/**************************************************************************************************
                                   版本所有(C), 2020-2022, 北京普达迪泰
***************************************************************************************************
 文 件 名: CameraTaskThread.cpp
 功能描述: 相机标定处理
 版 本 号: 1.00初版
 作    者: HYF
 生成日期; 2021－12－20
 最近修改:
 函数列表:
 修改历史:
     1.日    期 :2021－12－20
       作    者 : HYF
       修改内容 : 创建文件

**************************************************************************************************/
#include "pch.h"
#include "IDPMSComm.h"
#include "CameraTaskThread.h"

IMPLEMENT_DYNCREATE(CameraTaskThread, CUIThread)

BEGIN_MESSAGE_MAP(CameraTaskThread, CWinThread)
	// {{AFX_MSG_MAP(DynamicTaskThread)
	// NOTE - the ClassWizard will add and remove mapping macros here.
    ON_THREAD_MESSAGE(WM_SINGLE_CAM_CONFIG, OnSingleCamConfig)
    ON_THREAD_MESSAGE(WM_DOUBLE_CAM_CONFIG_STEP1, OnDoubleCamCofigStep1)
    ON_THREAD_MESSAGE(WM_DOUBLE_CAM_CONFIG_STEP2, OnDoubleCamCofigStep2)

	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

CameraTaskThread::CameraTaskThread(void)
{
}


CameraTaskThread::~CameraTaskThread(void)
{
    
}

BOOL CameraTaskThread::InitInstance()
{
	return TRUE;
}


/**************************************************************************************************
函 数 名 :OnSingleCamConfig
功能描述 :单相机标定
输入参数 :略
输出参数 :无
返 回 值 :void
**************************************************************************************************/
void CameraTaskThread::OnSingleCamConfig(WPARAM wParam, LPARAM lParam)
{
    CString szCommand;
    BOOL bRet = TRUE;
	int  iRet = 0;
    DMSResponse *pRes = NULL;
	int iSizeRecevied = 0;
    int iCam = (int)wParam;
	CString szPhotoPath;

	// 获取像片路径
	bRet = this->GetPhotoPath(szPhotoPath);
	if (!bRet) {
		LOG::E(_T("像片路径不存在"));
		this->PostMsg(WM_FAILURE, pRes);
		return;
	}

    // IDPMS通讯器
    IDPMSComm *pComm = new IDPMSComm();
    bRet = pComm->Open();
	if (!bRet) {
		this->PostMsg(WM_START_IDPMS, pRes);
		delete pComm;
		return;
	}

  //   1.结束当前工程
//   szCommand.Format("IDPMS-CD:SET0003");
  //  iRet = pComm->SendCommand(szCommand, pRes);
//    if (iRet <= 0) {
 //       pComm->Close();
  //      this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
	//	delete pComm;
  //      return;
 //   }

    // 2. 删除之前的工程文件夹
    CString szCameraFolder;
    szCameraFolder.Format("C:\\PD\\IDPMS\\工程\\%d号相机", iCam);
    Utils::DeleteFolder(szCameraFolder);

    // 3.新建工程
    szCommand.Format("IDCMD0017(PDTL=%d号模板,PDSV=%d号相机,PDDT= false)", iCam, iCam);
    iRet = pComm->SendCommand(szCommand, pRes);
    if (iRet <= 0) {
        pComm->Close();
        this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
		delete pComm;
        return;
    }

 /*    4.读取路径下相机相片
    szCommand.Format("IDPMS-CD:SET0008");
    bRet = pComm->SendCommand(szCommand, pRes);
    if (!bRet) {
        pComm->Close();
        this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
        return;
    }
*/
  //  // 5.读取当前路径下的全部相片
  //  szCommand.Format("IDPMS-CD:SET1701:C:/PD/2号/外参");
  //  bRet = pComm->SendCommand(szCommand, pRes);
  //  if (!bRet) {
  //      pComm->Close();
  //      this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
		//delete pComm;
  //      return;
  //  }

	// 6.读取当前路径下所有相片
	szCommand.Format("IDPMS-CD:SET1701:%s", szPhotoPath);
	iRet = pComm->SendCommand(szCommand, pRes, 1);
	if (iRet <= 0) {
		pComm->Close();
		this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
		delete pComm;
		return;
	}

	//// 5.读取当前路径下的全部相片
	//szCommand.Format("IDPMS-CD:SET1701:D:/BD");
	//iRet = pComm->SendCommand(szCommand, pRes);
	//if (iRet <= 0) {
	//	pComm->Close();
	//	this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
	//	delete pComm;
	//	return;
	//}

    // 6.开始自动测量
    szCommand.Format("IDCMD0016(PDST=true,PDGO=true,PDCE=true,PDWN=false,PDFP=false,PDSS=true)");
    iRet = pComm->SendCommand(szCommand, pRes, _T("CPDSimpleBundleStats"));
    if (iRet <= 0) {
        pComm->Close();
        this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
		delete pComm;
        return;
    }

    // 关闭通讯器
    pComm->Close();
    this->PostMsg(WM_CAM_CONFIG_SUCCESS, pRes);

    return;
}
/**************************************************************************************************
函 数 名 :GetPhotoPath
功能描述 :获取最新像片路径
输入参数 :略
输出参数 :无
返 回 值 :void
**************************************************************************************************/
BOOL CameraTaskThread::GetPhotoPath(CString &szTargetPath)
{
	CString szPhotoDir = AppConfig::GetString(_T("Directory"), _T("PhotoDir"));

	if (szPhotoDir.IsEmpty()) return FALSE;


	CFileFind finder;
	CString szSearchDir;
	szSearchDir.Format("%s%s", szPhotoDir, _T("\\*.*"));
	BOOL bFound = finder.FindFile(szSearchDir);
	CTime time0 = 0;
	CString szTargetDir;
	while (bFound) {
		bFound = finder.FindNextFile();
		CString szPath = finder.GetFilePath();
		if (finder.IsDirectory() && !finder.IsDots()) {
			CString szDirName = finder.GetFileName();
			CFileStatus fileStatus;

			CFile::GetStatus(szPhotoDir + "\\" + szDirName, fileStatus);
			CTime time1 = fileStatus.m_ctime;
			if (time0 < time1) {
				szTargetDir = szDirName;
				time0 = time1;
			}
		}
	}

	if (szTargetDir.IsEmpty()) return FALSE;

	szTargetPath.Append(szPhotoDir);
	szTargetPath.Append(_T("\\"));
	szTargetPath.Append(szTargetDir);
	return TRUE;
}

/**************************************************************************************************
函 数 名 :GetPhotoPath
功能描述 :获取最新像片路径
输入参数 :略
输出参数 :无
返 回 值 :void
**************************************************************************************************/
BOOL CameraTaskThread::GetFileName(CString &szPath, CString szPrefix, CString &szTargetFile)
{

	if (szPath.IsEmpty()) return FALSE;

	int iPrefixLen = szPrefix.GetLength();
	CString szTName;
	CFileFind ff;
	CString szFilter;
	szFilter.Format("%s\\%s*.TDX", szPath, szPrefix);
	BOOL bFound = ff.FindFile(szFilter);
	CTime time0 = 0;
	CString szTargetDir;
	int iTIdex = 0;
	while (bFound) {
		bFound = ff.FindNextFile();
		CString szPath = ff.GetFilePath();
		if (!ff.IsDirectory() && !ff.IsDots()) {
			CString szFileTitle = ff.GetFileTitle();
			CString strIdx = szFileTitle.Right(szFileTitle.GetLength()- iPrefixLen);
			int idex = _ttoi(strIdx);
			if (idex > iTIdex) {
				szTName.Format("%s", szFileTitle);
				iTIdex = idex;
			}
		}
	}

	if (szTName.IsEmpty()) return FALSE;

	szTargetFile.Empty();
	szTargetFile.Append(szTName);

	return TRUE;

}

/**************************************************************************************************
函 数 名 :OnDoubleCamCofigStep1
功能描述 :双相机外参标定：建立工程
输入参数 :略
输出参数 :无
返 回 值 :void
**************************************************************************************************/
void CameraTaskThread::OnDoubleCamCofigStep1(WPARAM wParam, LPARAM lParam)
{
    CString szCommand;
    BOOL bRet = TRUE;
	int  iRet = 0;
    DMSResponse *pRes = NULL;
	int iSizeRecevied = 0;

    // IDPMS通讯器
    IDPMSComm *pComm = new IDPMSComm();
	bRet = pComm->Open();
	if (!bRet) {
		this->PostMsg(WM_START_IDPMS, pRes);
		delete pComm;
		return;
	}
   
    // 1.结束当前工程
    szCommand.Format("IDPMS-CD:SET0003");
    iRet = pComm->SendCommand(szCommand, pRes);
    if (iRet <= 0) {
        pComm->Close();
        this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
		delete pComm;
        return;
    }
    
    // 2.删除之前的工程文件
    CString szCameraFolder;
    szCameraFolder.Format("C:\\PD\\IDPMS\\工程\\%s_%s_双相机", m_szEquipTypeCode, m_szEquipCode);
    Utils::DeleteFolder(szCameraFolder);

    // 3. Copy相机驱动文件
    CString szSourceCam;
    CString szTargetCam;
    szSourceCam.Format("C:\\PD\\IDPMS\\工程\\1号相机\\BDAData\\PDDT-IO50M-0001-7103HKFDJ-25.cam");
    szTargetCam.Format("C:\\Program Files\\PD\\IDPMS\\PDTemplate\\双相机\\PDDT-IO50M-0001-7103HKFDJ-25.cam");
    CopyFile(szSourceCam, szTargetCam, FALSE);

    szSourceCam.Format("C:\\PD\\IDPMS\\工程\\2号相机\\BDAData\\PDDT-IO50M-0002-7103HKFDJ-25.cam");
    szTargetCam.Format("C:\\Program Files\\PD\\IDPMS\\PDTemplate\\双相机\\PDDT-IO50M-0002-7103HKFDJ-25.cam");
    CopyFile(szSourceCam, szTargetCam, FALSE);
    
    // 4.双相机工程建立
    szCommand.Format("IDCMD0017(PDTL=双相机,PDSV=%s_%s_双相机,PDDT= false)", m_szEquipTypeCode, m_szEquipCode);
    iRet = pComm->SendCommand(szCommand, pRes);
    if (iRet <= 0) {
        pComm->Close();
        this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
		delete pComm;
        return;
    }

    // 关闭通讯器
    pComm->Close();
	delete pComm;

    // 向视图发送完成消息
    this->PostMsg(WM_CAM_CONFIG_SUCCESS, pRes);

}

/**************************************************************************************************
函 数 名 :OnDoubleCamCofigStep2
功能描述 :双相机外参标定：外参标定
输入参数 :略
输出参数 :无
返 回 值 :void
**************************************************************************************************/
void CameraTaskThread::OnDoubleCamCofigStep2(WPARAM wParam, LPARAM lParam)
{
    CString szCommand;
    BOOL bRet = TRUE;
	BOOL iRet = 0;
    DMSResponse *pRes = NULL;
	int iSizeRecevied = 0;

    // 打开通讯器
    IDPMSComm *pComm = new IDPMSComm();
	bRet = pComm->Open();
	if (!bRet) {
		this->PostMsg(WM_START_IDPMS, pRes);
		delete pComm;
		return;
	}
   
    //  1.选择机架文件作为模板
    szCommand.Format("IDPMS-CD:SET1401:PDFN=机架");
    iRet = pComm->SendCommand(szCommand, pRes);
    if (iRet <= 0) {
        pComm->Close();
        this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
		delete pComm;
        return;
    }


	//  2.拍摄一次
	szCommand.Format("IDPMS-CD:SET2901");
	iRet = pComm->SendCommand(szCommand, pRes);
	if (iRet <= 0) {
		pComm->Close();
		this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
		delete pComm;
		return;
	}

	Sleep(1000);

	//  3.选择机架上建立坐标点 
	CString szFileFind;
	CString szTargetPath ;
	szTargetPath.Format("C:\\PD\\IDPMS\\工程\\%s_%s_双相机", m_szEquipTypeCode, m_szEquipCode);
	bRet = GetFileName(szTargetPath, _T("TRI3D E"), szFileFind);

	if (!bRet) {
		pComm->Close();
		this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
		delete pComm;
		return;
	}

	szCommand.Format("IDCMD0025(PDFN=%s,PDMP=flase, PDDP=flase, PDCP=flase, PDPL=C1 C2 C3)", szFileFind);
	iRet = pComm->SendCommand(szCommand, pRes);
	if (iRet <= 0) {
		pComm->Close();
		this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
		delete pComm;
		return;
	}
	//  4.将机架上建立坐标点拷贝到RO3D 
	szCommand.Format("IDCMD0032(PDFN=RO3D,PDMP=true, PDDP=true, PDCP=true, PDAP=flase)");
	iRet = pComm->SendCommand(szCommand, pRes);
	if (iRet <= 0) {
		pComm->Close();
		this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
		delete pComm;
		return;
	}
	//  4.设置RO3D为驱动 
	szCommand.Format("IDCMD0004(PDFN=RO3D)");
	iRet = pComm->SendCommand(szCommand, pRes);
	if (iRet <= 0) {
		pComm->Close();
		this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
		delete pComm;
		return;
	}
    //  3.轴对准
    szCommand.Format("IDPMS-CD:SET3701:p1=C1:p2=C2:p3=C3:p1x=Y:p1y=Z:p1z=X:p2type=type:p3type=type:sys=frame");
    iRet = pComm->SendCommand(szCommand, pRes);
    if (iRet <= 0) {
        pComm->Close();
        this->PostMsg(WM_CAM_CONFIG_FAILURE, pRes);
		delete pComm;
        return;
    }

    //  3.双相机快速标定
    //szCommand.Format("IDPMS-CD:SET2701");
    //iRet = pComm->SendCommand(szCommand);
    //if (iRet <= 0) {
    //    szResult.Format("%s", pRes);
    //    pComm->Close();
    //    return FALSE;
    //}

    // 关闭通讯器
    pComm->Close();
	delete pComm;

    // 向视图发送完成消息
    this->PostMsg(WM_CAM_CONFIG_SUCCESS, pRes);
}