#include "specificareaswidget.h"
#include "ui_specificareaswidget.h"

#include "deviceproxy.h"
#include "deviceinfo.h"

#include <QFile>
#include <QFileDialog>
#include <QMessageBox>
#include <QMouseEvent>
#include <QPainter>
#include <QPixmap>
#include <QDataStream>
#include <QBuffer>

#include <QTcpServer>
#include <QTcpSocket>
#include <QVector3D>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <dirent.h>
#include <string>
#include <vector>
#include <algorithm>
#include <QtCore/QDebug>
#include <QtGui/QImage>
#include "opencv2/core/core.hpp"
#include "opencv2/opencv.hpp"
#include "rs_settings.h"
#define NUMBER 3
QImage* img=new QImage;
cv::Mat imgcv;//拼接完成的图片
QImage* qimgRecv;//从python返回的img转化为qimage
cv::Mat imgRecv;//从python返回的img


SpecificAreasWidget::SpecificAreasWidget(QWidget *parent) :
    QDialog(parent),
    ui(new Ui::SpecificAreasWidget)
{
    ui->setupUi(this);
    this->setMouseTracking(true);
    ui->lbImage->setMouseTracking(true);

    connect(DEV,SIGNAL(ShowMergeSGL()),this,SLOT(ShowMergeSlots()));
//    Sleep(50);
//    if (DEV->srcImgs.size() > 0)
//    {
//        imgcv = DEV->Func_merge(200,500);
//        *img = QImage(imgcv.data, imgcv.cols, imgcv.rows, QImage::Format_RGB888);
//        //调用完成之后把img显示在窗口上

//        if((double)img->width()/(double)ui->lbImage->width() >= (double)img->height()/(double)ui->lbImage->height())
//            Mul=(double)img->width()/(double)ui->lbImage->width();
//        else
//            Mul=(double)img->height()/(double)ui->lbImage->height();

//        ui->edLog->append("缩放倍数：" + QString::number(Mul,'f',3));

//        *scaledimg=img->scaled(ui->lbImage->width(),ui->lbImage->height(),Qt::KeepAspectRatio);
//        *scaledimgInit = scaledimg->copy();
//        ui->lbImage->setPixmap(QPixmap::fromImage(*scaledimg));
//    }



}

SpecificAreasWidget::~SpecificAreasWidget()
{
    delete ui;
}



//显示窗口上的坐标
void SpecificAreasWidget::mouseMoveEvent(QMouseEvent *e)
{

    if(        e->x() >= ui->lbImage->pos().x()
            && e->y() >= ui->lbImage->pos().y()
            && e->x() <= ui->lbImage->pos().x() + scaledimg->width()
            && e->y() <= ui->lbImage->pos().y() + scaledimg->height() )
    {
        int x = (e->x()-ui->lbImage->pos().x()) * Mul;
        int y = (e->y()-ui->lbImage->pos().y()) * Mul;
        QString strX;
        QString strY;

        strX = QString::number(x,10);
        strY = QString::number(y,10);

        QString strCoordinate = "坐标: ( " + strX + ", " + strY + " )";
        //ui->labCoordinate->setText(strCoordinate);
    }
}
////点击绘制坐标点
void SpecificAreasWidget::mousePressEvent(QMouseEvent *e)
{
    int lx = ui->lbImage->pos().x();
    int ly = ui->lbImage->pos().y();

    if(        e->x() >= ui->lbImage->pos().x()
            && e->y() >= ui->lbImage->pos().y()
            && e->x() <= ui->lbImage->pos().x() + scaledimg->width()
            && e->y() <= ui->lbImage->pos().y() + scaledimg->height() )
    {
        int x = (e->x()-ui->lbImage->pos().x()) * Mul;
        int y = (e->y()-ui->lbImage->pos().y()) * Mul;
        QString strX;
        QString strY;

        strX = QString::number(x,10);
        strY = QString::number(y,10);
        QString strCoordinate;

        QVector<int> vec;
        vec.append(x);
        vec.append(y);

        if(e->buttons() == Qt::LeftButton)
        {
            vec.append(1);
            strCoordinate = "添加坐标: ( " + strX + ", " + strY + ", 1" + " )";

            QPainter painter(scaledimg); // 创建一个QPainter对象，用于绘制图形
            painter.setRenderHint(QPainter::Antialiasing); // 设置抗锯齿
            QPen pen(Qt::red, 2); // 创建画笔对象，颜色为黑色，线宽为2像素
            painter.setPen(pen);
            painter.drawLine(e->x()-lx-5, e->y()-ly-5,e->x()-lx+5, e->y()-ly+5);
            painter.drawLine(e->x()-lx-5, e->y()-ly+5,e->x()-lx+5, e->y()-ly-5);
            ui->lbImage->setPixmap(QPixmap::fromImage(*scaledimg));
        }
        else if(e->buttons() == Qt::RightButton)
        {
            vec.append(0);
            strCoordinate = "添加坐标: ( " + strX + ", " + strY + ", 0" + " )";

            QPainter painter(scaledimg); // 创建一个QPainter对象，用于绘制图形
            painter.setRenderHint(QPainter::Antialiasing); // 设置抗锯齿
            QPen pen(Qt::blue, 2); // 创建画笔对象，颜色为黑色，线宽为2像素
            painter.setPen(pen);
            painter.drawLine(e->x()-lx-5, e->y()-ly-5,e->x()-lx+5, e->y()-ly+5);
            painter.drawLine(e->x()-lx-5, e->y()-ly+5,e->x()-lx+5, e->y()-ly-5);
            ui->lbImage->setPixmap(QPixmap::fromImage(*scaledimg));
        }
        All.append(vec);
        ui->edLog->append(strCoordinate);
    }
}

void SpecificAreasWidget::on_pbOk_clicked()
{
    DEVICE_INFO->printDeviceSystemInfo("手动加工继续！");
    DEV->DataCheckFlag = true;
    this->close();




    //调用完成之后把img显示在窗口上



//    filename = QFileDialog::getOpenFileName();
//    if(filename.isEmpty())
//        return;

//    if(! ( img->load(filename) ) ) //加载图像
//    {
//        QMessageBox::information(this,
//                                 tr("打开图像失败"),
//                                 tr("打开图像失败!"));
//        delete img;
//        return;
//    }


//    if((double)img->width()/(double)ui->lbImage->width() >= (double)img->height()/(double)ui->lbImage->height())
//        Mul=(double)img->width()/(double)ui->lbImage->width();
//    else
//        Mul=(double)img->height()/(double)ui->lbImage->height();

//    ui->edLog->append("缩放倍数：" + QString::number(Mul,'f',3));

//    *scaledimg=img->scaled(ui->lbImage->width(),ui->lbImage->height(),Qt::KeepAspectRatio);
//    *scaledimgInit = scaledimg->copy();
//    ui->lbImage->setPixmap(QPixmap::fromImage(*scaledimg));
}

void SpecificAreasWidget::on_pbCancel_clicked()
{
    DEVICE_INFO->printDeviceSystemInfo("手动加工取消！");
    //emit DEV->MsgLogInSuccess(false);
    DEV->DataCheckFlag = false;
    this->close();
}

void SpecificAreasWidget::on_rbSrcImg_clicked()
{
    if (ui->rbSrcImg->isChecked())
    {
        //if (DEV->srcImgs[0].data != nullptr)
        {
            RS_SETTINGS->beginGroup("device/Rposition");

            double GlobalPix = RS_SETTINGS->readNumDEntry("/GlobalPix");
            int StartPos = RS_SETTINGS->readNumDEntry("/StartPos");
            RS_SETTINGS->endGroup();

            //imgcv = DEV->Func_merge(StartPos,StartPos+(int)GlobalPix*10);
            cv::cvtColor(imgcv, imgcv, cv::COLOR_BGR2RGB);
            *img = QImage(imgcv.data, imgcv.cols, imgcv.rows, QImage::Format_RGB888);
            //调用完成之后把img显示在窗口上

            if((double)img->width()/(double)ui->lbImage->width() >= (double)img->height()/(double)ui->lbImage->height())
                Mul=(double)img->width()/(double)ui->lbImage->width();
            else
                Mul=(double)img->height()/(double)ui->lbImage->height();

            ui->edLog->append("缩放倍数：" + QString::number(Mul,'f',3));

            *scaledimg=img->scaled(ui->lbImage->width(),ui->lbImage->height(),Qt::KeepAspectRatio);
            *scaledimgInit = scaledimg->copy();
            ui->lbImage->setPixmap(QPixmap::fromImage(*scaledimg));
        }
    }
}

void SpecificAreasWidget::on_rbDstImg_clicked()
{
    if (ui->rbDstImg->isChecked())
    {
        if (!imgRecv.empty())
        {
            const uchar *pSrc = (const uchar*)imgRecv.data;
            QImage qimgRecv(pSrc, imgRecv.cols, imgRecv.rows, imgRecv.step, QImage::Format_RGB888);
            //调用完成之后把img显示在窗口上

            if((double)qimgRecv.width()/(double)ui->lbImage->width() >= (double)qimgRecv.height()/(double)ui->lbImage->height())
                Mul=(double)qimgRecv.width()/(double)ui->lbImage->width();
            else
                Mul=(double)qimgRecv.height()/(double)ui->lbImage->height();

            ui->edLog->append("缩放倍数：" + QString::number(Mul,'f',3));

            *scaledimg=qimgRecv.scaled(ui->lbImage->width(),ui->lbImage->height(),Qt::KeepAspectRatio);
            *scaledimgInit = scaledimg->copy();
            ui->lbImage->setPixmap(QPixmap::fromImage(*scaledimg));
        }

    }
}
void SpecificAreasWidget::ShowMergeSlots()
{
    ui->rbDstImg->setChecked(true);
    {
        if (!imgRecv.empty())
        {
            const uchar *pSrc = (const uchar*)imgRecv.data;
            /***************************************************************
             * 修改码：1008610010
             * 日期：
             *      2024.3.1
             * 功能：
             *      小面识别功能的图片显示bug修改
             * 描述：
             *      Format_Grayscale8改为Format_RGB888
             **************************************************************/
            QImage qimgRecv(pSrc, imgRecv.cols, imgRecv.rows, imgRecv.step, QImage::Format_RGB888);
            //调用完成之后把img显示在窗口上

            if((double)qimgRecv.width()/(double)ui->lbImage->width() >= (double)qimgRecv.height()/(double)ui->lbImage->height())
                Mul=(double)qimgRecv.width()/(double)ui->lbImage->width();
            else
                Mul=(double)qimgRecv.height()/(double)ui->lbImage->height();

            ui->edLog->append("缩放倍数：" + QString::number(Mul,'f',3));

            *scaledimg=qimgRecv.scaled(ui->lbImage->width(),ui->lbImage->height(),Qt::KeepAspectRatio);
            *scaledimgInit = scaledimg->copy();
            ui->lbImage->setPixmap(QPixmap::fromImage(*scaledimg));
        }

    }
}
void SpecificAreasWidget::on_pbGetRetImg_clicked()
{



    //图片
    std::vector<uchar> buf;
    cv::imencode(".jpg", imgcv, buf);
    QByteArray data(reinterpret_cast<char*>(buf.data()), buf.size());

    QDataStream stream(DEV->socket);
    stream.setByteOrder(QDataStream::BigEndian);
    quint32 size = data.size();
    stream << size;
    ui->edLog->append("size = " + QString::number(size,10));

    DEV->socket->write(data);
    ui->edLog->append("finish");


    // 定义要发送的坐标点
    QVector<QVector3D> points;
    for(int i = 0;i < All.size();i++)
    {
        QVector3D point111(All[i][0],All[i][1],All[i][2]);
        points.append(point111);
    }
    QDataStream out(DEV->socket);
    out.setByteOrder(QDataStream::BigEndian);
    // 发送坐标点的数量
    quint32 num_points = points.size();
    out << num_points;
    DEV->socket->waitForBytesWritten();

    ui->edLog->append(QString::number(num_points,10));

    for (const QVector3D& point : points)
    {
        quint32 x = point.x();
        quint32 y = point.y();
        quint32 z = point.z();
        out << x << y << z;
        DEV->socket->waitForBytesWritten();
    }


}