using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using Lumenera.USB;
using OpenCvSharp;
using OpenCvSharp.Extensions;
using System.Drawing;
using System.Windows.Interop;
using System.Threading;
using OpenCvSharp.Aruco;
using System.Windows.Media.Animation;
using System.Configuration;
using System.Web.ModelBinding;
using System.Windows.Controls;

namespace TIASshot {

    /// <summary>
    /// Lumeneraカメラクラス
    /// </summary>
    internal class Lucam {

        public string DeviceName { get; private set; } = "Unknown";
        public string SerialNumber { get; private set; }
        public string ErrorMsg { get; private set; }

        readonly Dictionary ARDict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryName.Dict4X4_50);
        readonly float RefRGB;
        readonly float UpdateRate;
        readonly Point2f[] PointsDst40 = new Point2f[] {
                new Point2f(345, 130),new Point2f(465, 130),new Point2f(465, 250),new Point2f(345, 250),
            };
        readonly Point2f[] PointsDst41 = new Point2f[]{
                new Point2f(345, 1200), new Point2f(465, 1200), new Point2f(465, 1320), new Point2f(345, 1320),
            };

        IntPtr _hCam = IntPtr.Zero;
        PictureBox _picPreview, _picDisplay;
        Form1 _form;
        bool _isPreview = false;
        bool _check = false;
        int _calibrating = 0;
        bool _calibrated = false;
        dll.LucamSnapshot _snap;
        dll.LucamConversion _convert;
        dll.LucamRgbPreviewCallback _callbackHandler;
        int _callbackId;
        Bitmap[] _bmps = new Bitmap[2];
        int _bmpIndex = 0;
        List<Mat> _chartMasks = new List<Mat>();
        int _detectionCount = 0;
        Point2f _lastPosition = new Point2f(0, 0);

        /// <summary>
        /// コンストラクタ
        /// </summary>
        /// <param name="preview"></param>
        /// <param name="display"></param>
        public Lucam(Form1 form, PictureBox preview, PictureBox display) {
            _picPreview = preview;
            _picDisplay = display;
            _form = form;

            Config.Load();
            RefRGB = Config.GetFloat("ReferenceValue");
            UpdateRate = Config.GetFloat("UpdateRate");

            // カメラパラメータの初期値
            _snap.BufferLastFrame = false;
            _snap.Exposure = Config.GetFloat("Exposure");
            _snap.ExposureDelay = 0;
            _snap.flReserved1 = 0;
            _snap.flReserved2 = 0;
            _snap.Format.BinningX = 1;
            _snap.Format.BinningY = 1;
            _snap.Format.FlagsX = 0;
            _snap.Format.FlagsY = 0;
            _snap.Format.Height = 1024;
            _snap.Format.PixelFormat = dll.LucamPixelFormat.PF_8;
            _snap.Format.SubSampleX = 1;
            _snap.Format.SubSampleY = 1;
            _snap.Format.Width = 1280;
            _snap.Format.X = 0;
            _snap.Format.Y = 0;
            _snap.Gain = Config.GetFloat("Gain");
            _snap.GainBlue = Config.GetFloat("GainB");
            _snap.GainGrn1 = Config.GetFloat("GainG");
            _snap.GainGrn2 = _snap.GainGrn1;
            _snap.GainRed = Config.GetFloat("GainR");
            _snap.ShutterType = dll.LucamShutterType.GlobalShutter;
            _snap.StrobeDelay = 0.1f;
            _snap.StrobeFlags = 0;
            _snap.Timeout = 5000;
            _snap.ulReserved2 = 0;
            _snap.UseHwTrigger = false;

            _convert.DemosaicMethod = dll.LucamDemosaicMethod.HIGH_QUALITY;
            _convert.CorrectionMatrix = dll.LucamCorrectionMatrix.LED;
        }

        /// <summary>
        /// カメラ接続
        /// </summary>
        /// <returns></returns>
        public bool Connect() {
            var numCam = dll.LucamNumCameras();
            if ( numCam < 1 ) {
                ErrorMsg = "カメラが見つかりません．\r\n終了します．";
                return false;
            }
            if (numCam > 1) {
                ErrorMsg = "複数のカメラが見つかりました．\r\n正しいカメラを１つ接続してください．\r\n終了します．";
                return false;
            }

            // カメラのデバイス情報取得
            var lumVersion = new dll.LucamVersion[numCam];
            lumVersion = api.EnumCameras();
            var id = 0;
            if (lumVersion[id].CameraId == 0x49f) DeviceName = "Lw110";
            SerialNumber = lumVersion[id].SerialNumber.ToString();

            // カメラを開く
            _hCam = api.CameraOpen(1);
            if (_hCam == IntPtr.Zero) {
                ErrorMsg = "カメラの接続に失敗しました．\r\n他のアプリケーションでカメラを使用していないか確認してください．\r\n終了します．";
                return false;
            }

            // プレビューコールバックの登録
            _callbackHandler = new dll.LucamRgbPreviewCallback(PreviewCallback);
            _callbackId = dll.LucamAddRgbPreviewCallback(_hCam, _callbackHandler, IntPtr.Zero, dll.LucamPixelFormat.PF_24);
            if (_callbackId == -1) {
                ErrorMsg = "コールバックの登録に失敗しました．\r\n終了します．";
                return false;
            }

            SetCameraParam(); // カメラパラメータの設定

            return true;
        }

        /// <summary>
        /// プレビュー開始・停止
        /// </summary>
        /// <returns></returns>
        public bool StartStopPreview() {
            if (_isPreview) {
                // プレビュー停止
                var ret = dll.LucamStreamVideoControl(_hCam, dll.LucamStreamMode.STOP_STREAMING, _picPreview.Handle.ToInt32());
                Debug.WriteLine("プレビュー停止");
                if (!ret) return false;
                _isPreview = false;
                return true;
            } else {
                // プレビュー開始
                var ret = dll.LucamStreamVideoControl(_hCam, dll.LucamStreamMode.START_DISPLAY, _picPreview.Handle.ToInt32());
                if (!ret) return false;
                _isPreview = true;
                return true;
            }
        }

        /// <summary>
        /// ゲイン値の更新比率計算
        /// </summary>
        /// <param name="value"></param>
        /// <returns></returns>
        private float GetRatio(float value, float target) {
            float ratio = target / value;
            ratio = (ratio - 1.0f) * (value == 255.0f ? 1.0f : UpdateRate) + 1.0f;
            return ratio;
        }

        /// <summary>
        /// チャートの検出
        /// </summary>
        /// <param name="img"></param>
        private void DetectChart(Mat img) {

            // ARマーカー検出
            CvAruco.DetectMarkers(img, ARDict, out var corners, out var ids,
                 new DetectorParameters(), out var rejectedImgPoints);
            if (ids.Length < 1) return;

            // マーカー座標格納
            var ptsPict = new List<Point2f>();
            var ptsModel = new List<Point2f>();
            Point2f position = new Point2f();
            for (int i = 0; i < ids.Length; i++) {
                if (ids[i] == 40) {
                    ptsPict.AddRange(corners[i]);
                    ptsModel.AddRange(PointsDst40);
                    position = corners[i][3];
                }
                if (ids[i] == 41) {
                    ptsPict.AddRange(corners[i]);
                    ptsModel.AddRange(PointsDst41);
                }
            }
            if (ptsPict.Count < 8) return;

            // チャートの固定判定
            var dist = (float)position.DistanceTo(_lastPosition);
            if (dist < Config.GetFloat("ChartSetCriteria")) {
                _detectionCount++;
            } else {
                _detectionCount = 0;
            }
            _lastPosition = position;
            if (_detectionCount < Config.GetInt("ChartSetCount")) return;

            // ホモグラフィの計算
            var matPtsPict = Mat.FromArray(ptsPict);
            var matPtsModel = Mat.FromArray(ptsModel);
            var matH = Cv2.FindHomography(matPtsModel, matPtsPict);
            var imgF = new Mat(1545, 810, MatType.CV_8UC3);
            Cv2.WarpPerspective(img, imgF, matH, imgF.Size());

            // チャートマスク作成
            _chartMasks.Clear();
            var roiSize = ptsPict.Count < 8 ? 60 : 80;
            for (int i = 0; i < 24; i++) {
                var row = i % 6;
                var col = i / 6;
                var x = 581 - col * 144 + (ptsPict.Count < 8 ? 10 : 0);
                var y = 318 + row * 144 + (ptsPict.Count < 8 ? 10 : 0);
                var roi = new Rect(x, y, roiSize, roiSize);
                using (var mask = new Mat(1545, 810, MatType.CV_8U)) {
                    Cv2.Rectangle(mask, roi, new Scalar(255), Cv2.FILLED);
                    var maskF = new Mat(img.Size(), MatType.CV_8U);
                    Cv2.WarpPerspective(mask, maskF, matH, maskF.Size());
                    _chartMasks.Add(maskF);
                    img.SetTo(new Scalar(0, 200, 0), maskF);
                }
            }
            Cv2.ImWrite("チャート検出結果.jpg", img);
            Debug.WriteLine("チャート検出結果.jpg 保存");

            _form.ShowMessage("舌診チャート検出　校正中");
            _calibrating = Config.GetInt("CalibrationFrames");
        }

        /// <summary>
        /// プレビューコールバック
        /// </summary>
        /// <param name="pContext"></param>
        /// <param name="pData">データポインタ</param>
        /// <param name="n">データサイズ</param>
        /// <param name="unused"></param>
        void PreviewCallback(IntPtr pContext, IntPtr pData, int n, uint unused) {
            using (Mat img = Mat.FromPixelData(_snap.Format.Height, _snap.Format.Width, MatType.CV_8UC3, pData)) {
                using (Mat imgt = img.T()) {
                    _bmps[_bmpIndex] = imgt.ToBitmap();

                    if (_calibrating > 0) {
                        var whitePatch = Cv2.Mean(imgt, _chartMasks[12]);
                        Debug.WriteLine($"White patch R {whitePatch.Val2:.00} G {whitePatch.Val1:.00} B {whitePatch.Val0:.00}");
                        if (_calibrating % Config.GetInt("CalibrationUpdateInterval") == 0) {
                            _snap.GainBlue *= GetRatio((float)whitePatch.Val0, Config.GetFloat("ReferenceB"));
                            _snap.GainGrn1 *= GetRatio((float)whitePatch.Val1, Config.GetFloat("ReferenceG"));
                            _snap.GainGrn2 = _snap.GainGrn1;
                            _snap.GainRed *= GetRatio((float)whitePatch.Val2, Config.GetFloat("ReferenceR"));
                            SetCameraParam();
                        }
                        _calibrating--;
                        if (_calibrating == 0) {
                            _form.ShowMessage("自動校正完了");
                            _form.EnableShots();
                            _calibrated = true;
                        }
                    }

                    if (!_calibrated && _calibrating == 0) {
                        DetectChart(imgt);
                    }
                }
            }
            _form.ShowImage(_bmps[_bmpIndex]);
            _bmpIndex = (_bmpIndex + 1) % 2;
            if (_bmps[_bmpIndex] != null) _bmps[_bmpIndex].Dispose();
        }

        /// <summary>
        /// 画像撮影１枚
        /// </summary>
        public void ShotOne() {
            Shot();
        }

        /// <summary>
        /// 複数画像撮影
        /// </summary>
        public void ShotMulti() {
            Shot(Config.GetInt("MultiShotCount"), Config.GetInt("MultiShotInterval"));
        }

        /// <summary>
        /// 撮影
        /// </summary>
        /// <param name="numImages"></param>
        /// <param name="interval"></param>
        private void Shot(int numImages = 1, int interval = 1000) {
            SetSnapParam();
            dll.LucamEnableFastFrames(_hCam, ref _snap);
            var imageSize = _snap.Format.Width * _snap.Format.Height;
            var rawImage = new byte[imageSize];
            var rgbImage = new byte[imageSize * 3];
            for (var i = 0; i < numImages; i++) {
                var ret = dll.LucamTakeFastFrame(_hCam, rawImage);
                //Debug.WriteLine(ret);
                if (i < numImages - 1) Thread.Sleep(interval);

                dll.LucamConvertFrameToRgb24(_hCam, rgbImage, rawImage,
                    _snap.Format.Width, _snap.Format.Height, dll.LucamPixelFormat.PF_8, ref _convert);
                using (Mat img = Mat.FromPixelData(_snap.Format.Height, _snap.Format.Width, MatType.CV_8UC3, rgbImage)) {
                    //Cv2.ImWrite($"orig_{i:00}.jpg", img);
                    using (Mat imgt = img.T()) {
                        Cv2.ImWrite($"snap_{i:00}.jpg", imgt);
                    }
                }
            }
            rgbImage = null;
            rawImage = null;

            dll.LucamDisableFastFrames(_hCam);
        }

        /// <summary>
        /// 校正　露光時間とホワイトバランスの自動調整
        /// </summary>
        public void Calibration() {
            Debug.WriteLine("校正前");
            SetSnapParam();
            _calibrating = 30;
        }

        /// <summary>
        /// 撮影パラメータの設定
        /// </summary>
        private void SetSnapParam() {
            dll.LucamPropertyFlag flag;
            dll.LucamGetProperty(_hCam, dll.LucamProperty.EXPOSURE, out _snap.Exposure, out flag);
            dll.LucamGetProperty(_hCam, dll.LucamProperty.GAIN, out _snap.Gain, out flag);
            dll.LucamGetProperty(_hCam, dll.LucamProperty.GAIN_BLUE, out _snap.GainBlue, out flag);
            dll.LucamGetProperty(_hCam, dll.LucamProperty.GAIN_GREEN1, out _snap.GainGrn1, out flag);
            dll.LucamGetProperty(_hCam, dll.LucamProperty.GAIN_GREEN2, out _snap.GainGrn2, out flag);
            dll.LucamGetProperty(_hCam, dll.LucamProperty.GAIN_RED, out _snap.GainRed, out flag);
            Debug.WriteLine($"SetSnapParam Exp {_snap.Exposure} Gain {_snap.Gain} GainBlue {_snap.GainBlue} GainGrn1 {_snap.GainGrn1} GainGrn2 {_snap.GainGrn2} GainRed {_snap.GainRed}");
        }

        /// <summary>
        /// カメラパラメータの設定
        /// </summary>
        private void SetCameraParam() {
            var flag = dll.LucamPropertyFlag.NONE;
            dll.LucamSetProperty(_hCam, dll.LucamProperty.EXPOSURE, _snap.Exposure, flag);
            dll.LucamSetProperty(_hCam, dll.LucamProperty.GAIN, _snap.Gain, flag);
            dll.LucamSetProperty(_hCam, dll.LucamProperty.GAIN_BLUE, _snap.GainBlue, flag);
            dll.LucamSetProperty(_hCam, dll.LucamProperty.GAIN_GREEN1, _snap.GainGrn1, flag);
            dll.LucamSetProperty(_hCam, dll.LucamProperty.GAIN_GREEN2, _snap.GainGrn2, flag);
            dll.LucamSetProperty(_hCam, dll.LucamProperty.GAIN_RED, _snap.GainRed, flag);
            Debug.WriteLine($"SetCameraParam Exp {_snap.Exposure} Gain {_snap.Gain} GainBlue {_snap.GainBlue} GainGrn1 {_snap.GainGrn1} GainGrn2 {_snap.GainGrn2} GainRed {_snap.GainRed}");
        }

        /// <summary>
        /// 動作チェック有効化
        /// </summary>
        public void Check() {
            _check = true;
        }

        /// <summary>
        /// カメラ切断
        /// </summary>
        public void Disconnect() {
            if (_hCam != IntPtr.Zero) {
                if (_isPreview) {
                    StartStopPreview();
                }
                api.CameraClose(_hCam);
                _hCam = IntPtr.Zero;
                Debug.WriteLine("カメラ切断");
            }
        }
    }
}