using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace ThreadManagerTest
{
    public class ThreadManager
    {
        private readonly CameraGroup[] _cameraGroups = new CameraGroup[4];
        private CancellationTokenSource _communicationCts;
        private CancellationTokenSource _displayCts;
        private Task _communicationTask;
        private Task _displayTask;
        private bool _isCommunicationRunning = false;
        private bool _isDisplayRunning = false;

        // 用于存储待发送的结果数据的队列
        private readonly ConcurrentQueue<ProcessResultEventArgs> _resultQueue = new ConcurrentQueue<ProcessResultEventArgs>();
        private readonly SemaphoreSlim _resultSemaphore = new SemaphoreSlim(0);

        public ThreadManager()
        {
            // 初始化四个相机组
            for (int i = 0; i < 4; i++)
            {
                _cameraGroups[i] = new CameraGroup
                {
                    CameraId = i,
                    ImageQueue = new ConcurrentQueue<ImageData>(),
                    QueueSemaphore = new SemaphoreSlim(0),
                    CancellationTokenSource = new CancellationTokenSource()
                };

                // 订阅处理结果事件
                _cameraGroups[i].ProcessResultAvailable += OnProcessResultAvailable;
            }
        }

        /// <summary>
        /// 处理结果事件处理器
        /// 当任一相机组产生处理结果时都会调用此方法
        /// </summary>
        private void OnProcessResultAvailable(object sender, ProcessResultEventArgs e)
        {
            // 将结果数据加入队列
            _resultQueue.Enqueue(e);
            // 通知通信线程有新数据
            _resultSemaphore.Release();
        }

        /// <summary>
        /// 通信线程循环 - 修改版
        /// </summary>
        private async void CommunicationLoop(CancellationToken token)
        {
            try
            {
                while (!token.IsCancellationRequested)
                {
                    // 等待结果数据
                    await _resultSemaphore.WaitAsync(token);

                    // 检查是否有待发送的结果
                    if (_resultQueue.TryDequeue(out ProcessResultEventArgs result))
                    {
                        // 发送结果数据
                        SendResultToCommunicationDevice(result);
                    }

                    // 1ms休眠
                    await Task.Delay(1, token);
                }
            }
            catch (OperationCanceledException)
            {
                // 线程被取消，正常退出
            }
            catch (Exception ex)
            {
                Console.WriteLine($"通信线程异常: {ex.Message}");
            }
        }

        /// <summary>
        /// 发送结果数据到通信设备
        /// </summary>
        private void SendResultToCommunicationDevice(ProcessResultEventArgs result)
        {
            // 实际的通信发送逻辑
            Console.WriteLine($"发送相机{result.CameraId}的结果数据: " +
                             $"目标数={((ProcessResultData)result.ResultData).TargetCount}, " +
                             $"时间={result.Timestamp}");

            // 这里实现实际的串口、网络或其他通信协议发送逻辑
        }

        /// <summary>
        /// 启动指定相机组（包括采集和处理线程）
        /// </summary>
        /// <param name="cameraId">相机ID (0-3)</param>
        public void StartCameraGroup(int cameraId)
        {
            if (cameraId < 0 || cameraId >= 4)
                throw new ArgumentException("相机ID必须在0-3之间");

            var group = _cameraGroups[cameraId];

            if (group.IsRunning)
                return;

            // 重置取消令牌
            group.CancellationTokenSource = new CancellationTokenSource();
            var token = group.CancellationTokenSource.Token;

            // 启动相机采集线程
            group.CameraTask = Task.Factory.StartNew(() => CameraCaptureLoop(group, token),
                token, TaskCreationOptions.LongRunning, TaskScheduler.Default);

            // 启动图像处理线程
            group.ProcessingTask = Task.Factory.StartNew(() => ImageProcessingLoop(group, token),
                token, TaskCreationOptions.LongRunning, TaskScheduler.Default);

            group.IsRunning = true;
            Console.WriteLine($"相机组 {cameraId} 已启动");
        }

        /// <summary>
        /// 停止指定相机组
        /// </summary>
        /// <param name="cameraId">相机ID (0-3)</param>
        public async void StopCameraGroup(int cameraId)
        {
            if (cameraId < 0 || cameraId >= 4)
                throw new ArgumentException("相机ID必须在0-3之间");

            var group = _cameraGroups[cameraId];

            if (!group.IsRunning)
                return;

            // 发送取消信号
            group.CancellationTokenSource.Cancel();

            // 等待线程完成
            try
            {
                if (group.CameraTask != null)
                    await group.CameraTask;

                if (group.ProcessingTask != null)
                    await group.ProcessingTask;
            }
            catch (OperationCanceledException)
            {
                // 正常取消，忽略异常
            }

            group.IsRunning = false;
            Console.WriteLine($"相机组 {cameraId} 已停止");
        }

        /// <summary>
        /// 启动通信线程
        /// </summary>
        public void StartCommunicationThread()
        {
            if (_isCommunicationRunning)
                return;

            _communicationCts = new CancellationTokenSource();
            var token = _communicationCts.Token;

            _communicationTask = Task.Factory.StartNew(() => CommunicationLoop(token),
                token, TaskCreationOptions.LongRunning, TaskScheduler.Default);

            _isCommunicationRunning = true;
            Console.WriteLine("通信线程已启动");
        }

        /// <summary>
        /// 停止通信线程
        /// </summary>
        public async void StopCommunicationThread()
        {
            if (!_isCommunicationRunning)
                return;

            _communicationCts.Cancel();

            try
            {
                if (_communicationTask != null)
                    await _communicationTask;
            }
            catch (OperationCanceledException)
            {
                // 正常取消，忽略异常
            }

            _isCommunicationRunning = false;
            Console.WriteLine("通信线程已停止");
        }

        /// <summary>
        /// 启动显示线程
        /// </summary>
        public void StartDisplayThread()
        {
            if (_isDisplayRunning)
                return;

            _displayCts = new CancellationTokenSource();
            var token = _displayCts.Token;

            _displayTask = Task.Factory.StartNew(() => DisplayLoop(token),
                token, TaskCreationOptions.LongRunning, TaskScheduler.Default);

            _isDisplayRunning = true;
            Console.WriteLine("显示线程已启动");
        }

        /// <summary>
        /// 停止显示线程
        /// </summary>
        public async void StopDisplayThread()
        {
            if (!_isDisplayRunning)
                return;

            _displayCts.Cancel();

            try
            {
                if (_displayTask != null)
                    await _displayTask;
            }
            catch (OperationCanceledException)
            {
                // 正常取消，忽略异常
            }

            _isDisplayRunning = false;
            Console.WriteLine("显示线程已停止");
        }

        /// <summary>
        /// 启动所有线程组
        /// </summary>
        public void StartAll()
        {
            // 启动所有相机组
            for (int i = 0; i < 4; i++)
            {
                StartCameraGroup(i);
            }

            // 启动通信和显示线程
            StartCommunicationThread();
            StartDisplayThread();
        }

        /// <summary>
        /// 停止所有线程组
        /// </summary>
        public void StopAll()
        {
            // 停止所有相机组
            for (int i = 0; i < 4; i++)
            {
                StopCameraGroup(i);
            }

            // 停止通信和显示线程
            StopCommunicationThread();
            StopDisplayThread();
        }

        /// <summary>
        /// 检查指定相机组是否正在运行
        /// </summary>
        /// <param name="cameraId">相机ID</param>
        /// <returns>运行状态</returns>
        public bool IsCameraGroupRunning(int cameraId)
        {
            if (cameraId < 0 || cameraId >= 4)
                return false;

            return _cameraGroups[cameraId].IsRunning;
        }

        /// <summary>
        /// 检查通信线程是否正在运行
        /// </summary>
        public bool IsCommunicationRunning => _isCommunicationRunning;

        /// <summary>
        /// 检查显示线程是否正在运行
        /// </summary>
        public bool IsDisplayRunning => _isDisplayRunning;

        #region 线程执行逻辑

        /// <summary>
        /// 相机采集循环
        /// </summary>
        private void CameraCaptureLoop(CameraGroup group, CancellationToken token)
        {
            int frameCount = 0;
            try
            {
                while (!token.IsCancellationRequested)
                {
                    // 模拟相机图像采集（无休眠，持续采集）
                    var imageData = new ImageData
                    {
                        CameraId = group.CameraId,
                        RawData = new byte[1024], // 模拟图像数据
                        Timestamp = DateTime.Now,
                        FrameNumber = frameCount++
                    };

                    // 将图像放入队列
                    group.ImageQueue.Enqueue(imageData);
                    group.QueueSemaphore.Release(); // 通知处理线程有新数据

                    // 这里不添加休眠，保持最大帧率采集
                }
            }
            catch (OperationCanceledException)
            {
                // 线程被取消，正常退出
            }
            catch (Exception ex)
            {
                Console.WriteLine($"相机 {group.CameraId} 采集异常: {ex.Message}");
            }
        }

        /// <summary>
        /// 图像处理循环
        /// </summary>
        private async void ImageProcessingLoop(CameraGroup group, CancellationToken token)
        {
            try
            {
                while (!token.IsCancellationRequested)
                {
                    // 等待图像数据
                    await group.QueueSemaphore.WaitAsync(token);

                    // 从队列获取图像
                    if (group.ImageQueue.TryDequeue(out ImageData imageData))
                    {
                        // 执行图像处理逻辑
                        ProcessImage(imageData,group);

                        // 可以根据队列长度决定是否短暂休眠以避免过度占用CPU
                        if (group.ImageQueue.Count == 0)
                        {
                            await Task.Delay(1, token); // 短暂让出CPU
                        }
                    }
                }
            }
            catch (OperationCanceledException)
            {
                // 线程被取消，正常退出
            }
            catch (Exception ex)
            {
                Console.WriteLine($"相机 {group.CameraId} 处理异常: {ex.Message}");
            }
        }

        /// <summary>
        /// 图像处理实现 - 修改版
        /// </summary>
        private void ProcessImage(ImageData imageData, CameraGroup group)
        {
            var stopwatch = System.Diagnostics.Stopwatch.StartNew();

            // 执行图像处理逻辑
            var result = PerformImageAnalysis(imageData);

            stopwatch.Stop();

            // 创建处理结果数据
            var resultData = new ProcessResultData
            {
                TargetCount = result.Targets.Count,
                TargetPositions = result.Targets.Select(t => t.Position).ToList(),
                ProcessingTimeMs = stopwatch.ElapsedMilliseconds,
                FrameNumber = imageData.FrameNumber,
                ConfidenceScore = result.AverageConfidence
            };

            // 发送处理结果
            group.SendProcessResult(resultData);

            Console.WriteLine($"相机 {imageData.CameraId} 处理帧 {imageData.FrameNumber}，发现 {result.Targets.Count} 个目标");
        }

        /// <summary>
        /// 图像分析模拟方法
        /// </summary>
        private ImageAnalysisResult PerformImageAnalysis(ImageData imageData)
        {
            // 模拟图像分析过程
            Thread.Sleep(10); // 模拟处理时间

            // 模拟分析结果
            return new ImageAnalysisResult
            {
                Targets = new List<TargetInfo>
        {
            new TargetInfo
            {
                Position = new Point { X = 100, Y = 150 },
                Confidence = 0.95
            },
            new TargetInfo
            {
                Position = new Point { X = 200, Y = 300 },
                Confidence = 0.87
            }
        },
                AverageConfidence = 0.91
            };
        }

        /// <summary>
        /// 显示线程循环
        /// </summary>
        private async void DisplayLoop(CancellationToken token)
        {
            var stopwatch = System.Diagnostics.Stopwatch.StartNew();
            long targetFrameTime = 1000 / 24; // 24fps对应的时间间隔(ms)

            try
            {
                while (!token.IsCancellationRequested)
                {
                    stopwatch.Restart();

                    // 执行显示逻辑
                    UpdateDisplay();

                    stopwatch.Stop();
                    long elapsed = stopwatch.ElapsedMilliseconds;

                    // 动态调整休眠时间以维持24fps
                    long sleepTime = Math.Max(0, targetFrameTime - elapsed);
                    if (sleepTime > 0)
                    {
                        await Task.Delay((int)sleepTime, token);
                    }
                }
            }
            catch (OperationCanceledException)
            {
                // 线程被取消，正常退出
            }
            catch (Exception ex)
            {
                Console.WriteLine($"显示线程异常: {ex.Message}");
            }
        }

        /// <summary>
        /// 显示更新实现
        /// </summary>
        private void UpdateDisplay()
        {
            // 实现显示更新逻辑
            Console.WriteLine("更新显示画面");
        }

        #endregion
    }


    /// <summary>
    /// 相机组配置和状态管理类
    /// 管理单个相机的采集和处理线程及相关资源
    /// </summary>
    public class CameraGroup
    {
        public int CameraId { get; set; }
        public bool IsRunning { get; set; }
        public CancellationTokenSource CancellationTokenSource { get; set; }
        public Task CameraTask { get; set; }
        public Task ProcessingTask { get; set; }
        public ConcurrentQueue<ImageData> ImageQueue { get; set; }
        public SemaphoreSlim QueueSemaphore { get; set; }

        // 结果发送事件，当图像处理完成时触发
        public event EventHandler<ProcessResultEventArgs> ProcessResultAvailable;

        /// <summary>
        /// 发送处理结果到通信线程的方法
        /// 多个线程可以共用此方法
        /// </summary>
        /// <param name="resultData">处理结果数据</param>
        public void SendProcessResult(object resultData)
        {
            var eventArgs = new ProcessResultEventArgs
            {
                CameraId = this.CameraId,
                ResultData = resultData,
                Timestamp = DateTime.Now
            };

            // 触发事件，通知订阅者有新的处理结果
            ProcessResultAvailable?.Invoke(this, eventArgs);
        }
    }

    /// <summary>
    /// 处理结果事件参数类
    /// 包含相机ID和处理结果数据
    /// </summary>
    public class ProcessResultEventArgs : EventArgs
    {
        /// <summary>
        /// 相机ID
        /// </summary>
        public int CameraId { get; set; }

        /// <summary>
        /// 处理结果数据
        /// </summary>
        public object ResultData { get; set; }

        /// <summary>
        /// 结果生成时间戳
        /// </summary>
        public DateTime Timestamp { get; set; }
    }

    /// <summary>
    /// 处理结果数据结构示例
    /// </summary>
    public class ProcessResultData
    {
        /// <summary>
        /// 检测到的目标数量
        /// </summary>
        public int TargetCount { get; set; }

        /// <summary>
        /// 目标位置坐标列表
        /// </summary>
        public List<Point> TargetPositions { get; set; }

        /// <summary>
        /// 处理耗时（毫秒）
        /// </summary>
        public long ProcessingTimeMs { get; set; }

        /// <summary>
        /// 图像帧编号
        /// </summary>
        public int FrameNumber { get; set; }

        /// <summary>
        /// 置信度评分
        /// </summary>
        public double ConfidenceScore { get; set; }
    }

    /// <summary>
    /// 点坐标结构
    /// </summary>
    public struct Point
    {
        public float X { get; set; }
        public float Y { get; set; }
    }

    /// <summary>
    /// 图像数据结构
    /// </summary>
    public class ImageData
    {
        public int CameraId { get; set; }
        public byte[] RawData { get; set; }
        public DateTime Timestamp { get; set; }
        public int FrameNumber { get; set; }
    }

    /// <summary>
    /// 图像分析结果类
    /// </summary>
    public class ImageAnalysisResult
    {
        public List<TargetInfo> Targets { get; set; }
        public double AverageConfidence { get; set; }
    }

    /// <summary>
    /// 目标信息类
    /// </summary>
    public class TargetInfo
    {
        public Point Position { get; set; }
        public double Confidence { get; set; }
    }

}