#include "camera_thread.h"
#include <filesystem>
#include <io.h>
#include <tchar.h>
#include <FrontendBackendBridge.h>
QQueue<dataPack>   ImageDataPack;
MyThread::~MyThread()
{
    this->setStopRun();
    wait(100);
    exit();
    qDebug() << "[INFO] " << " m_name:" << m_name << " delete thread success! ";
}

//bool MyThread::setModule(QString station_name, QString name, QString type, MyModule module, QJsonObject obj)
bool MyThread::setModule(QString station_name, QString name, QString type, MyModule module)
{
    m_name = name;
    m_triggermodel = type;
    m_Module = module;
   // m_moduleobj = obj;
    m_stationName = station_name;
    m_staticName = m_name;
    qCritical() << "[DEBUG] " << " name " << name;

    //QString image_queue_num = m_moduleobj.value("image_queue_num").toString();
    //picNum = image_queue_num.toInt();
    if (m_triggermodel.isEmpty())
    {
        qCritical() << "[Error] " << " trigger_mod is null ! ";
        return false;
    }

    return true;
}
void MyThread::run()
{
    try
    {
        qDebug() << "[INFO] " << " m_type:" << m_type << " module start time: " << "now!";
        if (!runCameraModule())
        {
            qCritical() << "[Error] " << "runCameraModule run failed! ";
            return;
        }
        
    }
    catch (QString ev)
    {
        qCritical() << "[Error] " << "catch ev:" << ev;
        return;
    }
    //qDebug() << __FUNCTION__ << " line:" << __LINE__ << " module  run end time :" << QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss.zzz") ;
}
void MyThread::setMutex(QMutex* mutex)
{
    m_mutex = mutex;
}
bool MyThread::cameraTrigger()
{
    if (!m_Module.module_ptr->run())
    {
        qCritical() << "[Error] " << " m_name:" << m_name << " run  failed!";
        return false;
    }
    return true;
}
void MyThread::getImageFromCamera(std::vector<cv::Mat>& mats)
{
    std::vector<cv::Mat>  camera_mat;
    QByteArray task_name;
    if (!m_Module.module_ptr->sendData(camera_mat, task_name))
        qCritical() << "[Error] " << "  camera_mat is error! ";
    qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera_mat size:"<< camera_mat.size();

    for (auto img : camera_mat)
        mats.push_back(img.clone());
}
void MyThread::setExposureTime(float value)
{
    QByteArray task_name("exposure_" + QByteArray::number(value));
    std::vector<cv::Mat>  camera_mat;
    if (!m_Module.module_ptr->sendData(camera_mat, task_name))
        qCritical() << "[Error] " << "set exposure error!";
}
void MyThread::setUserSet(int value)
{
    QByteArray task_name("userset_" + QByteArray::number(value));
    std::vector<cv::Mat>  camera_mat;
    if (!m_Module.module_ptr->sendData(camera_mat, task_name))
        qCritical() << "[Error] " << "set exposure error!";
}
void MyThread::setLightSourceValue(int aLine = -1, int bLine = -1, int cLine = -1, int dLine = -1,QString Name="")
{
    //ex:"SA0200#SB0100#SC000#"
    std::string aLineStr(std::to_string(aLine)),
        bLineStr(std::to_string(bLine)),
        cLineStr(std::to_string(cLine)),
        dLineStr(std::to_string(dLine)),
        controllCommand("");
    //
    if (aLine != -1)
    {
        controllCommand += "SA0";
        if (aLineStr.length() < 3)
            for (int i = 0; i < 3 - aLineStr.length(); i++)
                controllCommand += "0";
        controllCommand += aLineStr + "#";
    }
    //
    if (bLine != -1)
    {
        controllCommand += "SB0";
        if (bLineStr.length() < 3)
            for (int i = 0; i < 3 - bLineStr.length(); i++)
                controllCommand += "0";
        controllCommand += bLineStr + "#";
    }
    //
    if (cLine != -1)
    {
        controllCommand += "SC0";
        if (cLineStr.length() < 3)
            for (int i = 0; i < 3 - cLineStr.length(); i++)
                controllCommand += "0";
        controllCommand += cLineStr + "#";
    }
    //
    if (dLine != -1)
    {
        controllCommand += "SD0";
        if (dLineStr.length() < 3)
            for (int i = 0; i < 3 - dLineStr.length(); i++)
                controllCommand += "0";
        controllCommand += dLineStr + "#";
    }
    QSerialPort* Port = bridge.back.getSerialPort(Name);
    if (Port != NULL)
    {
        Port->write(controllCommand.c_str());
        Port->waitForBytesWritten();
    }
}
void MyThread::takeImg(unsigned long long timeCode, filmMode type, QString name,detData * datas,QString FinsAfter, int targetCntInput)
{
    finsAfter = FinsAfter;
    if (currentHash != 0)//currentHash会在完成触发后清零,在runCameraModule（）
        qDebug() << "[WARNING]当前模块似乎有没完成的触发，请检查信号是否完整 hashCode:" << currentHash;
    globalMode = type;
    if (name != "")
    {
        m_name = name;
    }
    else
    {
        m_name = m_staticName;
    }
    gloabalMats = &datas->imgs;
    currentHash = timeCode;
    globalDetData = datas;
    targetCnt = targetCntInput;
    this->start();
}
bool MyThread::runCameraModule()
{
    // 判断触发模式
    if (m_triggermodel.contains("software"))
    {
        QByteArray task_name;
        std::vector<cv::Mat>  camera_mat;
        camera_mat = cameraModule(globalMode);
        if (finsAfter != "")
            bridge.back.sendFinsMsg(finsAfter);
        if (camera_mat.empty())
        {
            qCritical() << "[Error] " << " camera_mat is null! ";
            return false;
        }
        mutex.lock();
#if 0 //使用容器 bug
        cameraImgsPtr->insertImg(currentHash, &camera_mat);
#endif
#if 1//使用指针
        if (gloabalMats != nullptr)
        {
            if (globalDetData != nullptr)
            {
                
                if (targetCnt != 0)
                {
                    int waitCnt = 0;
                    while (globalDetData->cnt != targetCnt|| waitCnt>200)
                    {
                        QThread::msleep(10);
                        waitCnt++;
                    }
                    if(waitCnt<200)
                        for (auto img : camera_mat)
                            gloabalMats->push_back(img);
                }
                else
                    for (auto img : camera_mat)
                        gloabalMats->push_back(img);
                globalDetData->cnt++;
                //globalDetData->mutexx->unlock();
            }
            else
            {
                for (auto img : camera_mat)
                    gloabalMats->push_back(img);
            }
            cout << "sucess" << currentHash<< endl;
            
                
        }
#endif
        globalDetData = nullptr;
        mutex.unlock();

        camera_mat.clear();
        currentHash = 0;
        return true;
    }
    else if (m_triggermodel.contains("hardware"))   // 硬触发  hardware_trigger
    {
        QByteArray task_name;
        std::vector<cv::Mat>  camera_mat;
        camera_mat = cameraModule(MyThread::hardware_trigger);//触发
        if (finsAfter != "")
            bridge.back.sendFinsMsg(finsAfter);
        if (camera_mat.empty())
        {
            qCritical() << "[Error] " << " camera_mat is null! "<<m_name;
            return false;
        }
        mutex.lock();
#if 0 //使用容器 bug
        cameraImgsPtr->insertImg(currentHash, &camera_mat);
#endif
#if 1//使用指针
        if (gloabalMats != nullptr)
        {
            if (globalDetData != nullptr)
            {

                if (targetCnt != 0)
                {
                    int waitCnt = 0;
                    while (globalDetData->cnt != targetCnt || waitCnt > 200)
                    {
                        QThread::msleep(10);
                        waitCnt++;
                    }
                    if (waitCnt < 200)
                        for (auto img : camera_mat)
                            gloabalMats->push_back(img);
                }
                else
                    for (auto img : camera_mat)
                        gloabalMats->push_back(img);
                globalDetData->cnt++;
                //globalDetData->mutexx->unlock();
            }
            else
            {
                for (auto img : camera_mat)
                    gloabalMats->push_back(img);
            }
            cout << "sucess" << currentHash << endl;


}
#endif
        globalDetData = nullptr;
        mutex.unlock();

        camera_mat.clear();
        currentHash = 0;
        return true;
    }
#if 0
    else if (m_triggermodel.contains("hardware"))   // 硬触发  hardware_trigger
    {
        while (true)
        {
            if (!m_stoprun)
            {
                return true;
            }
            if (!m_Module.module_ptr->run())
            {
                QThread::msleep(5);
                continue;
            }
            QByteArray task_name;
            std::vector<cv::Mat>  get_mat;


            if (!m_Module.module_ptr->sendData(get_mat, task_name))
            {
                qDebug() << "[Error] " << "  sendData is error! ";
                QThread::msleep(5);
                continue;

            }

            if (get_mat.empty())
            {
                continue;
            }

            mutex.lock();
            for (auto img : get_mat)
                detImgVec.push_back(img);
            mutex.unlock();
            get_mat.clear();
            currentHash = 0;
        }

    }
#endif
    return true;
}
std::vector<cv::Mat> MyThread::getImage(int amount)
{
    std::vector<cv::Mat> mats;
    if (detImgVec.size() < amount)//数量不满足要求
        return mats;
    mutex.lock();
    mats.swap(detImgVec);
    mutex.unlock();
    return mats;
}
std::vector<cv::Mat> MyThread::cameraModule(filmMode type)
{
    std::vector<cv::Mat> mats;

    QByteArray task_name;
    std::vector<cv::Mat>  camera_mat;
    cv::Mat a, b, c;
    switch (type)
    {
        case MyThread::hardware_trigger:
            getImageFromCamera(camera_mat);
            break;
        case MyThread::normal:
            if (!cameraTrigger())
            {
                cv::Mat nullMat = cv::Mat::zeros(cv::Size(500, 500), CV_8UC1);
                camera_mat.push_back(nullMat);
            }
            else
            {
                getImageFromCamera(camera_mat);
            }
            break;
        case MyThread::_2dSpecialP:
            bridge.back.QSerialPorts[0]->write("SA0200#SB0000#SC0120#");//第一次拍照亮度
            bridge.back.QSerialPorts[0]->waitForBytesWritten();
            QThread::msleep(100);
            //////第一次拍照//////////
            cameraTrigger();
            getImageFromCamera(camera_mat);
            /////第二次拍照////////////
            setExposureTime(300);
            bridge.back.QSerialPorts[0]->write("SA0200#SB0100#SC0000#");//第二次拍照亮度
            bridge.back.QSerialPorts[0]->waitForBytesWritten();
            QThread::msleep(100);
            cameraTrigger();
            getImageFromCamera(camera_mat);
            /////第三次拍照////////////
            bridge.back.QSerialPorts[0]->write("SA0255#SB0255#SC0255#");//第三次拍照亮度
            bridge.back.QSerialPorts[0]->waitForBytesWritten();
            setExposureTime(2500);
            QThread::msleep(200);
            cameraTrigger();
            getImageFromCamera(camera_mat);
            /////为第一次拍照准备的设置////////
            setExposureTime(300);
            bridge.back.QSerialPorts[0]->write("SA0200#SB0000#SC0120#");//第一次拍照亮度
            bridge.back.QSerialPorts[0]->waitForBytesWritten();
            break;
        case MyThread::_2dSpecialN:
            bridge.back.QSerialPorts[0]->write("SA0200#SB0000#SC0120#");//第一次拍照亮度
            bridge.back.QSerialPorts[0]->waitForBytesWritten();
            QThread::msleep(100);
            //////第一次拍照//////////
            cameraTrigger();
            getImageFromCamera(camera_mat);
            /////第二次拍照////////////
            setExposureTime(300);
            bridge.back.QSerialPorts[0]->write("SA0200#SB0100#SC0000#");//第二次拍照亮度
            bridge.back.QSerialPorts[0]->waitForBytesWritten();
            QThread::msleep(100);
            cameraTrigger();
            getImageFromCamera(camera_mat);
            /////第三次拍照////////////
            bridge.back.QSerialPorts[0]->write("SA0255#SB0255#SC0255#");//第三次拍照亮度
            bridge.back.QSerialPorts[0]->waitForBytesWritten();
            setExposureTime(600);
            QThread::msleep(200);
            cameraTrigger();
            getImageFromCamera(camera_mat);
            /////为第一次拍照准备的设置////////
            setExposureTime(300);
            bridge.back.QSerialPorts[0]->write("SA0200#SB0000#SC0120#");//第一次拍照亮度
            bridge.back.QSerialPorts[0]->waitForBytesWritten();
            //setLightSourceValue(200, 0, 120, 0, "2dLightSource");
            break;
    }
    return camera_mat;
}
bool MyThread::sendDataCommond(QString m_type, cv::Mat mat, QByteArray byte)
{
    QMutexLocker locker(m_mutex);  // 加锁

    dataPack m_pack;
    m_pack.mat = mat;
    m_pack.byte = byte;
    m_pack.retFlag = m_type;
    m_pack.name = m_name;//名字
    m_pack.showIndex = showIndex;//第几个窗口
    // 界面显示包
    ImageDataPack.append(m_pack);
    QMetaObject::invokeMethod(m_obj, "reciveImageData");
    return  true;
}