#include "hd_mvcamera_module.h"
std::mutex moduleMutex;//掉线锁
int reconnectCount = 0;
int SearchDevice();
void __stdcall ImageCallBackEx(unsigned char* pData0, MV_FRAME_OUT_INFO_EX* pFrameInfo0, void* pUser0);
//0106 断连提示
void _stdcall ExceptionCB(unsigned int nMesgType, void* pUser) {
    mv_Status = "disconnect";
    qDebug() << "[Error] " << " MV camera disconnects!trying to reconnect";
    //moduleMutex.lock();
    reconnectCount++;
    //消除句柄关闭相机 
    MV_CC_StopGrabbing(handle);
    MV_CC_CloseDevice(handle);
    MV_CC_DestroyHandle(handle);
    //尝试重连
    while (1)
    {
        SearchDevice();
        unsigned char* serialNumber = m_stDevList.pDeviceInfo[index]->SpecialInfo.stGigEInfo.chSerialNumber;
        string userName = static_cast<string>((LPCSTR)serialNumber);
        qDebug() << "[INFO] " << " start" << "--UserName:" << QString::fromStdString(userName);
        if (handle != NULL)
        {
            MV_CC_CreateHandle(&handle, m_stDevList.pDeviceInfo[index]);
            int nRet = MV_CC_OpenDevice(handle);
            ////触发模式
            MV_CC_SetEnumValue(handle, "TriggerSource", MV_TRIGGER_SOURCE_SOFTWARE);
            MV_CC_SetEnumValue(handle, "TriggerMode", MV_TRIGGER_MODE_ON);
            //   //加载用户集
            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
            nRet = MV_CC_RegisterExceptionCallBack(handle, ExceptionCB, NULL);//注册报警回调
            MV_CC_StartGrabbing(handle);
            //moduleMutex.unlock();
            break;
        }
        _sleep(100);
    }
}
int RGB2BGR(unsigned char* pRgbData, unsigned int nWidth, unsigned int nHeight)
{

    if (NULL == pRgbData)
    {
        return MV_E_PARAMETER;
    }

    for (unsigned int j = 0; j < nHeight; j++)
    {
        for (unsigned int i = 0; i < nWidth; i++)
        {
            unsigned char red = pRgbData[j * (nWidth * 3) + i * 3];
            pRgbData[j * (nWidth * 3) + i * 3] = pRgbData[j * (nWidth * 3) + i * 3 + 2];
            pRgbData[j * (nWidth * 3) + i * 3 + 2] = red;
        }
    }

    return MV_OK;

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

void destory(Hd_MvCamera_module* ptr)
{
    if (ptr)
    {
        delete  ptr;
        ptr = nullptr;
    }
    qDebug() << "[INFO] " << "Hd_MvCamera_module  destory success!";
}
/// <summary>
/// 回调取图
/// </summary>
void __stdcall ImageCallBackEx(unsigned char* pData0, MV_FRAME_OUT_INFO_EX* pFrameInfo0, void* pUser0)
{
    double time_Start = (double)clock();
    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_RGB8_Packed)
        {
            RGB2BGR(pData0, pFrameInfo0->nWidth, pFrameInfo0->nHeight);
            srcImage = cv::Mat(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC3, pData0);

            //cvtColor(srcImage, srcImage, COLOR_RGB2BGR);//导致异色
        }
        else if (pFrameInfo0->enPixelType == PixelType_Gvsp_HB_YUV422_YUYV_Packed) {
            srcImage = cv::Mat(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC2, pData0);
            cv::cvtColor(srcImage, srcImage, cv::COLOR_YUV2BGR_UYVY);

        }
        //获取的是yuv或bayer图
        else if (pFrameInfo0->enPixelType == PixelType_Gvsp_YUV422_Packed || pFrameInfo0->enPixelType == PixelType_Gvsp_BayerRG8)
        {
            MvGvspPixelType enDstPixelType = PixelType_Gvsp_Undefined;
            enDstPixelType = PixelType_Gvsp_BGR8_Packed;
            unsigned int nConvertDataSize = pFrameInfo0->nWidth * pFrameInfo0->nHeight * 3;
            unsigned char* pConvertData = (unsigned char*)malloc(nConvertDataSize);
            if (NULL == pConvertData)
            {
                printf("malloc pConvertData1 fail!\n");
                m_flag = true;
                srcImage = cv::Mat(5, 5, CV_8UC1).setTo(0);
                return;
            }
            MV_CC_PIXEL_CONVERT_PARAM stConvertParam = { 0 };
            stConvertParam.nWidth = pFrameInfo0->nWidth;
            stConvertParam.nHeight = pFrameInfo0->nHeight;
            stConvertParam.pSrcData = pData0;
            stConvertParam.nSrcDataLen = pFrameInfo0->nFrameLen;
            stConvertParam.enSrcPixelType = pFrameInfo0->enPixelType;
            stConvertParam.enDstPixelType = enDstPixelType;
            stConvertParam.pDstBuffer = pConvertData;
            stConvertParam.nDstBufferSize = nConvertDataSize;

            int nRet = MV_CC_ConvertPixelType(handle, &stConvertParam);
            if (MV_OK == nRet)
            {
                srcImage = cv::Mat::zeros(cv::Size(pFrameInfo0->nWidth, pFrameInfo0->nHeight), CV_8UC3);
                memcpy(srcImage.data, stConvertParam.pDstBuffer, nConvertDataSize);
                //Mat mysrcImage = cv::Mat(mypFrameInfo->nHeight, mypFrameInfo->nWidth, CV_8UC3, stConvertParam.pDstBuffer);
                //mysrcImage.copyTo(srcImage);
                //mysrcImage.release();                
                stConvertParam = { 0 };
            }
            else
            {
                srcImage = cv::Mat(0, 0, CV_8UC3).setTo(0);
            }
            if (pConvertData)
            {
                free(pConvertData);
                pConvertData = NULL;
            }
        }
    }
    if (!srcImage.empty())
    {
        m_flag = true;
        double time_End = (double)clock();
        //imwrite("C://" + to_string(clock()) + "X.bmp", srcImage);
        //统计图片成像时间
        qDebug() << "[INFO] " << " srcImage Exist,Time:" << (time_End - time_Start) / 1000.0 << "s" << "--CameraName:" << QString::fromStdString(Username);
    }

    pData0 = { 0 };
}

//搜索所有设备
int SearchDevice()
{
    memset(&m_stDevList, 0, sizeof(MV_CC_DEVICE_INFO_LIST));

    // ch:枚举子网内所有设备 | en:Enumerate all devices within subnet
    int nRet = MV_CC_EnumDevices(MV_GIGE_DEVICE || MV_USB_DEVICE, &m_stDevList);
    for (int i = 0; i < m_stDevList.nDeviceNum; i++)
    {
        unsigned char* name = m_stDevList.pDeviceInfo[i]->SpecialInfo.stGigEInfo.chSerialNumber;
        string serialNumber = static_cast<string>((LPCSTR)name);
        if (Username == serialNumber)
        {
            index = i;
            break;
        }
    }
    if (MV_OK != nRet)
    {
        return 0;
    }
    return -1;
}

Hd_MvCamera_module::Hd_MvCamera_module()
{
    m_thread = new MyThread;
}

void CloseDevice()
{
    MV_CC_StopGrabbing(handle);
    MV_CC_CloseDevice(handle);
    MV_CC_DestroyHandle(handle);
}
Hd_MvCamera_module::~Hd_MvCamera_module()
{
    CloseDevice();
    if (m_thread)
    {
        m_thread->exit();
        m_thread->wait(1);
        delete m_thread;
        m_thread = nullptr;
    }

    qDebug() << "[INFO] " << " delete success!";
}

bool Hd_MvCamera_module::sendData(std::vector<cv::Mat>& mat, QByteArray& data)
{

    QString inputString = QString::fromUtf8(data);
    if (data == "connect")
    {
        data = mv_Status;
        return true;
    }
    int underscorePos = inputString.indexOf('_');
    if (underscorePos != -1) {
        QString command = inputString.left(underscorePos);
        QString value = inputString.mid(underscorePos + 1);
        if (command == "userset")
            return false;
        else if (command == "exposure")
        {
            int nRet = MV_CC_SetFloatValue(handle, "ExposureTime", value.toFloat());
            if (nRet != MV_OK)
            {
                cout << "exposure set fail!" << inputString.toStdString() << endl;

            }
        }
    }
    else
    {
        if (srcImage.empty())
        {
            return false;
        }
        mat.push_back(srcImage);
        srcImage.release();

    }
    return true;
}


bool Hd_MvCamera_module::reciveData(std::vector<cv::Mat>& mat, QByteArray& data)
{
    m_flag = false;
    Username = data.toStdString();
    return true;
}

bool Hd_MvCamera_module::initParas(QByteArray&)
{

    if (!Username.compare("dummy"))
    {
        qDebug() << "[INFO] " << " start" << "--UserName: dummy creat sucess";
        return true;
    }
    SearchDevice();
    unsigned char* serialNumber = m_stDevList.pDeviceInfo[index]->SpecialInfo.stGigEInfo.chSerialNumber;
    string userName = static_cast<string>((LPCSTR)serialNumber);
    qDebug() << "[INFO] " << " start" << "--UserName:" << QString::fromStdString(userName);
    if (handle != NULL)
    {
        MV_CC_StopGrabbing(handle);
        MV_CC_CloseDevice(handle);
        MV_CC_DestroyHandle(handle);
        return false;
    }

    //打开相机
    MV_CC_CreateHandle(&handle, m_stDevList.pDeviceInfo[index]);
    int nRet = MV_CC_OpenDevice(handle);
    ////触发模式
    MV_CC_SetEnumValue(handle, "TriggerSource", MV_TRIGGER_SOURCE_SOFTWARE);
    MV_CC_SetEnumValue(handle, "TriggerMode", MV_TRIGGER_MODE_ON);
    //   //加载用户集
    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, ExceptionCB, NULL);//注册报警回调
    if (MV_OK != nRet)
        return false;
    MV_CC_StartGrabbing(handle);


    return true;
}

bool Hd_MvCamera_module::run()
{
    qDebug() << "[INFO] " << " run start" << QString::fromStdString(Username);
    try
    {

        m_thread->start();
        int reconnectSign = reconnectCount;
        while (true)
        {
            if(reconnectCount!= reconnectSign)
                m_thread->start();
            if (m_flag)
            {
                break;
            }
            QThread::msleep(1);
        }
        m_flag = false;

    }
    catch (QString ev)
    {
        qDebug() << "[Error] " << " ev:" << ev;
    }
    qDebug() << "[INFO] " << __LINE__ << " run end";
    return true;
}


void MyThread::run()
{
    MV_CC_SetCommandValue(handle, "TriggerSoftware");
}