#include "RTC4Scanner.h"
#include "RTC4impl.h"
#include "../global.h"
#include "../Logger.h"
#include "../LanguageManager.h"
#include "../utils/MathHelper.h"

RTC4Scanner::RTC4Scanner(LaserCfg* cfg) :Scanner(cfg)
{
}


RTC4Scanner::~RTC4Scanner()
{
}

bool RTC4Scanner::Init()
{
#ifdef _DEBUG
	return true;
#endif
	m_output_vfactor = 1023.0 / 10.0;
	m_list_memory = 4000;
	m_kfactor = m_CorrectParamCfg->m_FactorK;
	m_xfactor = m_kfactor*m_CorrectParamCfg->m_xcorrect;
	m_yfactor = m_kfactor*m_CorrectParamCfg->m_ycorrect;

	short errorCode = 0;
	char buffer[512];
	sprintf_s(buffer, sizeof(buffer), "%sSLM%d.ctb", g_AppPath.c_str(), m_LaserCfg->m_Cno);
	string crtPath = string(buffer);
	errorCode = n_load_correction_file((unsigned short)m_LaserCfg->m_Cno, crtPath.c_str(), 1, 1.0, 1.0, m_CorrectParamCfg->m_angle, 0.0, 0.0);
	if (errorCode) {
		g_log->TraceError(g_LngManager->Log_LoadCorrectFileError->ShowText());
		m_InitErrorInfos.push_back(g_LngManager->Log_LoadCorrectFileError->ShowText());
		return false;
	}
	string pfilePath = g_AppPath + "SLM.hex";
	errorCode = n_load_program_file((unsigned short)m_LaserCfg->m_Cno, pfilePath.c_str());
	if (errorCode) {
		g_log->TraceError(g_LngManager->Log_LoadRTCFileError->ShowText());
		m_InitErrorInfos.push_back(g_LngManager->Log_LoadRTCFileError->ShowText());
		return false;
	}
	n_select_cor_table((unsigned short)m_LaserCfg->m_Cno, 1, 0);
	n_set_laser_mode((unsigned short)m_LaserCfg->m_Cno, 4);
	unsigned short power = 1023.0* m_PowerCompensateCfg->CalcPowerCompensate((float)m_ScanTestCfg->m_laser_power) / 100.0;

	unsigned short jumpDelay = m_ScanParamCfg->m_jump_delay / 10;
	unsigned short markDelay = m_ScanParamCfg->m_scan_delay / 10;
	unsigned short polygonDelay = m_ScanParamCfg->m_polygon_delay / 10;

	double markspeed = m_kfactor* m_ScanParamCfg->m_mark_speed / 1000.0;
	double jumpspeed = m_kfactor* m_ScanParamCfg->m_jump_speed / 1000.0;
	unsigned short edgeLevel = m_ScanParamCfg->m_edge_level / 10;
	unsigned short minJumpDelay = m_ScanParamCfg->m_min_jump_delay / 10;

	float xoffset = m_CorrectParamCfg->m_xposfix*cos(m_CorrectParamCfg->m_angle*MathHelper::m_PI / 180.0) - m_CorrectParamCfg->m_yoffset*sin(m_CorrectParamCfg->m_angle*MathHelper::m_PI / 180.0);
	float yoffset = m_CorrectParamCfg->m_xposfix*sin(m_CorrectParamCfg->m_angle*MathHelper::m_PI / 180.0) + m_CorrectParamCfg->m_yoffset*cos(m_CorrectParamCfg->m_angle*MathHelper::m_PI / 180.0);
	n_set_start_list((unsigned short)m_LaserCfg->m_Cno, 1);
	n_set_scanner_delays((unsigned short)m_LaserCfg->m_Cno, jumpDelay, markDelay, polygonDelay);
	n_set_laser_delays((unsigned short)m_LaserCfg->m_Cno, (short)m_ScanParamCfg->m_laseron_delay, (short)m_ScanParamCfg->m_laseroff_delay);
	n_set_delay_mode((unsigned short)m_LaserCfg->m_Cno, 1, 0, edgeLevel, minJumpDelay, (unsigned int)(m_ScanParamCfg->m_jump_length_limit*m_kfactor));
	n_set_jump_speed((unsigned short)m_LaserCfg->m_Cno, jumpspeed);
	n_set_mark_speed((unsigned short)m_LaserCfg->m_Cno, markspeed);
	n_write_da_1_list((unsigned short)m_LaserCfg->m_Cno, power);
	n_set_offset_list((unsigned short)m_LaserCfg->m_Cno, (short)(xoffset*m_xfactor), (short)(yoffset*m_yfactor));
	n_set_end_of_list((unsigned short)m_LaserCfg->m_Cno);
	ListExecute(1, true);
	return true;
}

bool RTC4Scanner::PreInit(unsigned int &card_count)
{
	card_count = rtc4_count_cards();
	g_ScanSerial = get_serial_number();
	return true;
}

int RTC4Scanner::GetSerialNo(unsigned int no)
{
	return n_get_serial_number(no);
}

bool RTC4Scanner::StopWork()
{
	n_stop_execution((unsigned short)m_LaserCfg->m_Cno);
	return true;
}


void RTC4Scanner::LoadList(unsigned int listid, bool wait)
{
	if (wait) {
		bool isbreak = false;
		unsigned short busy, position;
		while (true) {
			n_get_status((unsigned short)m_LaserCfg->m_Cno, &busy, &position);
			if (busy) {
				if (listid == 2) {
					if (position >= 4000) {
						Sleep(10);
					}
					else {
						break;
					}
				}
				else {
					if (position < 4000) {
						Sleep(10);
					}
					else {
						break;
					}
				}
			}
			else {
				break;
			}
			if (m_print_state == BaseCtrl::STOP) {
				isbreak = true;
				break;
			}
		}
		if (!isbreak)
		{
			n_set_start_list((unsigned short)m_LaserCfg->m_Cno, listid);
		}
	}
	else {
		n_set_start_list((unsigned short)m_LaserCfg->m_Cno, listid);
	}
}

void RTC4Scanner::EndList()
{
	n_set_end_of_list((unsigned short)m_LaserCfg->m_Cno);
}


void RTC4Scanner::ListExecute(unsigned int listid, bool wait)
{
	n_execute_list((unsigned short)m_LaserCfg->m_Cno, (unsigned short)listid);
	unsigned short Busy(0), Pos(0);
	if (wait) {
		do
		{
			Sleep(20);
			n_get_status((unsigned short)m_LaserCfg->m_Cno, &Busy, &Pos);
			if (m_print_state == BaseCtrl::STOP) {
				break;
			}
		} while (Busy);
	}
}

void RTC4Scanner::AutoChangeList()
{
	n_auto_change((unsigned short)m_LaserCfg->m_Cno);
}

void RTC4Scanner::WaitListFree()
{
	unsigned short Busy(0), Pos(0);
	do
	{
		Sleep(10);
		n_get_status((unsigned short)m_LaserCfg->m_Cno, &Busy, &Pos);
		if (m_print_state == BaseCtrl::STOP) {
			break;
		}
	} while (Busy);
}

void RTC4Scanner::SetScanSpeed(double fspeed)
{
	double speed = fspeed / 1000.0*m_kfactor;
	n_set_mark_speed((unsigned short)m_LaserCfg->m_Cno, speed);
}

void RTC4Scanner::SetPower(double watt)
{
	unsigned short power = 1023.0*watt / 100.0;
	if (power > 1023)power = 1023;
	n_write_da_1_list((unsigned short)m_LaserCfg->m_Cno, power);
}

void RTC4Scanner::AddVector(double startx, double starty, double endx, double endy)
{

	int lstartx = (int)round(startx*m_xfactor);
	int lstarty = (int)round(starty*m_yfactor);
	int lendx = (int)round(endx*m_xfactor);
	int lendy = (int)round(endy*m_yfactor);
	if (lstartx > SHRT_MAX) {
		lstartx = SHRT_MAX;
	}
	if (lstartx < SHRT_MIN) {
		lstartx = SHRT_MIN;
	}
	if (lstarty > SHRT_MAX) {
		lstarty = SHRT_MAX;
	}
	if (lstarty < SHRT_MIN) {
		lstarty = SHRT_MIN;
	}
	if (lendx > SHRT_MAX)
	{
		lendx = SHRT_MAX;
	}
	if (lendx < SHRT_MIN) {
		lendx = SHRT_MIN;
	}
	if (lendy > SHRT_MAX)
	{
		lendy = SHRT_MAX;
	}
	if (lendy < SHRT_MIN) {
		lendy = SHRT_MIN;
	}
	n_jump_abs((unsigned short)m_LaserCfg->m_Cno, lstartx, lstarty);
	n_mark_abs((unsigned short)m_LaserCfg->m_Cno, lendx, lendy);
}

void RTC4Scanner::ListNop()
{
	n_list_nop((unsigned short)m_LaserCfg->m_Cno);
}

void RTC4Scanner::JumpAbs(double x, double y)
{
	int lx = (int)round(x*m_xfactor);
	int ly = (int)round(y*m_yfactor);
	if (lx > SHRT_MAX) {
		lx = SHRT_MAX;
	}
	if (lx < SHRT_MIN)
	{
		lx = SHRT_MIN;
	}
	if (ly > SHRT_MAX) {
		ly = SHRT_MAX;
	}
	if (ly < SHRT_MIN)
	{
		ly = SHRT_MIN;
	}
	n_jump_abs((unsigned short)m_LaserCfg->m_Cno, lx, ly);
}

void RTC4Scanner::MarkAbs(double x, double y)
{
	int lx = (int)round(x*m_xfactor);
	int ly = (int)round(y*m_yfactor);
	if (lx > SHRT_MAX) {
		lx = SHRT_MAX;
	}
	if (lx < SHRT_MIN) {
		lx = SHRT_MIN;
	}
	if (ly > SHRT_MAX) {
		ly = SHRT_MAX;
	}
	if (ly < SHRT_MIN) {
		ly = SHRT_MIN;
	}
	n_mark_abs((unsigned short)m_LaserCfg->m_Cno, lx, ly);
}

void RTC4Scanner::ScanDebug()
{
	unsigned short power = (unsigned short)(1023.0*m_PowerCompensateCfg->CalcPowerCompensate((float)m_ScanTestCfg->m_laser_power) / 100.0);
	if (power > 1023)power = 1023;
	double markspeed = m_kfactor*m_ScanParamCfg->m_mark_speed / 1000.0;
	n_set_start_list((unsigned short)m_LaserCfg->m_Cno, 1);
	n_write_da_1_list((unsigned short)m_LaserCfg->m_Cno, power);
	n_set_mark_speed((unsigned short)m_LaserCfg->m_Cno, markspeed);
	if (m_ScanParamCfg->m_IsDynamicFocus) {
		short df = m_ScanTestCfg->m_defocus*m_zfactor;
		n_set_defocus_list((unsigned short)m_LaserCfg->m_Cno, df);
	}
	else {
		n_set_defocus_list((unsigned short)m_LaserCfg->m_Cno, 0);
	}
	n_set_end_of_list((unsigned short)m_LaserCfg->m_Cno);
	ListExecute(1, true);
	do {
		ScanTestProc();
		Sleep(20);
	} while (m_ScanTestCfg->m_is_cycle && m_DebugFlag);
}

void RTC4Scanner::ScanTestProc()
{
	int shapeSize = m_ScanTestCfg->m_shape_size;
	switch (m_ScanTestCfg->m_debug_shape) {
	case 0: {
		double xoffset = m_ScanTestCfg->m_cross_x*cos(m_CorrectParamCfg->m_angle*MathHelper::m_PI / 180.0) - m_ScanTestCfg->m_cross_y*sin(m_CorrectParamCfg->m_angle*MathHelper::m_PI / 180.0);
		double yoffset = m_ScanTestCfg->m_cross_x*sin(m_CorrectParamCfg->m_angle*MathHelper::m_PI / 180.0) + m_ScanTestCfg->m_cross_y*cos(m_CorrectParamCfg->m_angle*MathHelper::m_PI / 180.0);
		double tempx = xoffset - shapeSize / 2;
		double tempy = yoffset + shapeSize / 2;
		n_set_start_list((unsigned short)m_LaserCfg->m_Cno, 1);
		JumpAbs(tempx, yoffset);
		MarkAbs(tempx + shapeSize, yoffset);
		JumpAbs(xoffset, tempy);
		MarkAbs(xoffset, tempy - shapeSize);
		n_set_end_of_list((unsigned short)m_LaserCfg->m_Cno);
		ListExecute(1, true);
	}break;
	case 1: {
		float sqlength = (float)shapeSize / 2;
		double xoffset = m_ScanTestCfg->m_cross_x*cos(m_CorrectParamCfg->m_angle*MathHelper::m_PI / 180.0) - m_ScanTestCfg->m_cross_y*sin(m_CorrectParamCfg->m_angle*MathHelper::m_PI / 180.0);
		double yoffset = m_ScanTestCfg->m_cross_x*sin(m_CorrectParamCfg->m_angle*MathHelper::m_PI / 180.0) + m_ScanTestCfg->m_cross_y*cos(m_CorrectParamCfg->m_angle*MathHelper::m_PI / 180.0);
		polygon square[] = {
			-sqlength + xoffset, -sqlength + yoffset,
			-sqlength + xoffset,  sqlength + yoffset,
			sqlength + xoffset,  sqlength + yoffset,
			sqlength + xoffset, -sqlength + yoffset,
			-sqlength + xoffset, -sqlength + yoffset
		};
		int sqsize = (sizeof(square) / sizeof(polygon));
		n_set_start_list((unsigned short)m_LaserCfg->m_Cno, 1);
		JumpAbs(square[0].xval, square[0].yval);
		for (int i = 1; i < sqsize; i++) {
			MarkAbs(square[i].xval, square[i].yval);
		}
		n_set_end_of_list((unsigned short)m_LaserCfg->m_Cno);
		ListExecute(1, true);
	}break;
	case 2: {
		n_set_start_list(m_LaserCfg->m_Cno, 1);
		n_set_defocus_list(m_LaserCfg->m_Cno, 0);
		JumpAbs(m_ScanTestCfg->m_cross_x, m_ScanTestCfg->m_cross_y);
		n_set_end_of_list(m_LaserCfg->m_Cno);
		ListExecute(1, true);
		Sleep(200);
		n_laser_signal_on(m_LaserCfg->m_Cno);
		DWORD  tflag = GetTickCount();
		while (m_DebugFlag) {
			Sleep(20);
			DWORD tnow = GetTickCount();
			unsigned int dif = tnow - tflag;
			if (dif >= m_ExtCfg->m_TestEmissionTime) {
				m_DebugFlag = false;
				if (m_ScanTestCfg->m_is_cycle) {
					m_ScanTestCfg->m_is_cycle = false;
				}
				//StopWork();
			}
		}
		n_laser_signal_off(m_LaserCfg->m_Cno);
	}break;
	case 3: {
		n_set_defocus_list((unsigned short)m_LaserCfg->m_Cno, 0);
		Sleep(10);
		long zlength = n_get_z_distance((unsigned short)m_LaserCfg->m_Cno, m_ScanTestCfg->m_cross_x*m_xfactor, m_ScanTestCfg->m_cross_y*m_yfactor, 0);
		if (m_zfactor != 0.0) {
			m_ScanTestCfg->m_z_distance = (double)zlength / m_zfactor;
		}
	}break;
	}
}

void RTC4Scanner::UpdateSetting()
{
	unsigned short power = 1023.0* m_PowerCompensateCfg->CalcPowerCompensate((float)m_ScanTestCfg->m_laser_power) / 100.0;
	if (power > 1023)power = 1023;
	unsigned short jumpDelay = m_ScanParamCfg->m_jump_delay / 10;
	unsigned short markDelay = m_ScanParamCfg->m_scan_delay / 10;
	unsigned short polygonDelay = m_ScanParamCfg->m_polygon_delay / 10;

	double markspeed = m_kfactor* m_ScanParamCfg->m_mark_speed / 1000.0;
	double jumpspeed = m_kfactor* m_ScanParamCfg->m_jump_speed / 1000.0;
	unsigned short edgeLevel = m_ScanParamCfg->m_edge_level / 10;
	unsigned short minJumpDelay = m_ScanParamCfg->m_min_jump_delay / 10;
	n_set_start_list((unsigned short)m_LaserCfg->m_Cno, 1);
	n_write_da_1_list((unsigned short)m_LaserCfg->m_Cno, power);
	n_set_scanner_delays((unsigned short)m_LaserCfg->m_Cno, jumpDelay, markDelay, polygonDelay);
	n_set_laser_delays((unsigned short)m_LaserCfg->m_Cno, (short)m_ScanParamCfg->m_laseron_delay, (short)m_ScanParamCfg->m_laseroff_delay);
	n_set_delay_mode((unsigned short)m_LaserCfg->m_Cno, 1, 0, edgeLevel, minJumpDelay, (unsigned int)(m_ScanParamCfg->m_jump_length_limit*m_kfactor));
	n_set_jump_speed((unsigned short)m_LaserCfg->m_Cno, jumpspeed);
	n_set_mark_speed((unsigned short)m_LaserCfg->m_Cno, markspeed);
	n_set_end_of_list((unsigned short)m_LaserCfg->m_Cno);
	ListExecute(1, true);
}

void RTC4Scanner::SetXyOffset(float x, float y)
{
	short bitx = x*m_xfactor*m_scaleX;
	short bity = y*m_yfactor*m_scaleY;
	n_set_offset((unsigned short)m_LaserCfg->m_Cno, bitx, bity);
}


void RTC4Scanner::SetAngle(double angle)
{
	double m11 = cos(angle*MathHelper::m_PI / 180.0);
	double m12 = -sin(angle*MathHelper::m_PI / 180.0);
	double m21 = sin(angle*MathHelper::m_PI / 180.0);
	double m22 = cos(angle*MathHelper::m_PI / 180.0);
	n_set_matrix((unsigned short)m_LaserCfg->m_Cno, m11, m12, m21, m22);
}