using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using MaterialDesignThemes.Wpf;
using Prism.Commands;
using Prism.Events;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Regions;
using Prism.Services.Dialogs;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Data;
using System.IO;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using Team.FFFeederService;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP.Core;
using TeamAAS_VP.Data;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Calibration;
using TeamAAS_VP.Resources.Languages;
using TeamAAS_VP.Services;
using TeamAAS_VP.Views.Setting;
using static TeamAAS_VP.Core.StabilityAnalyzer;

namespace TeamAAS_VP.ViewModels.Product
{
    public class VisionStaticAccuracyAnalyzerViewModel : BindableBase, IDialogAware
    {
        IRegionManager _regionManager;
        IEventAggregator _eventAggregator;
        IContainerProvider _container;
        IDialogService _dialogService;
        IFeederService _feederService;
        IRobotService _robotService;
        ICameraService _cameraService;
        ISystemDatabaseService _systemDatabaseService;
        ICalibrationService _calibrationService;
        IConfigService _configService;

        //测试过程中控制取消的CTS
        CancellationTokenSource _cts;

        #region 属性

        private ICogImage _Image;

        public ICogImage Image
        {
            get { return _Image; }
            set { SetProperty(ref _Image, value); }
        }

        private Cognex.VisionPro.CogGraphicCollection _Graphic;

        public Cognex.VisionPro.CogGraphicCollection Graphic
        {
            get { return _Graphic; }
            set { SetProperty(ref _Graphic, value); }
        }

        private ProcedureModel _SelectProcedure;

        /// <summary>
        /// 选中的流程
        /// </summary>
        public ProcedureModel SelectProcedure
        {
            get { return _SelectProcedure; }
            set
            {
                SetProperty(ref _SelectProcedure, value);
            }
        }

        private ICamera _Camera;

        public ICamera Camera
        {
            get { return _Camera; }
            set { SetProperty(ref _Camera, value); }
        }

        private string _Message = "等待开始...";
        public string Message
        {
            get { return _Message; }
            set { SetProperty(ref _Message, value); }
        }

        private bool _IsRunning;

        public bool IsRunning
        {
            get { return _IsRunning; }
            set { SetProperty(ref _IsRunning, value); }
        }

        private CogToolBlock _VisionTool;
        public CogToolBlock VisionTool
        {
            get { return _VisionTool; }
            set { SetProperty(ref _VisionTool, value); }
        }

        private int _RepeatCount = 10;
        /// <summary>
        /// 重复次数
        /// </summary>
        public int RepeatCount
        {
            get { return _RepeatCount; }
            set { SetProperty(ref _RepeatCount, value); }
        }

        private int _CurrentProgress;
        /// <summary>
        /// 当前进度
        /// </summary>
        public int CurrentProgress
        {
            get { return _CurrentProgress; }
            set { SetProperty(ref _CurrentProgress, value); }
        }

        private int _SuccessCount;
        /// <summary>
        /// 成功次数
        /// </summary>
        public int SuccessCount
        {
            get { return _SuccessCount; }
            set { SetProperty(ref _SuccessCount, value); }
        }

        private int _FailCount;
        /// <summary>
        /// 失败次数
        /// </summary>
        public int FailCount
        {
            get { return _FailCount; }
            set { SetProperty(ref _FailCount, value); }
        }

        private double _SuccessRate;
        /// <summary>
        /// 成功率
        /// </summary>
        public double SuccessRate
        {
            get { return _SuccessRate; }
            set { SetProperty(ref _SuccessRate, value); }
        }

        private DataTable _TestResult;
        /// <summary>
        /// 测试结果列表DataTable
        /// </summary>
        public DataTable TestResult
        {
            get { return _TestResult; }
            set { SetProperty(ref _TestResult, value); }
        }

        private ObservableCollection<DataColumnInfo> _ResultDataColumns;
        /// <summary>
        /// DataTable的列集合
        /// </summary>
        public ObservableCollection<DataColumnInfo> ResultDataColumns
        {
            get { return _ResultDataColumns; }
            set { SetProperty(ref _ResultDataColumns, value); }
        }

        //
        private DataColumnInfo _SelectedDataColumn;
        /// <summary>
        /// 选中的列
        /// </summary>
        public DataColumnInfo SelectedDataColumn
        {
            get { return _SelectedDataColumn; }
            set { SetProperty(ref _SelectedDataColumn, value); }
        }

        private SnackbarMessageQueue _MessageQueue;
        public SnackbarMessageQueue MessageQueue
        {
            get { return _MessageQueue; }
            set { SetProperty(ref _MessageQueue, value); }
        }

        //选中列分析结果
        private StabilityMetrics _StabilityMetrics;
        public StabilityMetrics StabilityMetrics
        {
            get { return _StabilityMetrics; }
            set { SetProperty(ref _StabilityMetrics, value); }
        }

        private int _DelayTime = 200;
        /// <summary>
        /// 延时时间
        /// </summary>
        public int DelayTime
        {
            get { return _DelayTime; }
            set { SetProperty(ref _DelayTime, value); }
        }
        #endregion

        #region 命令
        private DelegateCommand _ConfirmCommand;
        public DelegateCommand ConfirmCommand =>
            _ConfirmCommand ?? (_ConfirmCommand = new DelegateCommand(ExecuteConfirmCommand, () => !IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _CancelCommand;
        public DelegateCommand CancelCommand =>
            _CancelCommand ?? (_CancelCommand = new DelegateCommand(ExecuteCancelCommand, () => !IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _StartTestCommand;
        public DelegateCommand StartTestCommand =>
            _StartTestCommand ?? (_StartTestCommand = new DelegateCommand(ExecuteStartTestCommand, CanExecuteStartTestCommand).ObservesProperty(() => IsRunning));

        private DelegateCommand _StopTestCommand;
        public DelegateCommand StopTestCommand =>
            _StopTestCommand ?? (_StopTestCommand = new DelegateCommand(() => { _cts?.Cancel(); }, () => IsRunning).ObservesProperty(() => IsRunning));

        //暂停测试命令
        private DelegateCommand _PauseTestCommand;
        public DelegateCommand PauseTestCommand =>
            _PauseTestCommand ?? (_PauseTestCommand = new DelegateCommand(() => { _cts?.Cancel(); }, () => IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _ExportCSVCommand;
        public DelegateCommand ExportCSVCommand =>
            _ExportCSVCommand ?? (_ExportCSVCommand = new DelegateCommand(ExecuteExportCSVCommand, () => !IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _ExportReportCommand;
        public DelegateCommand ExportReportCommand =>
            _ExportReportCommand ?? (_ExportReportCommand = new DelegateCommand(ExecuteExportReportCommand, () => !IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _ClearDataCommand;
        public DelegateCommand ClearDataCommand =>
            _ClearDataCommand ?? (_ClearDataCommand = new DelegateCommand(ExecuteClearDataCommand, () => !IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _SelectColumnCommand;
        public DelegateCommand SelectColumnCommand =>
            _SelectColumnCommand ?? (_SelectColumnCommand = new DelegateCommand(ExecuteSelectColumnCommand));


        #endregion

        #region 事件

        #endregion

        public VisionStaticAccuracyAnalyzerViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService,
            IFeederService feederService, IRobotService robotService, ICameraService cameraService, ISystemDatabaseService systemDatabaseService, ICalibrationService calibrationService,
            IConfigService configService)
        {
            _regionManager = regionManager;
            _eventAggregator = ea;
            _container = container;
            _dialogService = dialogService;
            _feederService = feederService;
            _robotService = robotService;
            _cameraService = cameraService;
            _systemDatabaseService = systemDatabaseService;
            MessageQueue = new SnackbarMessageQueue(TimeSpan.FromSeconds(1));
            _calibrationService = calibrationService;
            _configService = configService;
        }

        #region 方法
        /// <summary>
        /// 确定
        /// </summary>
        void ExecuteConfirmCommand()
        {
            _cts?.Cancel();

            IDialogParameters parameters = new DialogParameters();
            //parameters.Add("Tool", Tool);
            //parameters.Add("RobotCameraRotationMatrix", RobotCameraRotationMatrix);
            //parameters.Add("Angle", Angle);
            RequestClose?.Invoke(new DialogResult(ButtonResult.OK, parameters));
        }

        /// <summary>
        /// 取消
        /// </summary>
        void ExecuteCancelCommand()
        {
            _cts?.Cancel();
            IDialogParameters parameters = new DialogParameters();
            //parameters.Add("Tool", Tool);
            RequestClose?.Invoke(new DialogResult(ButtonResult.Cancel, parameters));
        }

        /// <summary>
        /// 开始测试
        /// </summary>
        async void ExecuteStartTestCommand()
        {
            IsRunning = true;
            _cts = new CancellationTokenSource();
            CurrentProgress = 0;
            SuccessCount = 0;
            SuccessRate = 0;
            FailCount = 0;
            Message = "测试进行中...";

            try
            {
                while (CurrentProgress < RepeatCount)
                {
                    if (_cts.Token.IsCancellationRequested)
                    {
                        Message = "测试已取消！";
                        break;
                    }

                    (bool isSuccess, object[] Result) = await ExecutePhotoEx(CurrentProgress);
                    if (isSuccess)
                    {
                        SuccessCount++;
                    }
                    else
                    {
                        FailCount++;
                    }
                    TestResult.Rows.Add(Result);
                    ExecuteSelectColumnCommand();
                    await Task.Delay(DelayTime);

                    CurrentProgress++;
                    SuccessRate = (double)SuccessCount / CurrentProgress * 100;
                    SendTaskMessage($"测试进行中... {CurrentProgress}/{RepeatCount}");
                }
                if (CurrentProgress >= RepeatCount)
                {
                    Message = "测试完成！";
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("视觉静态重复测试时出错！", ex);
            }
            finally
            {
                IsRunning = false;
            }
        }

        bool CanExecuteStartTestCommand()
        {
            return !IsRunning;
        }

        /// <summary>
        /// 清除数据
        /// </summary>
        void ExecuteClearDataCommand()
        {
            if(TestResult!=null)
            {
                TestResult.Rows.Clear();
            }
        }

        /// <summary>
        /// 导出测试报告
        /// 使用 iTextSharp 生成 PDF，包含：标题、测试摘要、数据表格、每列稳定性分析结果
        /// 详细伪代码：
        /// 1. 校验 TestResult 是否存在数据，若无则提示并返回。
        /// 2. 弹出保存对话框，获取保存路径，若取消返回。
        /// 3. 创建 iTextSharp Document 与 PdfWriter，打开文档。
        /// 4. 创建支持中文的 BaseFont（例如 STSongStd-Light + UniGB-UCS2-H）。
        /// 5. 写入标题（居中、大号字体）。
        /// 6. 写入测试摘要信息（测试时间、重复次数、成功/失败/成功率等），每项为单独段落或表格。
        /// 7. 构建 PdfPTable：列数 = TestResult.Columns.Count，写入表头（加粗），逐行写入数据：
        ///    - 对于数值使用 InvariantCulture 格式化，空值写空字符串。
        /// 8. 写入分析结果标题。
        /// 9. 对于 ResultDataColumns 中的每列：
        ///    - 从 TestResult 读取该列所有数值（尝试转换为 double，忽略无法转换的项）。
        ///    - 如果样本数为 0，写入“样本数为0”提示并跳过。
        ///    - 调用 StabilityAnalyzer.AnalyzeStability(values) 获取指标对象。
        ///    - 遍历指标对象的公开属性，将属性名与值写入一个两列的 PdfPTable（或段落）。
        /// 10. 关闭文档并释放资源。
        /// 11. 捕获异常并记录日志，提示用户失败信息。
        /// </summary>
        void ExecuteExportReportCommand()
        {
            try
            {
                if (TestResult == null || TestResult.Columns.Count == 0 || TestResult.Rows.Count == 0)
                {
                    SendTaskMessage("无测试数据，无法导出报告。");
                    return;
                }

                var dlg = new Microsoft.Win32.SaveFileDialog
                {
                    DefaultExt = "pdf",
                    Filter = "PDF 文件 (*.pdf)|*.pdf|所有文件 (*.*)|*.*",
                    FileName = "TestReport.pdf",
                    Title = "保存测试报告为 PDF"
                };

                bool? dlgResult = dlg.ShowDialog();
                if (dlgResult != true)
                    return;

                string path = dlg.FileName;

                // 创建文档（A4, 边距）
                var doc = new iTextSharp.text.Document(iTextSharp.text.PageSize.A4, 36, 36, 54, 54);
                using (var fs = System.IO.File.Create(path))
                {
                    var writer = iTextSharp.text.pdf.PdfWriter.GetInstance(doc, fs);
                    doc.Open();

                    // --- 字体加载：优先载入系统中文字体并以 IDENTITY_H 编码嵌入，保证中文显示 ---
                    iTextSharp.text.Font titleFont;
                    iTextSharp.text.Font headerFont;
                    iTextSharp.text.Font normalFont;

                    iTextSharp.text.pdf.BaseFont baseFont = null;
                    try
                    {
                        var fontsFolder = Environment.GetFolderPath(Environment.SpecialFolder.Fonts);
                        var candidates = new[]
    {
        "msyh.ttf",
        "msyhbd.ttf",
        "simsun.ttc,0",  // 添加 ",0" 指定第一个字体
        "simsun.ttc,1",  // 第二个字体
        "Microsoft YaHei.ttf",
        "msyh.ttc,0",    // 添加 ",0"
        "msyh.ttc,1",    // 添加 ",1"
        "simhei.ttf"
    };
                        foreach (var f in candidates)
                        {
                            var path1 = Path.Combine(fontsFolder, f);
                            try
                            {
                                baseFont = iTextSharp.text.pdf.BaseFont.CreateFont(
                                    path1,
                                    iTextSharp.text.pdf.BaseFont.IDENTITY_H,
                                    iTextSharp.text.pdf.BaseFont.EMBEDDED
                                );
                                if (baseFont != null)
                                {
                                    Console.WriteLine($"成功加载字体: {f}");
                                    break;
                                }
                            }
                            catch (Exception ex)
                            {
                                Console.WriteLine($"字体 {f} 加载失败: {ex.Message}");
                                continue;
                            }
                        }
                    }
                    catch
                    {
                        baseFont = null;
                    }

                    if (baseFont != null)
                    {
                        titleFont = new iTextSharp.text.Font(baseFont, 16, iTextSharp.text.Font.BOLD, iTextSharp.text.BaseColor.BLACK);
                        headerFont = new iTextSharp.text.Font(baseFont, 10, iTextSharp.text.Font.BOLD, iTextSharp.text.BaseColor.BLACK);
                        normalFont = new iTextSharp.text.Font(baseFont, 10, iTextSharp.text.Font.NORMAL, iTextSharp.text.BaseColor.BLACK);
                    }
                    else
                    {
                        // 回退：如果未找到系统中文字体，使用内置 Helvetica（注意：可能无法正确显示中文）
                        titleFont = iTextSharp.text.FontFactory.GetFont(iTextSharp.text.FontFactory.HELVETICA, 16, iTextSharp.text.Font.BOLD, iTextSharp.text.BaseColor.BLACK);
                        headerFont = iTextSharp.text.FontFactory.GetFont(iTextSharp.text.FontFactory.HELVETICA, 10, iTextSharp.text.Font.BOLD, iTextSharp.text.BaseColor.BLACK);
                        normalFont = iTextSharp.text.FontFactory.GetFont(iTextSharp.text.FontFactory.HELVETICA, 10, iTextSharp.text.Font.NORMAL, iTextSharp.text.BaseColor.BLACK);

                    }


                    // 标题
                    var title = new iTextSharp.text.Paragraph("视觉静态精度测试报告", titleFont)
                    {
                        Alignment = iTextSharp.text.Element.ALIGN_CENTER,
                        SpacingAfter = 12f
                    };
                    doc.Add(title);

                    // 测试摘要
                    var metaTable = new iTextSharp.text.pdf.PdfPTable(2) { WidthPercentage = 100f };
                    metaTable.SetWidths(new float[] { 1f, 2f });

                    void AddMeta(string name, string value)
                    {
                        var cellName = new iTextSharp.text.pdf.PdfPCell(new iTextSharp.text.Phrase(name, headerFont)) { Border = 0, PaddingBottom = 6f };
                        var cellVal = new iTextSharp.text.pdf.PdfPCell(new iTextSharp.text.Phrase(value, normalFont)) { Border = 0, PaddingBottom = 6f };
                        metaTable.AddCell(cellName);
                        metaTable.AddCell(cellVal);
                    }

                    // include device info (line, station, fixture id) but exclude MES flags/urls
                    var device = _configService?.GetDeviceInfo() ?? _configService?.GetDeviceInfo();
                    if (device != null)
                    {
                        AddMeta("线别", device.Line ?? string.Empty);
                        AddMeta("站别", device.Station ?? string.Empty);
                        AddMeta("机台号", device.FixtureId ?? string.Empty);
                    }

                    AddMeta("导出时间", DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"));
                    AddMeta("测试次数(目标)", RepeatCount.ToString());
                    AddMeta("当前进度", $"{CurrentProgress} / {RepeatCount}");
                    AddMeta("成功次数", SuccessCount.ToString());
                    AddMeta("失败次数", FailCount.ToString());
                    AddMeta("成功率(%)", SuccessRate.ToString("F2", System.Globalization.CultureInfo.InvariantCulture));
                    doc.Add(metaTable);

                    doc.Add(new iTextSharp.text.Paragraph(" ")); // 空行

                    // 数据表格
                    int colCount = TestResult.Columns.Count;
                    var table = new iTextSharp.text.pdf.PdfPTable(colCount) { WidthPercentage = 100f };
                    // 表头
                    foreach (System.Data.DataColumn col in TestResult.Columns)
                    {
                        var cell = new iTextSharp.text.pdf.PdfPCell(new iTextSharp.text.Phrase(col.ColumnName, headerFont))
                        {
                            HorizontalAlignment = iTextSharp.text.Element.ALIGN_CENTER,
                            BackgroundColor = new iTextSharp.text.BaseColor(230, 230, 230),
                            Padding = 4f
                        };
                        table.AddCell(cell);
                    }
                    // 数据行
                    foreach (System.Data.DataRow row in TestResult.Rows)
                    {
                        for (int c = 0; c < colCount; c++)
                        {
                            object val = row[c];
                            string s;
                            if (val == null || val == DBNull.Value)
                                s = "";
                            else if (val is double || val is float || val is decimal)
                                s = Convert.ToDouble(val).ToString("G", System.Globalization.CultureInfo.InvariantCulture);
                            else
                                s = val.ToString();
                            var cell = new iTextSharp.text.pdf.PdfPCell(new iTextSharp.text.Phrase(s, normalFont)) { Padding = 4f };
                            table.AddCell(cell);
                        }
                    }
                    doc.Add(table);

                    doc.NewPage();

                    // 分析结果
                    var analysisTitle = new iTextSharp.text.Paragraph("分析结果", titleFont) { SpacingAfter = 8f };
                    doc.Add(analysisTitle);

                    if (ResultDataColumns != null && ResultDataColumns.Count > 0)
                    {
                        foreach (var colInfo in ResultDataColumns)
                        {
                            try
                            {
                                // 收集数值
                                var values = new System.Collections.Generic.List<double>();
                                foreach (System.Data.DataRow row in TestResult.Rows)
                                {
                                    object v = row[colInfo.ColumnIndex];
                                    if (v == null || v == DBNull.Value) continue;
                                    double d;
                                    if (v is double) d = (double)v;
                                    else if (v is float) d = Convert.ToDouble((float)v);
                                    else if (v is decimal) d = Convert.ToDouble((decimal)v);
                                    else if (v is int) d = Convert.ToDouble((int)v);
                                    else if (v is long) d = Convert.ToDouble((long)v);
                                    else
                                    {
                                        if (!double.TryParse(v.ToString(), System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out d))
                                            continue;
                                    }
                                    values.Add(d);
                                }

                                var colHeader = new iTextSharp.text.Paragraph(colInfo.ColumnName, headerFont) { SpacingBefore = 6f, SpacingAfter = 4f };
                                doc.Add(colHeader);

                                if (values.Count == 0)
                                {
                                    doc.Add(new iTextSharp.text.Paragraph("样本数为 0，无法计算。", normalFont));
                                    continue;
                                }

                                // 计算稳定性指标
                                StabilityMetrics metrics = StabilityAnalyzer.AnalyzeStability(values.ToArray());

                                // 将指标写成两列表（属性名 / 值）
                                var metricsTable = new iTextSharp.text.pdf.PdfPTable(2) { WidthPercentage = 60f, SpacingAfter = 6f };
                                metricsTable.SetWidths(new float[] { 1f, 1f });
                                var props = metrics.GetType().GetProperties(System.Reflection.BindingFlags.Public | System.Reflection.BindingFlags.Instance);
                                foreach (var p in props)
                                {
                                    object pv = p.GetValue(metrics);
                                    string pvStr;
                                    if (pv == null) pvStr = "";
                                    else if (pv is double) pvStr = ((double)pv).ToString("G", System.Globalization.CultureInfo.InvariantCulture);
                                    else pvStr = pv.ToString();

                                    var pc = new iTextSharp.text.pdf.PdfPCell(new iTextSharp.text.Phrase(p.Name, normalFont)) { Padding = 4f };
                                    var vc = new iTextSharp.text.pdf.PdfPCell(new iTextSharp.text.Phrase(pvStr, normalFont)) { Padding = 4f };
                                    metricsTable.AddCell(pc);
                                    metricsTable.AddCell(vc);
                                }
                                doc.Add(metricsTable);
                            }
                            catch (Exception exCol)
                            {
                                LogHelper.WriteLogError($"导出报告时处理列[{colInfo.ColumnName}]出错", exCol);
                                doc.Add(new iTextSharp.text.Paragraph($"处理列 {colInfo.ColumnName} 时出错: {exCol.Message}", normalFont));
                            }
                        }
                    }
                    else
                    {
                        doc.Add(new iTextSharp.text.Paragraph("无用于分析的数值列。", normalFont));
                    }

                    doc.Close();
                    writer.Close();
                }

                SendTaskMessage($"已导出测试报告到：{path}");
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("导出测试报告时出错", ex);
                SendTaskMessage($"导出测试报告失败：{ex.Message}");
            }
        }

        /// <summary>
        /// 导出测试数据为CSV文件
        /// </summary>
        void ExecuteExportCSVCommand()
        {
            try
            {
                if (TestResult == null || TestResult.Columns.Count == 0 || TestResult.Rows.Count == 0)
                {
                    SendTaskMessage("无测试数据，无法导出。");
                    return;
                }

                var dlg = new Microsoft.Win32.SaveFileDialog
                {
                    DefaultExt = "csv",
                    Filter = "CSV 文件 (*.csv)|*.csv|所有文件 (*.*)|*.*",
                    FileName = "TestResult.csv",
                    Title = "保存测试结果为 CSV"
                };

                bool? dlgResult = dlg.ShowDialog();
                if (dlgResult != true)
                    return;

                string path = dlg.FileName;
                var sb = new System.Text.StringBuilder();

                // 辅助：CSV 字段转义
                Func<string, string> EscapeCsv = (s) =>
                {
                    if (s == null) return "";
                    bool mustQuote = s.Contains(",") || s.Contains("\"") || s.Contains("\r") || s.Contains("\n");
                    string esc = s.Replace("\"", "\"\"");
                    return mustQuote ? $"\"{esc}\"" : esc;
                };

                // include device info at top of CSV
                var device = _configService?.GetDeviceInfo();
                if (device != null)
                {
                    sb.AppendLine("设备信息");
                    sb.AppendLine($"线别,{EscapeCsv(device.Line)}");
                    sb.AppendLine($"站别,{EscapeCsv(device.Station)}");
                    sb.AppendLine($"机台号,{EscapeCsv(device.FixtureId)}");
                    sb.AppendLine();
                }

                // 1. 写入表头
                for (int c = 0; c < TestResult.Columns.Count; c++)
                {
                    if (c > 0) sb.Append(",");
                    sb.Append(EscapeCsv(TestResult.Columns[c].ColumnName));
                }
                sb.AppendLine();

                // 2. 写入数据行
                foreach (System.Data.DataRow row in TestResult.Rows)
                {
                    for (int c = 0; c < TestResult.Columns.Count; c++)
                    {
                        if (c > 0) sb.Append(",");
                        object val = row[c];
                        if (val == DBNull.Value || val == null)
                        {
                            sb.Append("");
                        }
                        else
                        {
                            // 保持数值格式，其他转为字符串
                            string outStr;
                            if (val is double || val is float || val is decimal)
                                outStr = Convert.ToString(val, System.Globalization.CultureInfo.InvariantCulture);
                            else if (val is int || val is long || val is short || val is byte)
                                outStr = val.ToString();
                            else if (val is bool)
                                outStr = (bool)val ? "True" : "False";
                            else
                                outStr = val.ToString();
                            sb.Append(EscapeCsv(outStr));
                        }
                    }
                    sb.AppendLine();
                }

                // 3. 在末尾追加分析结果
                sb.AppendLine(); // 空行
                sb.AppendLine("分析结果");
                sb.AppendLine("列名,指标,值"); // CSV 表头：列名,指标,值

                if (ResultDataColumns != null)
                {
                    foreach (var colInfo in ResultDataColumns)
                    {
                        try
                        {
                            List<double> values = new List<double>();
                            foreach (System.Data.DataRow row in TestResult.Rows)
                            {
                                object v = row[colInfo.ColumnIndex];
                                if (v != DBNull.Value && v != null)
                                {
                                    double d;
                                    // 支持不同数字类型
                                    if (v is double) d = (double)v;
                                    else if (v is float) d = Convert.ToDouble((float)v);
                                    else if (v is decimal) d = Convert.ToDouble((decimal)v);
                                    else if (v is int) d = Convert.ToDouble((int)v);
                                    else if (v is long) d = Convert.ToDouble((long)v);
                                    else
                                    {
                                        if (!double.TryParse(v.ToString(), System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out d))
                                            continue;
                                    }
                                    values.Add(d);
                                }
                            }

                            if (values.Count == 0)
                            {
                                sb.AppendLine($"{EscapeCsv(colInfo.ColumnName)},{EscapeCsv("样本数")},{0}");
                                continue;
                            }

                            // 调用稳定性分析
                            StabilityMetrics metrics = StabilityAnalyzer.AnalyzeStability(values.ToArray());

                            // 使用反射枚举 metrics 的公开属性并写入 CSV
                            var props = metrics.GetType().GetProperties(System.Reflection.BindingFlags.Public | System.Reflection.BindingFlags.Instance);
                            foreach (var p in props)
                            {
                                object pv = p.GetValue(metrics);
                                string pvStr = pv == null ? "" : (pv is double ? Convert.ToString((double)pv, System.Globalization.CultureInfo.InvariantCulture) : pv.ToString());
                                sb.AppendLine($"{EscapeCsv(colInfo.ColumnName)},{EscapeCsv(p.Name)},{EscapeCsv(pvStr)}");
                            }
                        }
                        catch (Exception exCol)
                        {
                            LogHelper.WriteLogError($"导出分析结果时处理列[{colInfo.ColumnName}]出错", exCol);
                            sb.AppendLine($"{EscapeCsv(colInfo.ColumnName)},{EscapeCsv("Error")},{EscapeCsv(exCol.Message)}");
                        }
                    }
                }

                // 写入文件（UTF8，无 BOM，若需 BOM 可使用 new UTF8Encoding(true)）
                System.IO.File.WriteAllText(path, sb.ToString(), System.Text.Encoding.UTF8);

                SendTaskMessage($"已导出测试结果到：{path}");
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("导出CSV时出错", ex);
                SendTaskMessage($"导出CSV失败：{ex.Message}");
            }
        }

        /// <summary>
        /// 选中列时触发
        /// </summary>
        void ExecuteSelectColumnCommand()
        {
            try
            {
                //如果选中列为空，则直接返回
                if (SelectedDataColumn == null)
                    return;

                //获取表的指定列的所有数据集合
                List<double> dataList = new List<double>();
                foreach (DataRow row in TestResult.Rows)
                {
                    if (row[SelectedDataColumn.ColumnIndex] != DBNull.Value)
                    {
                        dataList.Add(Convert.ToDouble(row[SelectedDataColumn.ColumnIndex]));
                    }
                }

                //如果数据量小于10，则不进行分析
                if (dataList.Count < 10)
                {
                    //MessageQueue.Enqueue("选中列的数据量小于10，无法进行统计分析！");
                    return;
                }
                //进行稳定性分析
                StabilityMetrics metrics = StabilityAnalyzer.AnalyzeStability(dataList.ToArray());
                App.Current.Dispatcher.Invoke(() =>
                {
                    StabilityMetrics = metrics;
                });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("选中列的数据分析数据稳定性时出错！", ex);
            }
        }

        /// <summary>
        /// 执行相机拍照并运行 ToolBlock,返回是否成功并通过 out 参数返回 Outputs、图像和图形集合。
        /// </summary>
        /// <param name="index"></param>
        /// <returns></returns>
        public Task<(bool isSuccess, object[] Result)> ExecutePhotoEx(int index)
        {
            return Task.Run(() =>
            {
                CogToolBlockTerminalCollection outputCollection;
                List<object> result = new List<object>();
                result.Add(index);
                try
                {
                    // 1. 采集图像
                    bool succed = Camera.SetExposureTime(SelectProcedure.ExposureTime);
                    if (!succed)
                    {
                        SendTaskMessage("相机曝光设置失败");
                    }
                    succed = Camera.SetGain(SelectProcedure.Gain);
                    if (!succed)
                    {
                        SendTaskMessage("相机增益设置失败");
                    }
                    DateTime nowtime = DateTime.Now;
                    LogHelper.WriteLogInfo("开始采集图像");
                    var image = Camera.Grab();
                    if (image == null)
                    {

                        SendTaskMessage(Lang.图像采集失败);
                        outputCollection = null;
                        return (false, result.ToArray());
                    }
                    //Image = image;
                    VisionTool.Inputs["InputImage"].Value = image;
                    LogHelper.WriteLogInfo($"采集图像完成用时{(DateTime.Now - nowtime).Milliseconds}ms");

                    // 2. 为ToolBlock传入其他输入终端
                    //if (InputTerminal != null)
                    //{
                    //    LogHelper.WriteLogInfo(Lang.为ToolBlock传入输入终端);
                    //    foreach (var item in InputTerminal)
                    //    {
                    //        if (VisionTool.Inputs.Contains(item.Key))
                    //        {
                    //            LogHelper.WriteLogInfo($"传入[{item.Key}]={item.Value}");
                    //            VisionTool.Inputs[item.Key].Value = item.Value;
                    //        }
                    //        else
                    //        {
                    //            LogHelper.WriteLogInfo($"创建并传入[{item.Key}]={item.Value}");
                    //            VisionTool.Inputs.Add(new CogToolBlockTerminal(item.Key, item.Value));
                    //        }
                    //    }
                    //}
                    Image = VisionTool.Inputs["InputImage"].Value as ICogImage;
                    // 3. 运行视觉工具
                    LogHelper.WriteLogInfo("开始运行视觉工具");
                    VisionTool.Run();      //运行ToolBlock

                    if (VisionTool.RunStatus.Result == CogToolResultConstants.Accept)
                    {
                        SendTaskMessage(Lang.视觉流程执行耗时.Replace("{0}", SelectProcedure.Name).Replace("{1}", $"{VisionTool.RunStatus.ProcessingTime:F1}"));
                        outputCollection = VisionTool.Outputs;     //获取输出终端集合
                        foreach (CogToolBlockTerminal terminal in outputCollection)
                        {
                            //如果类型是常见的字符串、数字、布尔类型，则创建对应的列
                            if (terminal.ValueType == typeof(string))
                            {
                                //如果输出的名称是"Point"，则要判断是否是点位格式，点位格式为"x1,y1,u1;x2,y2,u2;...."
                                if (terminal.Name == "Point")
                                {
                                    //是否需要转换为绝对坐标
                                    needConvertToAbsolute = false;

                                    //如果当前流程的校准为空，则不需要转换为绝对坐标
                                    if (SelectProcedure.CalibrationId != Guid.Empty)
                                    {
                                        var calibration = _calibrationService.GetCalibration(SelectProcedure.CalibrationId);
                                        if (calibration != null)
                                        {
                                            needConvertToAbsolute = true;
                                        }
                                    }

                                    //判断是否是点位格式
                                    string strpoints = terminal.Value.ToString();
                                    string[] items = strpoints.Split(';');
                                    bool isPointFormat = true;
                                    foreach (string item in items)
                                    {
                                        string[] subitems = item.Split(',');
                                        if (subitems.Length < 3)
                                        {
                                            isPointFormat = false;
                                            break;
                                        }
                                        double x, y, u;
                                        if (!double.TryParse(subitems[0], out x) || !double.TryParse(subitems[1], out y) || !double.TryParse(subitems[2], out u))
                                        {
                                            isPointFormat = false;
                                            break;
                                        }
                                    }
                                    if (isPointFormat)
                                    {
                                        //是点位格式，则创建多列
                                        for (int i = 0; i < items.Length; i++)
                                        {
                                            string[] subitems = items[i].Split(',');
                                            //先分别创建像素X、像素Y、角度U三列
                                            result.Add(double.Parse(subitems[0]));
                                            result.Add(double.Parse(subitems[1]));
                                            result.Add(double.Parse(subitems[2]));

                                            //如果需要转换为绝对坐标，则再创建绝对X、绝对Y两列
                                            if (needConvertToAbsolute)
                                            {
                                                double[] point = new double[3];
                                                var calibration = _calibrationService.GetCalibration(SelectProcedure.CalibrationId);

                                                var Robot = _robotService.GetRobot(SelectProcedure.RobotId);
                                                if (Robot != null)
                                                {
                                                    //获取机器人当前坐标系
                                                    RPoint rPoint = Robot.GetRobotPos();

                                                    point[0] = rPoint.X;
                                                    point[1] = rPoint.Y;
                                                    point[2] = rPoint.U;
                                                    if (calibration.CameraMount == CameraMount.FixedUp || calibration.CameraMount == CameraMount.FixedDown)
                                                    {
                                                        point = null;
                                                    }
                                                }
                                                (bool IsSucceed, double X, double Y, double U) = _calibrationService.ConvertPixelToPosition((double.Parse(subitems[0]), double.Parse(subitems[1]), double.Parse(subitems[2])), point, calibration);
                                                result.Add(Math.Round(X, 5));
                                                result.Add(Math.Round(Y, 5));
                                            }
                                        }
                                    }
                                    else
                                    {
                                        result.Add(terminal.Value.ToString());
                                    }
                                }
                                else
                                {
                                    result.Add(terminal.Value.ToString());
                                }
                            }
                            else if (terminal.ValueType == typeof(int))
                                result.Add((int)terminal.Value);
                            else if (terminal.ValueType == typeof(double))
                                result.Add((double)terminal.Value);
                            else if (terminal.ValueType == typeof(bool))
                                result.Add((bool)terminal.Value);
                        }
                        Graphic = outputCollection["Graphic"].Value as CogGraphicCollection;
                        return (true, result.ToArray());
                    }
                    else
                    {
                        SendTaskMessage(Lang.视觉流程执行出错耗时.Replace("{0}", SelectProcedure.Name).Replace("{1}", $"{VisionTool.RunStatus.ProcessingTime:F1}"));
                        SendTaskMessage(VisionTool.RunStatus.Message);
                        outputCollection = null;
                        Graphic = outputCollection["Graphic"].Value as CogGraphicCollection;
                        return (false, result.ToArray());
                    }
                }
                catch (Exception ex)
                {
                    SendTaskMessage(ex.Message);
                    LogHelper.WriteLogError("执行相机取图并执行视觉工具组时出错", ex);
                    outputCollection = null;
                    return (false, result.ToArray());
                }
            });
        }

        public void SendTaskMessage(string msg)
        {
            App.Current.Dispatcher.Invoke(() =>
            {
                MessageQueue.Clear();
                MessageQueue.Enqueue(msg);
            });
        }

        bool needConvertToAbsolute = false;
        /// <summary>
        /// 根据VisionTool的输出终端，创建DataTable的列
        /// </summary>
        /// <param name="outputCollection"></param>
        /// <returns></returns>
        private DataTable CreateResultDataTable(CogToolBlockTerminalCollection outputCollection)
        {
            DataTable dt = new DataTable();
            ResultDataColumns = new ObservableCollection<DataColumnInfo>();
            //第一列添加序号
            dt.Columns.Add("序号", typeof(int));

            //列索引

            foreach (CogToolBlockTerminal terminal in outputCollection)
            {
                //如果类型是常见的字符串、数字、布尔类型，则创建对应的列
                if (terminal.ValueType == typeof(string))
                {
                    //如果输出的名称是"Point"，则要判断是否是点位格式，点位格式为"x1,y1,u1;x2,y2,u2;...."
                    if (terminal.Name == "Point")
                    {
                        //是否需要转换为绝对坐标
                        needConvertToAbsolute = false;

                        //如果当前流程的校准为空，则不需要转换为绝对坐标
                        if (SelectProcedure.CalibrationId != Guid.Empty)
                        {
                            var calibration = _calibrationService.GetCalibration(SelectProcedure.CalibrationId);
                            if (calibration != null)
                            {
                                needConvertToAbsolute = true;
                            }
                        }

                        //判断是否是点位格式
                        string strpoints = terminal.Value.ToString();
                        string[] items = strpoints.Split(';');
                        bool isPointFormat = true;
                        foreach (string item in items)
                        {
                            string[] subitems = item.Split(',');
                            if (subitems.Length < 3)
                            {
                                isPointFormat = false;
                                break;
                            }
                            double x, y, u;
                            if (!double.TryParse(subitems[0], out x) || !double.TryParse(subitems[1], out y) || !double.TryParse(subitems[2], out u))
                            {
                                isPointFormat = false;
                                break;
                            }
                        }
                        if (isPointFormat)
                        {
                            //是点位格式，则创建多列
                            for (int i = 0; i < items.Length; i++)
                            {
                                //先分别创建像素X、像素Y、角度U三列
                                dt.Columns.Add($"{terminal.Name}_Pixel_X{i + 1}", typeof(double));
                                ResultDataColumns.Add(new DataColumnInfo($"{terminal.Name}_Pixel_X{i + 1}", dt.Columns.Count - 1));
                                dt.Columns.Add($"{terminal.Name}_Pixel_Y{i + 1}", typeof(double));
                                ResultDataColumns.Add(new DataColumnInfo($"{terminal.Name}_Pixel_Y{i + 1}", dt.Columns.Count - 1));
                                dt.Columns.Add($"{terminal.Name}_Angle_U{i + 1}", typeof(double));
                                ResultDataColumns.Add(new DataColumnInfo($"{terminal.Name}_Angle_U{i + 1}", dt.Columns.Count - 1));

                                //如果需要转换为绝对坐标，则再创建绝对X、绝对Y两列
                                if (needConvertToAbsolute)
                                {
                                    dt.Columns.Add($"{terminal.Name}_Absolute_X{i + 1}", typeof(double));
                                    ResultDataColumns.Add(new DataColumnInfo($"{terminal.Name}_Absolute_X{i + 1}", dt.Columns.Count - 1));
                                    dt.Columns.Add($"{terminal.Name}_Absolute_Y{i + 1}", typeof(double));
                                    ResultDataColumns.Add(new DataColumnInfo($"{terminal.Name}_Absolute_Y{i + 1}", dt.Columns.Count - 1));
                                }
                            }
                        }
                        else
                        {
                            dt.Columns.Add(terminal.Name, typeof(string));
                        }
                    }
                    else
                    {
                        dt.Columns.Add(terminal.Name, typeof(string));
                    }
                }
                else if (terminal.ValueType == typeof(int))
                {
                    dt.Columns.Add(terminal.Name, typeof(int));
                    ResultDataColumns.Add(new DataColumnInfo(terminal.Name, dt.Columns.Count - 1));
                }
                else if (terminal.ValueType == typeof(double))
                {
                    dt.Columns.Add(terminal.Name, typeof(double));
                    ResultDataColumns.Add(new DataColumnInfo(terminal.Name, dt.Columns.Count - 1));
                }
                else if (terminal.ValueType == typeof(bool))
                {
                    dt.Columns.Add(terminal.Name, typeof(bool));
                }
                //else
                //    dt.Columns.Add(terminal.Name, typeof(string));
            }
            return dt;
        }

        #endregion

        #region 继承
        public string Title { get; set; } = "视觉静态精度分析仪";

        public event Action<IDialogResult> RequestClose;

        public bool CanCloseDialog()
        {
            return true;
        }

        public void OnDialogClosed()
        {
            //关闭时,停止测试
            _cts?.Cancel();
        }

        public void OnDialogOpened(IDialogParameters parameters)
        {
            SelectProcedure = parameters.GetValue<ProcedureModel>("SelectedProcedure");
            Camera = _cameraService.GetCamera(SelectProcedure.CameraId);
            VisionTool = parameters.GetValue<CogToolBlock>("ToolBlock");
            VisionTool.Run();
            TestResult = CreateResultDataTable(VisionTool.Outputs);
        }
        #endregion
    }

    //辅助类，用于定义DataTable的列，仅用来对于数值列进行统计分析
    public class DataColumnInfo
    {
        public string ColumnName { get; set; }
        //列索引
        public int ColumnIndex { get; set; }

        public DataColumnInfo(string columnName, int columnIndex)
        {
            ColumnName = columnName;
            ColumnIndex = columnIndex;
        }
    }
}