#include "Hd_CameraModule_Basler_soft.h"
#include "qfuture.h"
#include <QtConcurrent/QtConcurrent>

QQueue<cv::Mat> queuepic;
Pylon::DeviceInfoList_t m_devices;

static 	int FrameID = 0;
static const size_t c_maxCamerasToUse = 2;
// Smart pointer to camera features
Pylon::CIntegerParameter m_exposureTime; //曝光
Pylon::CIntegerParameter m_gain; //增益
// The grab result retrieved from the camera.
Pylon::CGrabResultPtr m_ptrGrabResult;
bool m_invertImage=true;
// The grab result as a windows DIB to be displayed on the screen.
Pylon::CPylonBitmapImage m_bitmapImage;
bool ifGetImage = false;

bool ifmoduleRun = true;

//判断是否为彩色相机
bool IsColor(EPixelType enType)
{
	switch (enType)
	{
	case PixelType_RGB8packed:
	case PixelType_BayerGR8:
	case PixelType_BayerRG8:
	case PixelType_BayerGB8:
	case PixelType_BayerBG8:
	case PixelType_BayerGR10:
	case PixelType_BayerRG10:
	case PixelType_BayerGB10:
	case PixelType_BayerBG10:
	case PixelType_BayerGR12:
	case PixelType_BayerRG12:
	case PixelType_BayerGB12:
	case PixelType_BayerBG12:
	case PixelType_RGB10packed:
	case PixelType_BGR10packed:
	case PixelType_RGB12packed:
	case PixelType_BGR12packed:
	case PixelType_YUV422_YUYV_Packed:
	case PixelType_BayerGR12Packed:
	case PixelType_BayerRG12Packed:
	case PixelType_BayerGB12Packed:
	case PixelType_BayerBG12Packed:
		return true;
	default:
		return false;
	}
}
//搜索设备
int Hd_CameraModule_Basler_soft::SearchDevice()
{
	CTlFactory& tlFactory = CTlFactory::GetInstance();

	DeviceInfoList_t devices;
	//找到所有相机
	if (tlFactory.EnumerateDevices(devices) == 0)
	{
		qDebug() << "No camera present";
	}
	m_devices = devices;


	// Fill the combo box.
	int mindex = 0;
	for (Pylon::DeviceInfoList_t::const_iterator it = m_devices.begin(); it != m_devices.end(); ++it)
	{
		// Get the pointer to the current device info.
		const Pylon::CDeviceInfo* const pDeviceInfo = &(*it);

		// Add the friendly name to the list. 
		Pylon::String_t friendlyName = pDeviceInfo->GetFriendlyName();
		std::string s = friendlyName; //Basler raL4096-24gm (24731776)；cam0 (23593460)
		//std:cout << s << std::endl;
		if (s == Username)
		{
			index = mindex;
			break;
		}
		mindex++;
	}
	return (int)devices.size();
}
//回调函数
//当有新图像可用时，从CInstantCamera抓取线程调用此函数。
//在此处执行图像处理。
//之后，我们将把图像转换为RGB位图，并通知GUI关于新图像的信息。
//
//注意：您不能访问任何UI对象，因为此函数不是从GUI线程调用的。
//为了更新GUI，我们将在该功能结束时向主窗口发布一条消息。
//GUI线程将处理消息并更新GUI。
void Hd_CameraModule_Basler_soft::OnImageGrabbed(Pylon::CInstantCamera& camera, const CGrabResultPtr& grabResult)
{
	// The following line is commented out as this function will be called very often
	// filling up the debug output.
	//TRACE(_T("%s\n"), __FUNCTIONW__);
	// When overwriting the current CGrabResultPtr, the previous result will automatically be
	// released and reused by CInstantCamera.
	double time_Start = (double)clock();

	//m_ptrGrabResult = grabResult;
	//CBaslerUniversalGrabResultPtr ptrGrabResult;CGrabResultPtr

	// First check whether the smart pointer is valid.
	// Then call GrabSucceeded() on the CGrabResultData to test whether the grab resulut conatains
	// an sucessfully grabbed image.
	// In case of i.e. transmission errors the result may be invalid
	if (grabResult.IsValid() && grabResult->GrabSucceeded())
	{
		// This is where you would do image processing
		// and do other tasks.
		// --- Start of sample image processing --- (only works for 8-bit formats)
		if (m_invertImage && grabResult->GetPixelType() == PixelType_Mono8)
		{
			srcImage = cv::Mat(grabResult->GetHeight(), grabResult->GetWidth(), CV_8UC1, grabResult->GetBuffer());

			//size_t imageSize = Pylon::ComputeBufferSize(grabResult->GetPixelType(), grabResult->GetWidth(), grabResult->GetHeight(), grabResult->GetPaddingX());

			//uint8_t* p = reinterpret_cast<uint8_t*>(grabResult->GetBuffer());
			//uint8_t* const pEnd = p + (imageSize / sizeof(uint8_t));
			//for (; p < pEnd; ++p)
			//{
			//	*p = 255 - *p; //For demonstration purposes only, invert the image.
			//}
		}
		else if (m_invertImage && grabResult->GetPixelType() == PixelType_BGR8packed)
		{
			srcImage = cv::Mat(grabResult->GetHeight(), grabResult->GetWidth(), CV_8UC3, grabResult->GetBuffer());
		}
		else if (IsColor(grabResult->GetPixelType()))
		{                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 
			// Create a target image.
			CPylonImage targetImage;

			// Create the converter and set parameters.
			CImageFormatConverter converter;
			converter.OutputPixelFormat = PixelType_BGR8packed;
			// Now we can check if conversion is required.
			if (converter.ImageHasDestinationFormat(grabResult))
			{
				;
			}
			else
			{
				converter.Convert(targetImage, grabResult);
			}
			srcImage = cv::Mat(targetImage.GetHeight(), targetImage.GetWidth(), CV_8UC3, targetImage.GetBuffer());
		}
		//++m_cntGrabbedImages;

		ifGetImage = true;
	}
	else
	{
		// If the grab result is invalid, we also mark the bitmap as invalid.
		m_bitmapImage.Release();
		ifGetImage = false;
		// The some TLs provide an error code why the grab failed.
		//TRACE(_T("%s Grab failed. Error code. %x\n"), __FUNCTIONW__, (int)grabResult->GetErrorCode());
		//CSingleLock lockErrorCount(&m_MemberLock, TRUE);
		//++m_cntGrabErrors;
		//lockErrorCount.Unlock();
	}
	// Tell the main window that there is a new image available so it can update the image window.
	double time_End = (double)clock();
	qDebug() << "[INFO] " " srcImage Exist,Time:" << (time_End - time_Start) / 1.0 << "ms" << "--CameraName:" << QString::fromStdString(Username) << "--FrameID : " << FrameID++;
}
//断线回调
// This will be called when the camera has been removed/disconnected.
// We'll post a message to the GUI about this event and return.
// In response to this message, the GUI will be updated and the camera will be closed.
void Hd_CameraModule_Basler_soft::OnCameraDeviceRemoved(Pylon::CInstantCamera& camera)
{
	moduleStatus = false;
	qDebug() << "[Hd_CameraModule_Basler_soft] " << " Camera disconnected!  try auto connect";
	
	//运行重连线程
	QFuture<bool> future2 = QtConcurrent::run(this, &Hd_CameraModule_Basler_soft::reConnctDevice);
}
//OnImageGrabbed和OnCameraDeviceRemoved函数，相机创建时自动绑定；相机释放时，自动解除绑定。
//重连
bool Hd_CameraModule_Basler_soft::reConnctDevice()
{
	m_camera->StopGrabbing();
	m_camera->DestroyDevice();
	m_camera->Close();
	delete m_camera;
	m_camera = nullptr;

	while (1)
	{
		if (ifmoduleRun == false)
			return false;
		Sleep(100);
		//m_mutex->lock();
		if (ConnctDevice() == true)
		{
			qWarning() << "[Hd_CameraModule_Basler_soft] " << "  Camera create success again! ";
			moduleStatus = true;
			//m_mutex->unlock();
			return true;
		}
	}
}
//连接设备
bool Hd_CameraModule_Basler_soft::ConnctDevice()
{
	index = -1;
	SearchDevice();
	if (index < 0)
		return false;

	m_camera = new CBaslerUniversalInstantCamera;

	//因为用的new方式
	{
		// Register this object as an image event handler in order to get notified of new images.
		// See Pylon::CImageEventHandler for details.
		m_camera->RegisterImageEventHandler(this, Pylon::RegistrationMode_ReplaceAll, Pylon::Cleanup_None);

		// Register this object as a configuration event handler in order to get notified of camera state changes.
		// See Pylon::CConfigurationEventHandler for details.
		m_camera->RegisterConfiguration(new Pylon::CAcquireContinuousConfiguration(), Pylon::RegistrationMode_ReplaceAll, Pylon::Cleanup_Delete);
		m_camera->RegisterConfiguration(this, Pylon::RegistrationMode_Append, Pylon::Cleanup_None);
	}
	// Get the pointer to Pylon::CDeviceInfo selected.
	const Pylon::CDeviceInfo* pDeviceInfo = &m_devices[index];// (const Pylon::CDeviceInfo*)m_cameraBox.GetItemData(index);

	try
	{
		// Add the AutoPacketSizeConfiguration and let pylon delete it when not needed anymore.
		//m_camera->RegisterConfiguration(new CAutoPacketSizeConfiguration(), Pylon::RegistrationMode_Append, Pylon::Cleanup_Delete);

		// Create the device and attach it to CInstantCamera.
		// Let CInstantCamera take care of destroying the device.
		Pylon::IPylonDevice* pDevice = Pylon::CTlFactory::GetInstance().CreateDevice(*pDeviceInfo);
		m_camera->Attach(pDevice, Pylon::Cleanup_Delete);
		if (m_camera->IsPylonDeviceAttached() == false)
			return false;
		// Open camera.
		m_camera->Open(); 
		
		//设置心跳；快速进断线回调函数
		CIntegerParameter heartbeat(m_camera->GetTLNodeMap(), "HeartbeatTimeout");
		heartbeat.TrySetValue(1000, IntegerValueCorrection_Nearest);  // set to 1000 ms timeout if writable

		////设置曝光，GigE相机为ExposureTimeRaw；USB相机为ExposureTime；方法可行,断电不保存
		//if (m_camera->ExposureTime.IsValid())
		//{
		//	m_camera->ExposureTime.GetAlternativeIntegerRepresentation(m_exposureTime);
		//	int64_t myExposureTimeRaw=m_camera->ExposureTimeRaw.GetValue();
		//	m_camera->ExposureTimeRaw.SetValue(20);
		//}
		//else if (m_camera->ExposureTimeRaw.IsValid())
		//{
		//	m_exposureTime.Attach(m_camera->ExposureTimeRaw.GetNode());
		//	m_camera->ExposureTimeRaw.SetValue(20);
		//}

		//线扫相机，设置增益有问题
		////设置增益，GigE相机为GainRaw；USB相机为Gain
		//if (m_camera->Gain.IsValid())
		//{
		//	m_camera->Gain.GetAlternativeIntegerRepresentation(m_gain);
		//	m_camera->Gain.SetValue(2);
		//}
		//else if (m_camera->GainRaw.IsValid())
		//{
		//	m_gain.Attach(m_camera->GainRaw.GetNode());
		//	m_camera->GainRaw.SetValue(2);
		//}

		//这几行会把相机设置重置
		//像素格式
		//m_camera->RegisterCameraEventHandler(this, "PixelFormat", 0, Pylon::RegistrationMode_Append, Pylon::Cleanup_None, Pylon::CameraEventAvailability_Optional);
		//触发模式
		//m_camera->RegisterCameraEventHandler(this, "TriggerMode", 0, Pylon::RegistrationMode_Append, Pylon::Cleanup_None, Pylon::CameraEventAvailability_Optional);
		//触发源
		//m_camera->RegisterCameraEventHandler(this, "TriggerSource", 0, Pylon::RegistrationMode_Append, Pylon::Cleanup_None, Pylon::CameraEventAvailability_Optional);

		//触发模式
		m_camera->TriggerSource.SetValue( Basler_UniversalCameraParams::TriggerSource_Software);
		//触发源
		m_camera->TriggerMode.SetValue(Basler_UniversalCameraParams::TriggerMode_On);
		//m_camera->PixelFormat.SetValue();//

		//连续采集
		// Camera may have been disconnected.
		if (!m_camera->IsOpen() || m_camera->IsGrabbing())
		{
			return false;
		}
		// Try set continuous frame mode if available
		m_camera->AcquisitionMode.TrySetValue(Basler_UniversalCameraParams::AcquisitionMode_Continuous);

		// Start grabbing until StopGrabbing() is called.
		m_camera->StartGrabbing(Pylon::GrabStrategy_OneByOne, Pylon::GrabLoop_ProvidedByInstantCamera);
		qDebug() << "[StartGrabbing] " << " basler camera StartGrabbing!";
	}
	catch (const Pylon::GenericException& e)
	{
		qDebug() << "[error] " << " basler camera disconnects!";
		return false;
	}
	return true;
	////创建相机对象（以最先识别的相机）
	////camera = CTlFactory::GetInstance().CreateFirstDevice();
	//CInstantCameraArray cameras(min(devices.size(), c_maxCamerasToUse));
	//// 打印相机的名称
	////std::cout << "Using device " << camera.GetDeviceInfo().GetModelName() << endl;
	//
	////获取相机节点映射以获得相机参数
	//GenApi::INodeMap& nodemap = camera.GetNodeMap();
	////打开相机
	//camera.Open();
	////加载用户集，相机设置应当userset1
	//camera.UserSetSelector.SetValue(UserSetSelector_UserSet1);
	//camera.RegisterImageEventHandler(new CSampleImageEventHandler, RegistrationMode_Append, Cleanup_Delete);
	//camera.RegisterExceptionCallBack();
	// 设置相机参数
	/*GenApi::cenumerationptr ptracquisitionmode = camera.getparameter("acquisitionmode");
	ptracquisitionmode->fromstring("continuous");

	genapi::cenumerationptr ptrtriggerselector = camera.getparameter("triggerselector");
	ptrtriggerselector->fromstring("framestart");

	genapi::cenumerationptr ptrtriggermode = camera.getparameter("triggermode");
	ptrtriggermode->fromstring("on");

	genapi::cenumerationptr ptrtriggersource = camera.getparameter("triggersource");
	ptrtriggersource->fromstring("software");

	CIntegerParameter heartbeat( camera.GetTLNodeMap(), "HeartbeatTimeout" );
    heartbeat.TrySetValue( 1000, IntegerValueCorrection_Nearest );
	*/
}
//错误
void Hd_CameraModule_Basler_soft::OnGrabError(Pylon::CInstantCamera& camera, const char* errorMessage)
{
	std::cout << "Hd_CameraModule_Basler_soft err:: " << errorMessage << std::endl;

	moduleStatus = false;
}

Hd_CameraModule_Basler_soft* create()
{
	qDebug() << "[info] " << "Hd_CameraModule_Basler_soft create success!";
	return new Hd_CameraModule_Basler_soft;
}

void destory(Hd_CameraModule_Basler_soft* ptr)
{
	if (ptr)
	{
		delete  ptr;
		ptr = nullptr;
	}
	qDebug() << "[info] " << "Hd_CameraModule_Basler_soft  destory success!";
}

Hd_CameraModule_Basler_soft::Hd_CameraModule_Basler_soft()
{
	PylonInitialize();
	
	m_mutex = new QMutex();
}
//关闭设备
void Hd_CameraModule_Basler_soft::CloseDevice()
{
	m_camera->StopGrabbing();
	//m_bitmapImage.Release();

	//// Free the grab result, if present.
	//m_ptrGrabResult.Release();

	//// Remove the event handlers that will be called when the feature changes.
	//m_camera->DeregisterCameraEventHandler(this, "TriggerSource");

	//m_camera->DeregisterCameraEventHandler(this, "TriggerMode");

	//m_camera->DeregisterCameraEventHandler(this, "PixelFormat");

	//if (m_gain.IsValid())
	//{
	//	// If we must use the alternative integer representation, we don't know the name of the node as it defined by the camera
	//	m_camera->DeregisterCameraEventHandler(this, m_gain.GetNode()->GetName());
	//}

	//if (m_exposureTime.IsValid())
	//{
	//	// If we must use the alternative integer representation, we don't know the name of the node as it defined by the camera
	//	m_camera->DeregisterCameraEventHandler(this, m_exposureTime.GetNode()->GetName());
	//}

	//// Clear the pointers to the features we set manually in Open().
	//m_exposureTime.Release();
	//m_gain.Release();

	// Close the camera and free all ressources.
	// This will also unregister all 
	m_camera->DestroyDevice();
	m_camera->Close();
	delete m_camera;
	m_camera = nullptr;
	//m_camera->ClearBufferModeEnable();

	/*camera.StopGrabbing();
	camera.DestroyDevice();
	camera.Close();*/
}

Hd_CameraModule_Basler_soft::~Hd_CameraModule_Basler_soft()
{
	ifmoduleRun = false;
	m_mutex->lock();
	CloseDevice();
	m_mutex->unlock();
	//PylonTerminate();
	if (m_mutex)
	{
		delete m_mutex;
		m_mutex = nullptr;
	}

	qDebug() << "[info] " << " delete success!";
}
//从类中读数据到实例对象
bool Hd_CameraModule_Basler_soft::readData(std::vector<cv::Mat>& mat, QByteArray& data)
{
	int timeCnt = 0;
	while (srcImage.empty())
	{
		//qCritical() << "[INFO] " << " srcImage is null!";
		QThread::msleep(1);
		timeCnt++;
		if(timeCnt>1000)
		return false;
	}
	mat.push_back(srcImage);
	return true;
}
//实例对象把数据写入到类
bool Hd_CameraModule_Basler_soft::writeData(std::vector<cv::Mat>& mat, QByteArray& data)
{
	Q_UNUSED(mat)
		m_flag = false;
	Username = data.toStdString();
	return true;
}

bool Hd_CameraModule_Basler_soft::initParas(QByteArray&)
{
	return true;
	return ConnctDevice();
}

bool Hd_CameraModule_Basler_soft::run()
{
	bool result = false; 
	ifGetImage = false;

	try
	{
		m_mutex->lock();

		if (!m_camera->IsGrabbing())
		{
			m_mutex->unlock();
			return result;
		}

		//软触发一次
		// Only wait if software trigger is currently turned on.
		if (m_camera->TriggerSource.GetValue() == Basler_UniversalCameraParams::TriggerSource_Software
			&& m_camera->TriggerMode.GetValue() == Basler_UniversalCameraParams::TriggerMode_On)
		{
			// If the camera is currently processing a previous trigger command,
			// it will silently discard trigger commands.
			// We wait until the camera is ready to process the next trigger.
			if (moduleStatus == false)
			{
				m_mutex->unlock(); 
				return result;
			}
			if (m_camera->WaitForFrameTriggerReady(3000, Pylon::TimeoutHandling_ThrowException) == true)
			{
				// Send trigger
				m_camera->ExecuteSoftwareTrigger();
			}
			else {
				m_mutex->unlock();
				return result;
			}
		}
		else {
			m_mutex->unlock();
			return result;
		}

		int timeOut = 0;
		while (1)
		{
			if (ifGetImage == true)
			{
				result = true;
				break;
			}

			if (timeOut++ > 3000 || moduleStatus ==false)
			{
				result = false;
				break;
			}
			//else
			//{
			//	result = true;
			//	break;
			//}
			Sleep(1);
		}
	}
	catch (...)
	{
		qDebug() << "[error] " << " Hd_CameraModule_Basler_soft:" ;
	}
	m_mutex->unlock();
	return result;
}
//相机连接状态：正常连接或断开
bool Hd_CameraModule_Basler_soft::checkStatus()
{
	//m_mutex->lock();
	//status = modulestatus;
	return moduleStatus;
	//m_mutex->unlock();
}