using System;
using System.Linq;
using System.Threading;
using AutoFocusTool.Devices;
using AutoFocusTool.Serial;
using AutoFocusTool.Imaging;
using AutoFocusTool.Calib;
using SerialCamera = AutoFocusTool.Camera.Camera;

namespace AutoFocusTool
{
    /// <summary>
    /// 命令行硬件自检：不开GUI，直接联调 光源+电机+相机。
    /// 流程：扫描设备 → 选舱室 → 连接 → 开光源 → Z序列扫描(逐层抓帧算清晰度) → 选层 → 关光源。
    /// 用法：SelfTest.exe [houseSn]   不带参数则测第一个发现的舱室。
    /// </summary>
    internal class Program
    {
        static int Main(string[] args)
        {
            Console.OutputEncoding = System.Text.Encoding.UTF8;
            void L(string m) => Console.WriteLine($"{DateTime.Now:HH:mm:ss} {m}");

            L("========== 相机自动对焦 硬件自检 ==========");
            int wantHouse = (args.Length > 0 && int.TryParse(args[0], out int hs)) ? hs : -1;
            int wantExp = (args.Length > 1 && int.TryParse(args[1], out int expArg)) ? expArg : 400;

            var scanner = new DeviceScanner { Log = L };

            // 1) 扫描
            L("【1】扫描设备（枚举相机 + 扫串口握手）...");
            var houses = scanner.ScanAll();
            if (houses.Count == 0)
            {
                L("✗ 未发现任何舱室。检查：串口线、相机USB、相机驱动、培养箱电源。");
                return 1;
            }
            L($"发现 {houses.Count} 个舱室：");
            foreach (var h in houses) L($"    {h}");

            // 2) 选舱室
            HouseDevice target = wantHouse > 0
                ? houses.FirstOrDefault(x => x.HouseSn == wantHouse)
                : houses.FirstOrDefault(x => x.HasCamera) ?? houses[0];
            if (target == null) { L($"✗ 未找到舱室 {wantHouse}"); return 1; }
            L($"【2】选定 {target}");

            // 3) 连接串口
            L("【3】连接串口...");
            using var motor = new HouseMotor(target.PortName) { Log = L, MotorDelayMs = 1500 };
            if (!motor.Open()) { L("✗ 串口打开失败"); return 1; }
            int sn = motor.ShakeHands();
            L($"    握手回报 houseSn={sn}");
            int vpos = motor.ReadVerticalPosition();
            int hpos = motor.ReadHorizontalPosition();
            L($"    当前位置 Z={vpos} 水平={hpos}");

            // 4) 连接相机
            SerialCamera cam = null;
            if (target.HasCamera)
            {
                L($"【4】连接相机#{target.CcdIndex}...");
                cam = new SerialCamera(target.CcdIndex, 1600, 1200, wantExp);
                int init = cam.Init();
                if (init == 0) { cam.SetOpMode(0); cam.SetExposure(wantExp); L($"    相机就绪（拍照模式，曝光={wantExp}×100µs={wantExp/10.0}ms）"); }
                else { L($"✗ 相机初始化失败 code={init}"); cam.Dispose(); cam = null; }
            }
            else L("【4】该舱无配对相机，跳过相机测试");

            // 5) 开光源
            L("【5】开光源 LED...");
            bool led = motor.OpenLED();
            L($"    开光源 {(led ? "OK" : "失败")}");
            Thread.Sleep(300);

            // 6) Z序列扫描 + 算清晰度
            if (cam != null)
            {
                L("【6】Z序列扫描...");
                L("    先 Z 复位归零...");
                motor.VerticalReset();
                int start = 0;
                int step = (args.Length > 2 && int.TryParse(args[2], out int st)) ? st : 128;
                int count = (args.Length > 3 && int.TryParse(args[3], out int ct)) ? ct : 11;
                L($"    层距={step}脉冲 层数={count} 覆盖Z=0~{step*(count-1)}");
                var roi = new System.Drawing.Rectangle(400, 300, 800, 600); // 中心ROI
                var results = new System.Collections.Generic.List<(int z, double score)>();

                for (int i = 0; i < count; i++)
                {
                    int z = start + step * i;
                    motor.VerticalMoveTo(z);          // 移动+等motorDelay稳定
                    int g = cam.GrabRgb();
                    if (g != 0) { L($"    层{i + 1}: 抓帧失败 code={g}"); continue; }
                    byte[] buf = cam.GetSourceBuffer();
                    var (mn, mx, avg) = Diag.Stats(buf);
                    double score = Sharpness.Compute(buf, 1600, 1200, roi);
                    double scoreFull = Sharpness.Compute(buf, 1600, 1200, null);
                    results.Add((z, score));
                    L($"    层{i + 1,2}/{count}: Z={z,-7} ROI分={score:F4} 全图分={scoreFull:F4}  像素[min={mn} max={mx} 均值={avg:F0}]");
                    // 存前3层图供肉眼确认相机是否真出图
                    if (i < 3)
                    {
                        string p = $"C:\\claudeFile\\TL\\AutoFocusTool\\selftest_house{target.HouseSn}_layer{i + 1}.bmp";
                        try { Diag.SaveBmp(buf, 1600, 1200, p); L($"        已存图: {p}"); }
                        catch (Exception ex) { L($"        存图失败: {ex.Message}"); }
                    }
                }

                if (results.Count > 0)
                {
                    double max = results.Max(r => r.score);
                    double mean = results.Average(r => r.score);
                    int pk = results.FindIndex(r => r.score == max);
                    double ratio = mean > 1e-6 ? max / mean : 1;
                    L($"【7】选层结果：最清晰=第{pk + 1}层 Z={results[pk].z} 分={max:F1}  max/mean={ratio:F2}");
                    if (ratio < 1.15) L("    ⚠ 曲线偏平，可能全糊/空孔（需扩范围或确认）");
                    else L("    ✓ 有明显焦点峰");
                    // 回到最清晰层
                    motor.VerticalMoveTo(results[pk].z);
                    L($"    已移动到最清晰层 Z={results[pk].z}");
                }
            }

            // 8) 关光源 + 收尾
            L("【8】关光源 LED...");
            motor.CloseLED();
            cam?.Dispose();
            L("========== 自检结束 ==========");
            L("结论：上面每一【步】都有OK即表示 光源+电机+相机 通路正常。");
            return 0;
        }
    }
}