | en:input data size
                stConvertParam.enSrcPixelType = pFrameInfo0->enPixelType;    //ch:输入像素格式 | en:input pixel format
                stConvertParam.enDstPixelType = enDstPixelType;                         //ch:输出像素格式 | en:output pixel format
                stConvertParam.pDstBuffer = pConvertData;                               //ch:输出数据缓存 | en:output data buffer
                stConvertParam.nDstBufferSize = nConvertDataSize;                       //ch:输出缓存大小 | en:output buffer size
                int nRet = MV_CC_ConvertPixelType(handle, &stConvertParam);

                Mat mysrcImage = cv::Mat(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC3, stConvertParam.pDstBuffer);
                mysrcImage.copyTo(srcImage);

                free(pConvertData);
                pConvertData = NULL;
                stConvertParam = { 0 };
            }
        }
    }
    if (srcImage.empty())
    {
        srcImage = cv::Mat(5, 5, CV_8UC1).setTo(0);
    }
    callbackCollectTimeoutTimer.start();
    queuepic.push_back(srcImage);
    pData0 = { 0 };
    double time_End = (double)clock();
    qDebug() << __FUNCTION__ << " line:" << __LINE__ << " checkImg getImg,Time:" << (time_End - time_Start) << "ms"
        << "--CameraName:" << QString::fromStdString(Username) << " imgIndex:" << imgIndex << "nFrameNum : " << frameNum;
}

//关闭设备
void CloseDevice()
{
    if (handle == nullptr)
        return;
    unsigned int nRet = MV_CC_StopGrabbing(handle);
    if (nRet == 0) {
        //MV_CC_CloseDevice(handle);
        //MV_CC_DestroyHandle(handle);
    }
    handle = NULL;
    //nRet = MV_CC_CloseDevice(handle);
    //nRet = MV_CC_DestroyHandle(handle);
}
Hd_CameraModule_HIK_hard_PCIE::Hd_CameraModule_HIK_hard_PCIE() {
}
Hd_CameraModule_HIK_hard_PCIE::~Hd_CameraModule_HIK_hard_PCIE()
{
    runFlag = false;

    callbackCollectTimeoutTimer.stop();
    CloseDevice();
    if (n_mutex)
    {
        delete n_mutex;
        n_mutex = nullptr;
    }

    qDebug() << " delete success!";
}
//从类中读数据到实例对象
bool Hd_CameraModule_HIK_hard_PCIE::readData(std::vector<cv::Mat>& mat, QByteArray& data)
{
    if (data == "getStatus") {
        data = lastError.toUtf8();
        return true;
    }
    else if (data == "clearCache") {
        queuepic.clear();
        return true;
    }
    if (queuepic.isEmpty())
    {
        return false;
    }
    callbackCollectTimeoutTimer.stop();
    QMutexLocker locker(n_mutex);
    cv::Mat img = queuepic.dequeue();
    mat.push_back(img);

    qDebug() << __FUNCTION__ << " line:" << __LINE__ << " checkImg readData--CameraName:" << QString::fromStdString(Username) << "--imgIndex : " << imgIndex;
    return true;
}

//实例对象把数据写入到类；加载模型后会运行此函数
bool Hd_CameraModule_HIK_hard_PCIE::writeData(std::vector<cv::Mat>& mat, QByteArray& data)
{
    Q_UNUSED(mat);
    if (data.contains("deviceList")) {
        auto result = QByteArrayToMV_GENTL_IF_INFO_LIST(data.mid(10));
        if (result.nInterfaceNum != 0) {
            m_stIFList = result;
            return true;
        }
    }
    if (data == "getStatus") {
        data = lastError.toUtf8();
        return true;
    }
    if (data == "clearCache") {
        QMutexLocker locker(n_mutex);
        queuepic.clear();
        return true;
    }
    return true;
}

bool Hd_CameraModule_HIK_hard_PCIE::initParas(QByteArray& initData)
{
    QByteArrayList valueList = initData.split('#');
    if (valueList.size() < 3) {
        qDebug() << " Hd_CameraModule_HIK initParas fail--params error!参数数量不满足";
        lastError = "参数数量不满足";
        return false;
    }
    Username = valueList[0];

    auto triggerModeStr = valueList[1];
    if (triggerModeStr == "HARDWARE")
        triggerMode = HARDWARE;
    else if (triggerModeStr == "SOFTWARE")
        triggerMode = SOFTWARE;
    else if (triggerModeStr == "EMPTY")
		triggerMode = EMPTY;
    else {
        qDebug() << " Hd_CameraModule_HIK initParas fail--params error!触发模式参数错误";
        lastError = "触发模式参数错误";
        return false;
    }

    getImageTimeOut = valueList[2].toInt();

    imgIndex = 0;
    return connectDevice();
}

bool Hd_CameraModule_HIK_hard_PCIE::run()
{
    qDebug() << " run start" << QString::fromStdString(Username);
    if (triggerMode == SOFTWARE)
        MV_CC_SetCommandValue(handle, "TriggerSoftware");
    try
    {
        int sleepMs = 10;
        int cnt = 0;
        int timeoutCnt = getImageTimeOut / sleepMs;
        while (true)
        {
            QMutexLocker locker(n_mutex);
            if (queuepic.size() > 0)return true;
            if (cnt++ > timeoutCnt) {
                queuepic.push_back(cv::Mat(200, 200, CV_8UC1, cv::Scalar(0))); //返回空图
                qDebug() << QString::fromStdString(Username) << "timeout";
                return true;
            }
            QThread::msleep(sleepMs);
        }
    }
    catch (QString ev)
    {
        qDebug() << " ev:" << ev;
    }
    return true;
}


//相机连接状态：正常连接或断开
bool Hd_CameraModule_HIK_hard_PCIE::checkStatus()
{
    //status = moduleStatus;
    return status;
}

Hd_CameraModule_HIK_hard_PCIE* create()
{
    qDebug() << "Hd_CameraModule_HIK create success!";
    return new Hd_CameraModule_HIK_hard_PCIE;
}

void destory(Hd_CameraModule_HIK_hard_PCIE* ptr)
{
    if (ptr)
    {
        delete  ptr;
        ptr = nullptr;
    }
    qDebug() << "Hd_CameraModule_HIK  destory success!";
}