import os
from ctypes import *
import numpy as np
from PyQt5.QtCore import QObject, pyqtSignal
from dynaconf.base import Settings
from numpy.ctypeslib import as_array
import platform
import time

from core.edge_component import action, EdgeComponent, service
from util import get_system_and_library_suffix


# 给回调函数使用
class _SubRoiData_(Structure):
    _fields_ = [
        ('mPparentId', c_long),
        ('mId', c_long),
        ('mInfo', c_char * 256),
        ('isGood', c_bool),
        ('vpOffset', c_float * 2),
        ('mRoiPoints', c_float * 8),  # 4 * 2
        ('mInnerConners', c_float * 8),  # 4 * 2
        ('mInnerConners3D', c_float * 12),  # 4 * 3
        ('edges', c_float * 4),
        ('center', c_float * 2),
        ('cloud_size', c_int),
        ('mVc2D', POINTER(c_float)),
        ('mVc3D', POINTER(c_float)),
        ('H', c_float * 9),
    ]

SubRoiData = _SubRoiData_

class _CallbackInfo_(Structure):
    _fields_ = [
        ('code', c_int),
        ('errorInfo', c_char * 256),
        ('bGetData', c_bool),
        ('mId', c_long),
        ('mInfo', c_char * 256),
        ('mImPath', c_char * 256),
        ('mIm2D3DPtr', c_char * 256),
        ('roi_size', c_int),
        ('subRois', SubRoiData * 16),
    ]

CallbackInfo = _CallbackInfo_
# 回调函数类型定义
CallbackType = CFUNCTYPE(None, POINTER(CallbackInfo))


class ImageFrameworkSignals(QObject):
    # QT 信号
    on_image_result = pyqtSignal(object)


@action("image-framework", auto_start=True)
class ImageFramework(EdgeComponent):
    signals = ImageFrameworkSignals()

    def __init__(self, context):
        super().__init__(context)
        self.image_framework_sdk = None
        self.data_callback = None

    def configure(self, setting: Settings) -> None:
        self.init_image_framework_sdk()
        self.logger.info(f"Image framework configure done.")

    def init_image_framework_sdk(self):
        try:
            # 加载C++库
            current_file_dir = os.path.dirname(os.path.abspath(__file__))
            (arch, suffix) = get_system_and_library_suffix()
            self.image_framework_sdk = CDLL(os.path.join(current_file_dir, f'../vendors/image-framework/{arch}/image_framework.{suffix}'))
            # 设置回调函数
            self.init_callback()
        except Exception as e:
            self.logger.error(f"Load Image framework sdk failed: {str(e)}")

    def init_callback(self):
        def _callback(data):
            contents = data.contents
            self.logger.info(f"image framework callback data, bGetData:{contents.bGetData}")
            if contents.bGetData:
                record = CallbackInfo()
                self.image_framework_sdk.LibapGetRecord(byref(record))
                self.logger.info(f"image framework callback data, roi_size:{record.roi_size}")
                self.logger.info(f"image framework callback data, code:{record.code}")
                self.logger.info(f"image framework callback data, errorInfo:{record.errorInfo}")
                for i in range(record.roi_size):
                    roi_data = record.subRois[i]
                    self.logger.info(f"roi data, roi_data[{i}].mId:{roi_data.mId}")
                    self.logger.info(f"roi data, roi_data[{i}].isGood:{roi_data.isGood}")
                    self.logger.info(f"roi data, roi_data[{i}].mRoiPoints:{list(roi_data.mRoiPoints)}")

            self.logger.info("image framework callback done.")

        self.data_callback = CallbackType(_callback)

    @service()
    def start(self):
        super().start()
        if self.image_framework_sdk is None:
            raise RuntimeError("Image framework SDK未正确加载!")

        ret = self.image_framework_sdk.LibapiInit(1, "", self.data_callback)
        if ret != 0:
            raise RuntimeError("Image framework 初始化失败!")

        self.logger.info("Image framework started.")

    @service()
    def stop(self):
        self.image_framework_sdk.stop_sdk()
        self.logger.info("Image framework stopped.")

    @service()
    def start_detect(self):
        ret = self.image_framework_sdk.LibapiStartDetection()
        if ret != 0:
            raise RuntimeError("启动检测失败!")

    @service()
    def continue_detect(self):
        ret = self.image_framework_sdk.LibapiContinuetDetection()
        if ret != 0:
            raise RuntimeError("继续检测失败!")

    @service()
    def stop_detect(self):
        ret = self.image_framework_sdk.LibapStopDetection()
        if ret != 0:
            raise RuntimeError("停止检测失败!")