using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.IO;
using System.Drawing;
using System.Drawing.Imaging;
using System.Threading;
using System.Diagnostics;
using Extensometer.Model.RequestModel;
using Extensometer.Model.ResultModel;
using Extensometer.BLL;
using ThridLibray;

namespace LineMeasurementLib
{
    public class ImageLinePosition
    {
        public short left;
        public short top;
        public short right;
        public short bottom;
    }

    /// <summary>
    /// 像素间距识别算法
    /// </summary>
    public class LineMeasure:IDisposable
    {
        #region 变量、类和对象
        private static LineMeasure lineMeasure = null;
        //识别列表
        public Queue<IdentifResultClass> BitmapList = new Queue<IdentifResultClass>();
        //识别结果列表
        public Queue<IdentifResultClass> ProcessResult = new Queue<IdentifResultClass>();
        public Mutex m_mutex = new Mutex();
        Thread ProcessThread = null;
        public float FirstPointLength = 0;                      //记录第一个结果点；
        public Stopwatch LineMessSW = null;
        #endregion

        #region 方法
        /// <summary>
        /// 释放
        /// </summary>
        public void Dispose()
        {
            Release();
        }
        /// <summary>
        /// 构造方法
        /// </summary>
        private LineMeasure()
        {
            _lmInitPara.stLineDetPara = new LM_LINEDET_PARA_S[LM_LINE_NUM_MAX];
        }
        /// <summary>
        /// 提供给外部获取实例的方法
        /// </summary>
        /// <returns></returns>
        public static LineMeasure GetLineMeasure()
        {
            if (lineMeasure == null)
            {
                lineMeasure = new LineMeasure();
            }
            return lineMeasure;
        }

        /// <summary>
        /// 算法初始化
        /// </summary>
        /// <param name="cfgFile"></param>
        /// <param name="distFile"></param>
        /// <returns></returns>
        public int Init(string cfgFile, string distFile)
        {
            //AllocConsole();
            LoadConfigFile(cfgFile);
            LoadDistortionPara(distFile);

            WriteLine("Init Start", ConsoleColor.DarkGreen);
            _handle = LM_LineMeasureInit(ParaStructToPtr(_lmInitPara), 0);

            if (_distortionPara.iFlagEnable == 1)
            {
                LM_DistortionCalibSet(_handle, _distortionPara);
            }
            return 1;
        }

        /// <summary>
        /// 算法初始化
        /// </summary>
        /// <param name="cfgFile"></param>
        /// <param name="distFile"></param>
        /// <returns></returns>
        public int Init(RequestConfigParameterModel parameterModel, string distFile)
        {
            //AllocConsole();
            LoadConfigFile(parameterModel);
            LoadDistortionPara(distFile);
            WriteLine("Init Start", ConsoleColor.DarkGreen);
            _handle = LM_LineMeasureInit(ParaStructToPtr(_lmInitPara), 0);

            if (_distortionPara.iFlagEnable == 1)
            {
                LM_DistortionCalibSet(_handle, _distortionPara);
            }
            return 1;
        }

        /// <summary>
        /// 算法初始化-返回配置文件范围选择
        /// </summary>
        /// <param name="cfgFile"></param>
        /// <param name="distFile"></param>
        /// <param name="LinePositionList"></param>
        /// <returns></returns>
        public int Init(string cfgFile, string distFile, ref List<ImageLinePosition> LinePositionList)
        {
            AllocConsole();
            LoadConfigFile(cfgFile, ref LinePositionList);
            LoadDistortionPara(distFile);

            WriteLine("Init Start", ConsoleColor.DarkGreen);
            _handle = LM_LineMeasureInit(ParaStructToPtr(_lmInitPara), 0);

            if (_distortionPara.iFlagEnable == 1)
            {
                LM_DistortionCalibSet(_handle, _distortionPara);
            }
            return 1;
        }


        IntPtr ptr;
        LM_RULT_S res;
        /// <summary>
        /// 算法运行并返回结果
        /// </summary>
        /// <param name="grayimg">图片byte</param>
        /// <param name="width"></param>
        /// <param name="height"></param>
        /// <returns></returns>
        public LM_RULT_S Process(byte[] grayimg, int width, int height)
        {
            ptr = ResultToPtr(_result);
            res = new LM_RULT_S();
            if (B_ThreadProcess == false)
            {
                res.rultnum = 0;
                return res;
            }
            try
            {
                if (LM_LineMeasureProcess(_handle, grayimg, width, height, ptr) > 0)
                {
                    _result = PtrToResult(ptr);
                    if (_calibrationRes.iFlagSuccess == 1)
                    {
                        _result.LinePhysicaldis1 = _result.LinePixeldis1 * _calibrationRes.fConvertCoefficient;
                        _result.LinePhysicaldis2 = _result.LinePixeldis2 * _calibrationRes.fConvertCoefficient;
                    }
                    else
                    {
                        _result.LinePhysicaldis1 = 0;
                        _result.LinePhysicaldis2 = 0;
                    }
                    Marshal.FreeHGlobal(pP1);
                    return _result;
                }
            }
            catch
            {
                //日志写入处
            }
            res.rultnum = 0;
            return res;
        }

        /// <summary>
        /// 算法释放
        /// </summary>
        public void Release()
        {
            LM_LineMeasureRelease(_handle);
        }

        /// <summary>
        /// 加载配置文件
        /// </summary>
        /// <param name="file"></param>
        public void LoadDistortionPara(String file)
        {

            FileStream fs = File.OpenRead(file);

            StreamReader sr = new StreamReader(fs);

            string line = sr.ReadLine();

            var header = line.Split(new char[] { ' ' });
            if (header != null && header.Length > 0)
            {
                var enable = int.Parse(header[0]);
                _distortionPara.iFlagEnable = enable;
                if (enable == 0)
                    return;

                _distortionPara.iImgWidth = int.Parse(header[1]);
                _distortionPara.iImgHeight = int.Parse(header[2]);

                line = sr.ReadLine();
                var camMat = line.Split(new char[] { ' ' });
                for (int i = 0; i < 6; i++)
                {
                    _distortionPara.fCammatrix[i] = double.Parse(camMat[i]);
                }

                line = sr.ReadLine();
                var paraK = line.Split(new char[] { ' ' });
                for (int i = 0; i < 3; i++)
                {
                    _distortionPara.fDisK[i] = double.Parse(paraK[i]);
                }

                line = sr.ReadLine();
                var paraP = line.Split(new char[] { ' ' });
                for (int i = 0; i < 2; i++)
                {
                    _distortionPara.fDisP[i] = double.Parse(paraP[i]);
                }

                line = sr.ReadLine();
                var corrPara = line.Split(new char[] { ' ' });
                for (int i = 0; i < 6; i++)
                {
                    _distortionPara.fNewcammatInv[i] = double.Parse(corrPara[i]);
                }

                sr.Close();
                fs.Close();
            }
            else
            {
                sr.Close();
                fs.Close();
                return;
            }
        }

        /// <summary>
        /// 加载识别配置参数(文件)
        /// </summary>
        /// <param name="file"></param>
        public void LoadConfigFile(String file)
        {
            _lmInitPara.iLineDetNum = int.Parse(ReadString("Config", "linedetnum", "0", file));
            _lmInitPara.paraimgw = int.Parse(ReadString("Config", "imgw", "0", file));
            _lmInitPara.paraimgh = int.Parse(ReadString("Config", "imgh", "0", file));
            _lmInitPara.eLineDisMode = (LM_LINEDIS_MODE_E)int.Parse(ReadString("Config", "dismode", "0", file));

            _calibrationRes.iFlagSuccess = int.Parse(ReadString("Config", "calibsuccess", "0", file));
            _calibrationRes.fConvertCoefficient = float.Parse(ReadString("Config", "calibcoeff", "0.0", file));

            for (int i = 0; i < _lmInitPara.iLineDetNum; i++)
            {
                _lmInitPara.stLineDetPara[i].stRoirectpara.left = short.Parse(ReadString("Config", "left" + i.ToString(), "0", file));
                _lmInitPara.stLineDetPara[i].stRoirectpara.top = short.Parse(ReadString("Config", "top" + i.ToString(), "0", file));
                _lmInitPara.stLineDetPara[i].stRoirectpara.right = short.Parse(ReadString("Config", "right" + i.ToString(), "0", file));
                _lmInitPara.stLineDetPara[i].stRoirectpara.bottom = short.Parse(ReadString("Config", "bottom" + i.ToString(), "0", file));

                _lmInitPara.stLineDetPara[i].stRoirect = _lmInitPara.stLineDetPara[i].stRoirectpara;
                _lmInitPara.stLineDetPara[i].eGrayDir = (LM_LINE_GRAYDIR_E)int.Parse(ReadString("Config", "eGrayDir" + i.ToString(), "0", file));
                _lmInitPara.stLineDetPara[i].eLineDirection = (LM_LINE_DIRECTION_E)int.Parse(ReadString("Config", "eLineDirection" + i.ToString(), "0", file));
                _lmInitPara.stLineDetPara[i].eLineOrder = (LM_LINE_ORDER_E)int.Parse(ReadString("Config", "eLineOrder" + i.ToString(), "0", file));
            }

            return;
        }


        /// <summary>
        /// 加载识别配置参数(类)
        /// </summary>
        /// <param name="file"></param>
        public ResultModel LoadConfigFile(RequestConfigParameterModel file)
        {
            ResultModel result = new ResultModel();
            _lmInitPara.iLineDetNum = file.iLineDetNum;
            _lmInitPara.paraimgw = file.paraimgw;
            _lmInitPara.paraimgh = file.paraimgh;
            _lmInitPara.eLineDisMode = (LM_LINEDIS_MODE_E)file.eLineDisMode;

            _calibrationRes.iFlagSuccess = file.iFlagSuccess;
            _calibrationRes.fConvertCoefficient = file.fConvertCoefficient;

            for (int i = 0; i < _lmInitPara.iLineDetNum; i++)
            {
                _lmInitPara.stLineDetPara[i].stRoirectpara.left = file.stLineDetParas[i].LeftValue;
                _lmInitPara.stLineDetPara[i].stRoirectpara.top = file.stLineDetParas[i].TopValue;
                _lmInitPara.stLineDetPara[i].stRoirectpara.right = file.stLineDetParas[i].RightValue;
                _lmInitPara.stLineDetPara[i].stRoirectpara.bottom = file.stLineDetParas[i].BottomValue;

                _lmInitPara.stLineDetPara[i].stRoirect = _lmInitPara.stLineDetPara[i].stRoirectpara;
                _lmInitPara.stLineDetPara[i].eGrayDir = (LM_LINE_GRAYDIR_E)file.stLineDetParas[i].eGrayDir;
                _lmInitPara.stLineDetPara[i].eLineDirection = (LM_LINE_DIRECTION_E)file.stLineDetParas[i].eLineDirection;
                _lmInitPara.stLineDetPara[i].eLineOrder = (LM_LINE_ORDER_E)file.stLineDetParas[i].eLineOrder;
            }
            return result;
        }

        /// <summary>
        /// 加载配置文件并返回数据
        /// </summary>
        /// <param name="file"></param>
        /// <param name="linePositions"></param>
        public void LoadConfigFile(String file, ref List<ImageLinePosition> linePositions)
        {
            _lmInitPara.iLineDetNum = int.Parse(ReadString("Config", "linedetnum", "0", file));
            _lmInitPara.paraimgw = int.Parse(ReadString("Config", "imgw", "0", file));
            _lmInitPara.paraimgh = int.Parse(ReadString("Config", "imgh", "0", file));
            _lmInitPara.eLineDisMode = (LM_LINEDIS_MODE_E)int.Parse(ReadString("Config", "dismode", "0", file));

            _calibrationRes.iFlagSuccess = int.Parse(ReadString("Config", "calibsuccess", "0", file));
            _calibrationRes.fConvertCoefficient = float.Parse(ReadString("Config", "calibcoeff", "0.0", file));

            for (int i = 0; i < _lmInitPara.iLineDetNum; i++)
            {
                _lmInitPara.stLineDetPara[i].stRoirectpara.left = short.Parse(ReadString("Config", "left" + i.ToString(), "0", file));
                _lmInitPara.stLineDetPara[i].stRoirectpara.top = short.Parse(ReadString("Config", "top" + i.ToString(), "0", file));
                _lmInitPara.stLineDetPara[i].stRoirectpara.right = short.Parse(ReadString("Config", "right" + i.ToString(), "0", file));
                _lmInitPara.stLineDetPara[i].stRoirectpara.bottom = short.Parse(ReadString("Config", "bottom" + i.ToString(), "0", file));

                linePositions.Add(new ImageLinePosition
                {
                    left = _lmInitPara.stLineDetPara[i].stRoirectpara.left,
                    right = _lmInitPara.stLineDetPara[i].stRoirectpara.right,
                    top = _lmInitPara.stLineDetPara[i].stRoirectpara.top,
                    bottom = _lmInitPara.stLineDetPara[i].stRoirectpara.bottom
                });

                _lmInitPara.stLineDetPara[i].stRoirect = _lmInitPara.stLineDetPara[i].stRoirectpara;
                _lmInitPara.stLineDetPara[i].eGrayDir = (LM_LINE_GRAYDIR_E)int.Parse(ReadString("Config", "eGrayDir" + i.ToString(), "0", file));
                _lmInitPara.stLineDetPara[i].eLineDirection = (LM_LINE_DIRECTION_E)int.Parse(ReadString("Config", "eLineDirection" + i.ToString(), "0", file));
                _lmInitPara.stLineDetPara[i].eLineOrder = (LM_LINE_ORDER_E)int.Parse(ReadString("Config", "eLineOrder" + i.ToString(), "0", file));
            }

            return;
        }
        #endregion

        #region 线程方法
        /// <summary>
        /// 识别线程运行控制变量
        /// </summary>
        private bool B_ThreadProcess = false;
        /// <summary>
        /// 识别线程方法
        /// </summary>
        private void ThreadProcess()
        {
            IdentifResultClass identifResult = new IdentifResultClass();
            IdentifResultClass Ident = new IdentifResultClass();
            while (B_ThreadProcess)
            {
                if (BitmapList.Count == 0)
                {
                    Thread.Sleep(10);
                    continue;
                }
                lock(this)
                {
                    Ident = BitmapList.Dequeue();
                }
                if (BitmapList.Count > 10)
                {
                    LOG.error("ThreadProcess-BitmapList数据异常抛出,帧丢弃");
                    BitmapList.Clear();
                }
                if (Ident == null) continue;
                LM_RULT_S result = new LM_RULT_S();
                LineMessSW = new Stopwatch();
                LineMessSW.Start();
                result = lineMeasure.Process(Ident.ImageByte, Ident.ImageBitMap.Width, Ident.ImageBitMap.Height);
                LineMessSW.Stop();
                //有无结果都返回
                if (identifResult.LinePixeldis2 == 0 && result.LinePixeldis2 != 0) { FirstPointLength = result.LinePixeldis2; }
                identifResult = new IdentifResultClass()
                {
                    ImageBitMap = Ident.ImageBitMap,
                    ImageByte = Ident.ImageByte,
                    ImageTime = Ident.ImageTime,
                    Rultnum = result.rultnum,
                    Displacement = (identifResult.LinePixeldis2 == 0 && identifResult.Displacement == 0) ? 0 : result.LinePixeldis2 - identifResult.LinePixeldis1,
                    StrainValue = (identifResult.LinePixeldis2 == 0 && identifResult.StrainValue == 0) ? 0 : result.LinePixeldis2 - FirstPointLength,
                    Distance = result.LinePixeldis2,
                    LinePixeldis1 = result.LinePixeldis1,
                    LinePhysicaldis1 = result.LinePhysicaldis1,
                    LinePixeldis2 = result.LinePixeldis2,
                    LinePhysicaldis2 = result.LinePhysicaldis2,
                    IsFunction = true
                };
                ProcessResult.Enqueue(identifResult);
            }
        }
        /// <summary>
        /// 识别线程开启
        /// </summary>
        public void ProcessStart()
        {
            //修改识别标志量，代表开始识别
            B_ThreadProcess = true;
            if (lineMeasure != null)
            {
                //加载配置文件
                lineMeasure.Init(@AppDomain.CurrentDomain.SetupInformation.ApplicationBase + "lm_config.ini",
                    @AppDomain.CurrentDomain.SetupInformation.ApplicationBase+"coffrate.txt");
            }
            //赋予ProcessThread线程方法
            ProcessThread = new Thread(ThreadProcess);
            //清空待识别队列和识别结果队列
            ProcessResult.Clear();
            BitmapList.Clear();
            //运行线程
            ProcessThread.Start();
        }
        /// <summary>
        /// 识别线程开启
        /// </summary>
        public void ProcessStart(RequestConfigParameterModel parameterModel)
        {
            //修改识别标志量，代表开始识别
            B_ThreadProcess = true;
            if (lineMeasure != null)
            {
                //加载配置文件
                lineMeasure.Init(parameterModel,
                    @AppDomain.CurrentDomain.SetupInformation.ApplicationBase + "coffrate.txt");
                //lineMeasure.Init(parameterModel, @".\coffrate.txt");
            }
            //赋予ProcessThread线程方法
            ProcessThread = new Thread(ThreadProcess);
            //清空待识别队列和识别结果队列
            ProcessResult.Clear();
            BitmapList.Clear();
            //运行线程
            ProcessThread.Start();
        }
        /// <summary>
        /// 识别线程关闭
        /// </summary>
        public void ProcessStop()
        {
            B_ThreadProcess = false;
            lineMeasure.Dispose();
        }
        public bool GetThreadProcessStatic()
        {
            return B_ThreadProcess;
        }
        #endregion

        #region C++ 算法变量、结构体
        public const int LM_LINE_NUM_MAX = 4;
        [StructLayout(LayoutKind.Sequential, Pack = 1)]
        public struct LM_RECT_S
        {
            public short left;
            public short top;
            public short right;
            public short bottom;
        }

        public enum LM_LINE_GRAYDIR_E : Int32
        {
            LINE_GRAYDIR_DEFAULT = 0,           //不确定;默认由浅及深；
            LINE_GRAYDIR_SHALLOWTODEEP,         //由浅及深；
            LINE_GRAYDIR_DEEPTOSHALLOW          //由深及浅；
        }

        public enum LM_LINE_DIRECTION_E : Int32
        {
            LINE_DIR_DEFAULT = 0,           //默认为水平方向直线；
            LINE_DIR_HORIZONTAL,            //水平方向直线；
            LINE_DIR_VERTICAL               //竖直方向直线；
        }

        public enum LM_LINE_ORDER_E : Int32
        {
            LINE_ORDER_DEFAULT = 0,             //默认第一条线；
            LINE_ORDER_FIRSTLINE,               //第一条线
            LINE_ORDER_BESTLINE,                //最佳线
            LINE_ORDER_LASTLINE                 //最后一条线；
        }

        public enum LM_LINEDIS_MODE_E : Int32
        {
            LINE_DISMODE_DEFAULT = 0,
            LINE_DISMODE_CNTTOCNT,              //中点到中点的距离；
            LINE_DISMODE_CNTTOLINE,             //中点到直线的距离
            LINE_DISMODE_LINETOLINE             //线到线的距离；暂不支持；
        }

        [StructLayout(LayoutKind.Sequential, Pack = 1)]
        public struct LM_LINEDET_PARA_S
        {
            [MarshalAs(UnmanagedType.Struct)]
            public LM_RECT_S stRoirectpara;
            [MarshalAs(UnmanagedType.Struct)]
            public LM_RECT_S stRoirect;                    //roi区域；内部实际使用；
            public LM_LINE_GRAYDIR_E eGrayDir;                 //边缘由浅及深；0.浅及深；1,由深浅；
            public LM_LINE_ORDER_E eLineOrder;                 //第一条边；
            public LM_LINE_DIRECTION_E eLineDirection;              //线条方向；
        }

        [StructLayout(LayoutKind.Sequential, Pack = 1)]
        public struct LM_CALIB_RULT_S
        {
            public int iFlagSuccess;                   //是否标定成功
            public float fConvertCoefficient;           //标定结果
        }

        [StructLayout(LayoutKind.Sequential, Pack = 1)]
        public struct LM_DISCORRECT_PARA_S
        {
            public int iFlagEnable;            //是否使能畸变矫正；
            public int iImgWidth;
            public int iImgHeight;

            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
            public double[] fCammatrix;           //相机参数；
            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
            public double[] fNewcammatInv;        //相机相关参数；
            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)]
            public double[] fDisK;                //径向畸变参数；
            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)]
            public double[] fDisP;              //切向畸变参数；
        }

        [StructLayout(LayoutKind.Sequential, Pack = 1)]
        public struct LM_INIT_PARA_S
        {
            public int iLineDetNum;                    //线数量；
            public int paraimgw;                       //参数设置对应的w；需要换算；
            public int paraimgh;                       //参数设置对应的h；需要换算；
            [MarshalAs(UnmanagedType.ByValArray, SizeConst = LM_LINE_NUM_MAX, ArraySubType = UnmanagedType.LPStruct)]
            public LM_LINEDET_PARA_S[] stLineDetPara;   //线检测参数；
            public LM_LINEDIS_MODE_E eLineDisMode;                  //距离模式；
        }

        public struct LM_POINT_S
        {
            short px;
            short py;
        }

        [StructLayout(LayoutKind.Sequential, Pack = 1)]
        public struct LM_LINE_RULT_INFO_S
        {
            bool bIsValid;
            float fA;
            float fB;
            float fC;
            LM_POINT_S stDisPt;
            LM_POINT_S stStartPt;
            LM_POINT_S stEndPt;
        }

        [StructLayout(LayoutKind.Sequential, Pack = 1)]
        public struct LM_RULT_S
        {
            public int rultnum;                        //线条数；
            public float LinePixeldis1;                    //结果1，像素结果；
            public float LinePhysicaldis1;             //结果1对应的物理结果；
            public float LinePixeldis2;                    //结果2，像素结果；
            public float LinePhysicaldis2;				//结果2对应的物理结果；
            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2, ArraySubType = UnmanagedType.LPStruct)]
            LM_LINE_RULT_INFO_S[] LineInfoF;

            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2, ArraySubType = UnmanagedType.LPStruct)]
            LM_LINE_RULT_INFO_S[] LineInfoS;
        }

        private IntPtr _handle;
        private LM_RULT_S _result;
        private LM_CALIB_RULT_S _calibrationRes;
        private LM_DISCORRECT_PARA_S _distortionPara;
        public LM_DISCORRECT_PARA_S DistortionPara
        {
            get
            {
                return _distortionPara;
            }
            set
            {
                _distortionPara = value;
            }
        }

        private LM_INIT_PARA_S _lmInitPara;
        public LM_INIT_PARA_S LMInitPara
        {
            get
            {
                return _lmInitPara;
            }
            set
            {
                _lmInitPara = value;
            }
        }
        #endregion

        #region C++DLLToC#DLL

        [DllImport("LineMeasure.dll", EntryPoint = "?LM_LineMeasureInit@@YAPAXPAU_LM_INIT_PARA_S_@@H@Z", CallingConvention = CallingConvention.Cdecl)]
        //[DllImport("LineMeasure.dll")]
        //[DllImport("LineMeasure.dll", EntryPoint = "#5")]
        private static extern IntPtr LM_LineMeasureInit([In, Out] IntPtr stInitPara, int iDebugMode);

        [DllImport("LineMeasure.dll", EntryPoint = "?LM_LineMeasureProcess@@YAHPAXPAEHHPAU_LM_Rult_S_@@@Z", CallingConvention = CallingConvention.Cdecl)]
        //[DllImport("LineMeasure.dll")]
        private static extern int LM_LineMeasureProcess(IntPtr handle, [In, Out]byte[] grayimg, int imgw, int imgh, [In, Out]IntPtr lmrult);

        [DllImport("LineMeasure.dll", EntryPoint = "?LM_LineMeasureRelease@@YAXPAX@Z", CallingConvention = CallingConvention.Cdecl)]
        //[DllImport("LineMeasure.dll")]
        private static extern void LM_LineMeasureRelease(IntPtr handle);

        [DllImport("LineMeasure.dll", EntryPoint = "?LM_LineMeasureCalibration@@YAXPAEHHMPAU_LM_CALIB_RULT_S_@@@Z", CallingConvention = CallingConvention.Cdecl)]
        //[DllImport("LineMeasure.dll")]
        private static extern void LM_LineMeasureCalibration(IntPtr handle, [In, Out]byte[] grayimg, int imgw, int imgh, float rangedis, [In, Out]LM_CALIB_RULT_S calibrult);

        [DllImport("LineMeasure.dll", EntryPoint = "?LM_LineMeasureCalibSet@@YAXPAXPAU_LM_CALIB_RULT_S_@@@Z", CallingConvention = CallingConvention.Cdecl)]
        //[DllImport("LineMeasure.dll")]
        private static extern void LM_LineMeasureCalibSet(IntPtr handle, [In, Out]LM_CALIB_RULT_S calibrult);

        [DllImport("LineMeasure.dll", EntryPoint = "?LM_DistortionCalibSet@@YAXPAXPAU_LM_DISCORRECT_PARA_S_@@@Z", CallingConvention = CallingConvention.Cdecl)]
        //[DllImport("LineMeasure.dll")]
        private static extern void LM_DistortionCalibSet(IntPtr handle, [In, Out]LM_DISCORRECT_PARA_S discorrpara);

        [DllImport("LineMeasure.dll", EntryPoint = "?LM_LineMeasureReConfig@@YAXPEAXPEAU_LM_INIT_PARA_S_@@@Z", CallingConvention = CallingConvention.Cdecl)]
        //[DllImport("LineMeasure.dll")]
        private static extern void LM_LineMeasureReConfig(IntPtr handle, [In, Out]LM_INIT_PARA_S para);


        [DllImport("kernel32")]
        private static extern long WritePrivateProfileString(string section, string key, string val, string filePath);

        [DllImport("kernel32")]
        private static extern int GetPrivateProfileString(string lpAppName, string lpKeyName, string lpDefault, StringBuilder lpReturnedString, int nSize, string lpFileName);
        [DllImport("kernel32.dll", CharSet = CharSet.Auto)]
        private static extern uint GetPrivateProfileString(string lpAppName, string lpKeyName, string lpDefault, [In, Out] char[] lpReturnedString, uint nSize, string lpFileName);

        [DllImport("kernel32.dll", CharSet = CharSet.Auto)]
        private static extern uint GetPrivateProfileSection(string lpAppName, IntPtr lpReturnedString, uint nSize, string lpFileName);

        [DllImport("kernel32.dll")]
        public static extern Boolean AllocConsole();
        [DllImport("kernel32.dll")]
        public static extern Boolean FreeConsole();

        /// <summary>
        /// 控制台输出内容
        /// </summary>
        /// <param name="output">输入文本</param>
        /// <param name="color">输出颜色</param>
        public static void WriteLine(string output, ConsoleColor color)
        {
            Console.ForegroundColor = color;
            Console.WriteLine(@"[{0}] {1}", DateTime.Now, output);
        }
        private string ReadString(string section, string key, string def, string fileName)
        {
            StringBuilder temp = new StringBuilder(1024);
            try
            {
                GetPrivateProfileString(section, key, def, temp, 1024, fileName);
            }
            catch
            { }
            return temp.ToString();
        }
        private IntPtr ParaStructToPtr(LM_INIT_PARA_S para)
        {
            IntPtr pP1 = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(LM_INIT_PARA_S)));
            Marshal.WriteByte(pP1, 0);
            Marshal.StructureToPtr(para, pP1, true);

            return pP1;
        }
        IntPtr pP1;
        private IntPtr ResultToPtr(LM_RULT_S res)
        {
            pP1 = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(LM_RULT_S)));
            Marshal.WriteByte(pP1, 0);
            Marshal.StructureToPtr(res, pP1, true);

            return pP1;
        }
        private LM_RULT_S PtrToResult(IntPtr ptRes)
        {
            return (LM_RULT_S)Marshal.PtrToStructure(ptRes, typeof(LM_RULT_S));
        }
        public int Init(LM_INIT_PARA_S para, int debug)
        {

            _handle = LM_LineMeasureInit(ParaStructToPtr(para), debug);
            return 0;
        }

        public void Calibration(byte[] grayimg, int width, int height, float rangedis)
        {
            LM_LineMeasureCalibration(_handle, grayimg, width, height, rangedis, _calibrationRes);
        }

        public void CaliSet()
        {
            LM_LineMeasureCalibSet(_handle, _calibrationRes);
        }

        //public void Cali
        public void DistortionCali()
        {

        }
        private IntPtr StructToPtr(Type tp, Object val)
        {
            IntPtr pP1 = Marshal.AllocHGlobal(Marshal.SizeOf(tp));
            Marshal.WriteByte(pP1, 0);
            Marshal.StructureToPtr(val, pP1, true);

            return pP1;
        }

        #endregion
    }
}