#include "MonoCapturer.h"
#include "config.h"
#include "applog.h"
#include "gvideoisp1.h"
#include "Gpio.h"
#include "DevUtil.h"
#include "FpgaComm.h"
#include "CorrectParam.h"
#include "correct_ultis.h"
#include "stringex.hpp"
#include "filetools.h"
#include "CImageMerge.h"
#include "jsonconfig.h"
#include "MultiFrameCapture_8478_HL.h"
#include "StopWatch.h"
#include "linux\sched.h"
#include "deviceconfig.h"

#define LOG_PATH "/usr/local/correct.log"

const uint32_t WIDTH_8478 = 1224;
FileTools ftm_cr_log(LOG_PATH);

static std::string loggername = "MultiFrameCapture_8478_HL";
static double radio = 1.0;
static int offsetStep1[12];
static int expStep1[2][3];
static int org_index = 0;
static void initStep1()
{
    printf("initStep aaaaaaaaaaa \n");
    for (int i = 0; i < 2; i++)
    {
        for (int j = 0; j < 3; j++)
        {
            expStep1[i][j] = 600;
        }
    }
    for (int i = 0; i < 12; i++)
    {
        offsetStep1[i] = 256;
        printf("offsetStep[%d]=%d \n", i, offsetStep1[i]);
    }
}

MultiFrameCapture_8478_HL::MultiFrameCapture_8478_HL() : reset_pin(new GpioOut(50)),
                                         fpgaLoad(new Gpio(70)),
                                         fpga_conf_done(new Gpio(69)),
                                         fpga_conf_initn(new Gpio(71)),
                                         bcorrecting(false),
                                         snapthread(1)
{
    LOG_INIT();
    fpga_conf_done->setDirection(Gpio::in);
    fpgaComm.reset(new FpgaComm());
    pimgdata_info = {0};

    // fpga_reload();
    // fpga_reset();
    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    // fpgaComm->resetADC();

    // fpgaComm->resetADC();
    //  fpgaComm->update();
    video.reset(new VIDEO_CLASS());
    fpgaComm->update(3);
    // GetFpgaparam(0x01,0);
    set_ADC_config_frequency(12);
    init_adc_8478();

    snapthread.enqueue([]{ 
    cpu_set_t cpuset;
    CPU_ZERO(&cpuset);
    CPU_SET(5, &cpuset);
    pthread_setaffinity_np(pthread_self(), sizeof(cpu_set_t), &cpuset); });
}

MultiFrameCapture_8478_HL::~MultiFrameCapture_8478_HL()
{
    if (video.get())
        video.reset();

    printf("Exit ~MultiFrameCapture_8478_HL() \n");
}

void MultiFrameCapture_8478_HL::open()
{
}

void MultiFrameCapture_8478_HL::open(HGScanConfig config, FPGAConfigParam_8478 fpgaparam)
{
    fpgaComm->update(3);
    uint32_t reg8 = 0, reg5 = 0, reg12 = 0, reg11 = 0, reg10 = 0, reg2 = 0;
    fpgaComm->set_8478_type(true);
    // fpgaComm->read(2,reg2);
    // fpgaComm->write(2,(reg2&0xffffffe1)|0xc);  // adc 配置 频率

    set_ADC_config_frequency(12);
    // init_adc_8478();

    printf(" dpi = %d \n", config.g200params.dpi);

    fpgaComm->read(11, reg11);
    fpgaComm->write(11, (reg11 & 0xffffffc0) | 0x12);

    // fpgaComm->write(13,0xdec0000);
    fpgaComm->write(13, 0xce40000); // 旗标位 18 -27位

    // fpgaComm->write(13,0xd680000);

    fpgaComm->set_cis_type(true);
    m_config = config;
    m_fpgaparam = fpgaparam;

    int dpi = config.g200params.dpi == 0x02 ? 2 : (config.g200params.dpi == 0x03 ? 3 : 1);
    int mode = config.g200params.color;
    int phyHeight = paperHeight[(PaperSize)config.g200params.paper];

    if(m_gscancap.papertype == 52 || m_gscancap.papertype == 54)     phyHeight = m_gscancap.maxszie_sanp_height;

    int tdpi = config.g200params.dpi == 0x02 ? 300 : (config.g200params.dpi == 0x03 ? 600 : 200);
    int pixheight = ((int)((phyHeight / 25.4 * tdpi + 2) / 3)) * 3;
    if (fpgaparam.DpiMode == 0x10)
        pixheight = pixheight * 180 / 100;
    if (fpgaparam.DpiMode == 0x11)
        pixheight = pixheight * 130 / 100;
    frame_height = 300;
    frame_count = ceil((mode == 0x01 ? pixheight * 3 : pixheight) / (float)(frame_height)); // 彩色配置fpga 高度要为目标图像高度的3倍
    if (frame_height * frame_count > FPGA_MAX_HEIGHT_SUP)
        frame_count = FPGA_MAX_HEIGHT_SUP / frame_height;
    fpgaComm->read(15, m_fpgaversion);
    int startsample = 0;
    ModeFpga fpgamod = {
        .colorMode = mode,
        .dpi = m_config.g200params.dpi,
        .led = 1,
        .sample = startsample, // 256+39
        .adcA = 0,
        .adcB = 0,
        .selftest = 0,
        .sp = fpgaparam.Sp}; // 600DPI  0x1450 300DPI  0xe10  10138
    fpgaComm->setRegs(0x01, *((int *)(&fpgamod)));
    fpgaComm->setSample(startsample);
    fpgaComm->enableLed(true);
    fpgaComm->setEnTestCol(false);
    fpgaComm->setEnTestBit(false);
    set_LED_PTN_8478(config.g200params.color == false);
    set_dpi_mode(config.g200params.dpi);
    set_pixel_count_8478(fpgaparam.Sp / 3 / (config.g200params.color ? 3 : 1), config.g200params.color == false);
    configFPGAParam(config.g200params.color, config.g200params.dpi);
    configFPGAParam_digital_gain(config.g200params.color, config.g200params.dpi);
    set_exp_8478_single(fpgaparam.ExposureF[0], fpgaparam.ExposureF[1], fpgaparam.ExposureF[2], fpgaparam.Sp / (config.g200params.color ? 3 : 1), true, config.g200params.color);
    set_exp_8478_single(fpgaparam.ExposureB[0], fpgaparam.ExposureB[1], fpgaparam.ExposureB[2], fpgaparam.Sp / (config.g200params.color ? 3 : 1), false, config.g200params.color);

    // set_exp_8478_single(1000,1000,1000,fpgaparam.Sp/(config.g200params.color?3:1),true,config.g200params.color);
    // set_exp_8478_single(1000,1000,1000,fpgaparam.Sp/(config.g200params.color?3:1),false,config.g200params.color);

    config.g200params.dpi == 3 ? set_EN_postion(0x54, 0x3a0) : set_EN_postion(0x54, 0x1f0);

    // video->set_buf_count(std::min(frame_count,20u));
    video->set_buf_count(std::min(100u,frame_count));
    uint32_t video_w = (config.g200params.dpi == 0x03 ? WIDTH_8478 * 2 : WIDTH_8478);
    if (config.g200params.dpi == 0x01)
        video_w = video_w * 2 / 3;
    video->open(video_w, frame_height * 2);
    fpgaComm->setFrameHeight(frame_height);
    printf("fpgaComm set height = %d \n", frame_height);
    fpgaComm->read(8, reg8);

    // fpgaComm->write(8,reg8|0x100);  //行号  enable
    fpgaComm->write(8, reg8 & 0xfffffeff); // 行号 disable
    fpgaComm->read(5, reg5);
    // fpgaComm->write(5,reg5|0x2000);  //测试数据 白+黑 enable
    fpgaComm->write(5, reg5 & 0xffffdfff); // 测试数据 白+黑 disable
    fpgaComm->read(12, reg12);
    // fpgaComm->write(12,reg5&0xfffff000+0x97e); //帧间隔延迟 >=22.5us
    // fpgaComm->write(12,reg5&0xe000e000+0xfa0067e); //帧间隔延迟 >=22.5us
    // fpgaComm->write(12,0x04e20400); //0x494e491 0x79de496   范围 0-12 16-28 (16-28 > 0-12)

    fpgaComm->read(10, reg10);
    fpgaComm->write(12, 0x00200010); // 58us 300*600 多帧
    
    fpgaComm->write(10, 0x0150012a); // 58us 300*600 多帧

    fpgaComm->setFrameNum(1);

    fpgaComm->capture(); // abort first frame
    video->read_frame(1000);
    fpgaComm->setFrameNum(frame_count);

    fpgaComm->update(3);
    // initLut(fpgaparam.LutPath, config.g200params.color);
    // initLut(config.g200params.is_textcorrect?fpgaparam.LutPath:fpgaparam.TextLutPath,config.g200params.color);
    // initLut(fpgaparam.TextLutPath, config.g200params.color);
    init_lutdate();
    // init_imagedatabuffer();
}

void MultiFrameCapture_8478_HL::init_lutdate()
{
    DeviceConfig::Gray_Apply gray_;
    gray_.value = Get_static_deviceconfig().GetParam().gray_param;
    std::string lutpath = m_config.g200params.is_textcorrect ? m_fpgaparam.LutPath : m_fpgaparam.TextLutPath;
    if ((m_fpgaparam.DpiMode == 1) && (gray_.Param_Setting.en_200_clr == 1 && m_config.g200params.color == true))
        lutpath = "/usr/local/huago/Graylut200clr.bmp";
    else if ((m_fpgaparam.DpiMode == 2) && (gray_.Param_Setting.en_300_clr == 1 && m_config.g200params.color == true))
        lutpath = "/usr/local/huago/Graylut300clr.bmp";
    else if ((m_fpgaparam.DpiMode == 3) && (gray_.Param_Setting.en_600_clr == 1 && m_config.g200params.color == true))
        lutpath = "/usr/local/huago/Graylut600clr.bmp";
    else if ((m_fpgaparam.DpiMode == 16) && (gray_.Param_Setting.en_slow_clr == 1 && m_config.g200params.color == true))
        lutpath = "/usr/local/huago/Graylutslow_moireclr.bmp";
    else if ((m_fpgaparam.DpiMode == 17) && (gray_.Param_Setting.en_slow_300_clr == 1 && m_config.g200params.color == true))
        lutpath = "/usr/local/huago/Graylutslow_moire300clr.bmp";
    else if ((m_fpgaparam.DpiMode == 32) && (gray_.Param_Setting.en_long_Manuscript_200_clr == 1 && m_config.g200params.color == true))
        lutpath = "/usr/local/huago/GraylutLong_Manuscript200clr.bmp";
    else if ((m_fpgaparam.DpiMode == 33) && (gray_.Param_Setting.en_long_Manuscript_300_clr == 1 && m_config.g200params.color == true))
        lutpath = "/usr/local/huago/GraylutLong_Manuscript300clr.bmp";
    else if ((m_fpgaparam.DpiMode == 1) && (gray_.Param_Setting.en_200_gray == 1 && m_config.g200params.color == false))
        lutpath = "/usr/local/huago/Graylut200gray.bmp";
    else if ((m_fpgaparam.DpiMode == 2) && (gray_.Param_Setting.en_300_gray == 1 && m_config.g200params.color == false))
        lutpath = "/usr/local/huago/Graylut300gray.bmp";
    else if ((m_fpgaparam.DpiMode == 3) && (gray_.Param_Setting.en_600_gray == 1 && m_config.g200params.color == false))
        lutpath = "/usr/local/huago/Graylut600gray.bmp";
    else if ((m_fpgaparam.DpiMode == 16) && (gray_.Param_Setting.en_slow_gray == 1 && m_config.g200params.color == false))
        lutpath = "/usr/local/huago/Graylutslow_moiregray.bmp";
    else if ((m_fpgaparam.DpiMode == 17) && (gray_.Param_Setting.en_slow_300_gray == 1 && m_config.g200params.color == false))
        lutpath = "/usr/local/huago/Graylutslow_moire300gray.bmp";
    else if ((m_fpgaparam.DpiMode == 32) && (gray_.Param_Setting.en_long_Manuscript_200_gray == 1 && m_config.g200params.color == false))
        lutpath = "/usr/local/huago/GraylutLong_Manuscript200gray.bmp";
    else if ((m_fpgaparam.DpiMode == 33) && (gray_.Param_Setting.en_long_Manuscript_300_gray == 1 && m_config.g200params.color == false))
        lutpath = "/usr/local/huago/GraylutLong_Manuscript300gray.bmp";        
    initLut(lutpath, m_config.g200params.color);
}

void MultiFrameCapture_8478_HL::close()
{
    if (video.get())
        video->close();
    // if(pimgdata_info.pdata)  free(pimgdata_info.pdata);
    // pimgdata_info.pdata = nullptr;
    pimgdata_info.offset = pimgdata_info.frame_count = pimgdata_info.img_h = pimgdata_info.img_w = 0;
    printf("pimgdata_  free !!!!!\n");

    // fpgaComm->resetADC();
    // fpga_reload();
}

void MultiFrameCapture_8478_HL::Fpga_regsAccess_reset(bool enable)
{
    if (fpgaComm.get())
        fpgaComm->regsAccess_reset(enable);
    if (enable)
    {
        set_ADC_config_frequency(12);
        init_adc_8478();
    }
}

void MultiFrameCapture_8478_HL::start()
{
    if (video.get())
        video->start();
}

void MultiFrameCapture_8478_HL::MultiFrameCapture_8478_HL::stop()
{
    if (video.get())
        video->stop();
}

bool MultiFrameCapture_8478_HL::is_runing()
{
    return false;
}

// static void printlog(std::string str)
// {
// 	std::ofstream o("/root/log.txt",std::ios::app|std::ios::binary);
// 	if(o.is_open())
// 	{
// 		o << str <<std::endl;
// 		o.close();
// 	}
// }

void MultiFrameCapture_8478_HL::snap()
{
    fpgaComm->capture();
    printf("snap start !!!!! \n");
    b_stop_snap = false;
    pimgdata_info.offset = pimgdata_info.frame_count =
        pimgdata_info.img_h = pimgdata_info.img_w = 0;
    snap_fu = snapthread.enqueue([this]
                                 {
        auto snap_func = [this](int height,int width, int channels, bool last_frame, unsigned int frame_index)
        {
            StopWatch sw;
            void *data = video->read_frame(500);
            if (data)
            {
                update_imgdatainfo(data,height,width);
                printf("memcpy date size = %d times = %f index = %d \n",height*width,sw.elapsed_ms(),frame_index);
            }
            else
            {
                printf("!!!!!!!!!! error read frame losted, i = %d \n", frame_index);
                //printlog("!!!!!!!!!! error read frame losted");
            }
        };
        int width = WIDTH_8478*3*2*(m_config.g200params.dpi == 3 ? 2 : 1)*(m_config.g200params.color ? 3 :1);
        if(m_config.g200params.dpi == 1)
            width = width *2/3;
        int height = frame_height/(m_config.g200params.color ? 3 :1);
        for (int i = 1; i <= frame_count; i++)
        {
            curr_frame_snap_index = i;
            snap_func(height,width, 0, (i == frame_count), i);
            if (b_stop_snap)
            {
                int snaped_frame_count = fpgaComm->getFrame_counter_val();
                printf("!!!!!!!!!! revsed frame count = %d i = %d \n", snaped_frame_count, i);
                if (snaped_frame_count > i && snaped_frame_count > 0) // 正常情况下 snaped_frame_count 一定大于0
                {
                    int reversed_frame_count = snaped_frame_count - i;
                    for (int j = 1; j <= reversed_frame_count; j++)
                    {
                        curr_frame_snap_index =j+i;
                        snap_func(height, width,0, ((i + j) == reversed_frame_count), i + j);
                    }
                }
                break; // 跳出当前读取多帧循环
            }
        }
        printf("snap end !!!!! \n"); });
}

void MultiFrameCapture_8478_HL::snap(frame_data_info info)
{
    printf("snap start !!!!! \n");
    b_stop_snap = false;
    info.offset = info.frame_count = info.img_h = info.img_w = 0;
    snap_fu = snapthread.enqueue([this, info]{
        frame_data_info frame_info {0};
        frame_info.pdata = info.pdata;
        frame_info.total = info.total;
        auto snap_func = [this,&frame_info](int height,int width, int channels, bool last_frame, unsigned int frame_index)
        {
            StopWatch sw;
            void *data = video->read_frame(500);
            if (data)
            {
                update_imgdatainfo(data,frame_info,height,width);
                printf("memcpy date size = %d times = %f index = %d \n",height*width,sw.elapsed_ms(),frame_index);
            }
            else
                printf("!!!!!!!!!! error read frame losted, i = %d \n", frame_index);
  
        };
        int width = WIDTH_8478*3*2*(m_config.g200params.dpi == 3 ? 2 : 1)*(m_config.g200params.color ? 3 :1);
        if(m_config.g200params.dpi == 1)
            width = width *2/3;
        int height = frame_height/(m_config.g200params.color ? 3 :1);
        for (int i = 1; i <= frame_count; i++)
        {
            curr_frame_snap_index = i;
            snap_func(height,width, 0, (i == frame_count), i);
            if (b_stop_snap)
            {
                int snaped_frame_count = fpgaComm->getFrame_counter_val();
                printf("!!!!!!!!!! revsed frame count = %d i = %d \n", snaped_frame_count, i);
                if (snaped_frame_count > i && snaped_frame_count > 0) // 正常情况下 snaped_frame_count 一定大于0
                {
                    int reversed_frame_count = snaped_frame_count - i;
                    for (int j = 1; j <= reversed_frame_count; j++)
                    {
                        curr_frame_snap_index = i+j;
                        snap_func(height, width,0, ((i + j) == reversed_frame_count), i + j);
                    }
                }
                break; // 跳出当前读取多帧循环
            }
        }
        pimgdata_info = frame_info;
        printf("snap end !!!!! \n"); });
}

cv::Size MultiFrameCapture_8478_HL::frame_data_size()
{
    return {2 * this->width() * (m_config.g200params.color ? 3 : 1), frame_height / (m_config.g200params.color ? 3 : 1) * frame_count};
}

void MultiFrameCapture_8478_HL::stopsnap()
{
    b_stop_snap = true;
    if(snap_fu.valid()) snap_fu.get();
}

int MultiFrameCapture_8478_HL::getautosizeheight()
{
    unsigned int val;
    unsigned int reg8 = 0;

    fpgaComm->read(8, reg8);
    // std::cout << "1 reg[8]:" << string_format("0x%08x", reg8) << std::endl;
    // fpgaComm->update(4);
    fpgaComm->read(14, val);
    int regv = val;
    val &= 0x0000ffff;
    // std::cout << string_format("ONE height = %d reg[14] = %d \n", val, regv);
    // fpgaComm->update(5);
    fpgaComm->write(8, reg8 & 0xfffffff7);
    // std::cout << string_format("ONE reg[8] = %d \n", reg8 & 0xfffffff7);
    std::this_thread::sleep_for(std::chrono::milliseconds(5));
    // fpgaComm->update(6);
    fpgaComm->read(14, val);
    regv = val;
    val &= 0x0000ffff;
    fpgaComm->read(8, reg8);
    // std::cout << "2 reg[8]:" << string_format("0x%08x", reg8) << std::endl;
    std::cout << string_format("TWO height = %d reg[14] = %d \n", val, regv);
    std::this_thread::sleep_for(std::chrono::milliseconds(5));
    fpgaComm->write(8, reg8 | 0x8);
    // fpgaComm->write(8,0x02260008);
    // fpgaComm->update(7);
    // fpgaComm->read(8, reg8);
    // std::cout << "2 reg[8]:" << string_format("0x%08x", reg8) << std::endl;
    return val;

    // return fpgaComm->getFrameHeight();
}
void MultiFrameCapture_8478_HL::set_size(int width, int height)
{
    if (video.get())
        video->set_size(width, height);
}

void MultiFrameCapture_8478_HL::set_sp(int sp)
{
    fpgaComm->setSp(sp);
}

void *MultiFrameCapture_8478_HL::readFrame(int timeout)
{
    return video->read_frame(timeout);
}

cv::Mat MultiFrameCapture_8478_HL::read_one_frame()
{
    fpgaComm->setFrameNum(1);
    fpgaComm->capture();
    void *data = video->read_frame(1000);
    fpgaComm->setFrameNum(frame_count);
    if (data)
    {
        int width = WIDTH_8478 * 3 * 2 * (m_config.g200params.dpi == 3 ? 2 : 1) * (m_config.g200params.color ? 3 : 1);
        if (m_config.g200params.dpi == 1)
            width = width * 2 / 3;
        int height = frame_height / (m_config.g200params.color ? 3 : 1);
        cv::Mat mat(height, width, CV_8UC1, data);
        return merge_8478(mat, m_config.g200params.color, 0);
    }
    else
        return cv::Mat();
}

frame_data_info MultiFrameCapture_8478_HL::ReadMultiFrame(int state)
{
    printf(" ReadMultiFrame  state : %d \n", state);
    if (state & 1)
        b_stop_snap = true;
    if (snap_fu.valid())
        snap_fu.get();
    if ((state & 0x2) || (!pimgdata_info.pdata))
        return {0};
    return pimgdata_info;
}

void MultiFrameCapture_8478_HL::set_gain(int ix, int val)
{
    for (int i = 0; i < 6; i++)
    {
        if (ix)
            fpgaComm->setAGain(i, val);
        else
            fpgaComm->setBGain(i, val);
    }
}

void MultiFrameCapture_8478_HL::set_offset(int ix, int val)
{
    for (int i = 0; i < 6; i++)
    {
        if (ix)
            fpgaComm->setAOffset(i, val);
        else
            fpgaComm->setBOffset(i, val);

        std::this_thread::sleep_for(std::chrono::milliseconds(1));
    }
}

void MultiFrameCapture_8478_HL::set_expo(int ix, int val)
{
    switch (ix)
    {
    case 0:
        fpgaComm->setAExposureR(val);
        break;
    case 1:
        fpgaComm->setAExposureG(val);
        break;
    case 2:
        fpgaComm->setAExposureB(val);
        break;
    case 3:
        fpgaComm->setBExposureR(val);
        break;
    case 4:
        fpgaComm->setBExposureG(val);
        break;
    case 5:
        fpgaComm->setBExposureB(val);
        break;
    default:
        break;
    }
    std::this_thread::sleep_for(std::chrono::milliseconds(1));
}

std::shared_ptr<IRegsAccess> MultiFrameCapture_8478_HL::regs()
{
    return fpgaComm;
}

void MultiFrameCapture_8478_HL::reset()
{
    fpga_reset();
    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    fpgaComm->resetADC();
    // fpgaComm->setDelayTime(0X3e8);
    // fpgaComm->setRegs(0x00, fpgaComm->getRegs(0x00));
    // fpgaComm->setRegs(0x01, fpgaComm->getRegs(0x01));
}

int MultiFrameCapture_8478_HL::width()
{
    // int dpi = fpgaComm->getDpi();
    // int channel = 1;
    // int width = dpi == 0x02 ? 1296 * channel : (dpi == 0x03 ? (2592 * channel) : (864 * channel));
    // printf("get width = %d \n", width);
    // return width;
    uint32_t width = WIDTH_8478 * 3 * (m_config.g200params.dpi == 3 ? 2 : 1);
    return m_config.g200params.dpi == 1 ? (width * 2 / 3) : width;
}

int MultiFrameCapture_8478_HL::height()
{
    return fpgaComm->getFrameHeight();
}

int MultiFrameCapture_8478_HL::color()
{
    return fpgaComm->getColorMode() ? 16 : 0;
}

void MultiFrameCapture_8478_HL::init_autocorrect(int colormode)
{
    std::thread t_correctthread = std::thread(&MultiFrameCapture_8478_HL::correctcolor, this, colormode);
    t_correctthread.detach();
    // if(t_correctthread.joinable())
    //     t_correctthread.join();
}

void MultiFrameCapture_8478_HL::configFPGAParam(int mode, int dpi)
{
    printf("dpi = %d  mode = %d \n", dpi, mode);
    FPGAConfigParam_8478 fpgaparam = Get_Static_CorrectParam().GetFpgaparam_8478(dpi, mode);
    for (int i = 0; i < 9; i++)
    {
        set_digital_offset_8478(i, fpgaparam.OffsetF_R[i], true, 0);
        set_digital_offset_8478(i, fpgaparam.OffsetF_G[i], true, 1);
        set_digital_offset_8478(i, fpgaparam.OffsetF_B[i], true, 2);
        set_digital_offset_8478(i, fpgaparam.OffsetB_R[i], false, 0);
        set_digital_offset_8478(i, fpgaparam.OffsetB_G[i], false, 1);
        set_digital_offset_8478(i, fpgaparam.OffsetB_B[i], false, 2);
        printf("\n OffsetF_R[%d] = %d  OffsetF_G[%d] = %d  OffsetF_B[%d] = %d ", i, fpgaparam.OffsetF_R[i],
               i, fpgaparam.OffsetF_G[i], i, fpgaparam.OffsetF_B[i]);
        printf("\n OffsetB_R[%d] = %d  OffsetB_G[%d] = %d  OffsetB_B[%d] = %d ", i, fpgaparam.OffsetB_R[i],
               i, fpgaparam.OffsetB_G[i], i, fpgaparam.OffsetB_B[i]);
    }
}

void MultiFrameCapture_8478_HL::configFPGAParam_digital_gain(int mode, int dpi)
{
    FPGAConfigParam_8478 fpgaparam = Get_Static_CorrectParam().GetFpgaparam_8478(dpi, mode);
    for (int i = 0; i < 9; i++)
    {
        set_digital_gain_8478(i, fpgaparam.GainF_R[i], true, 0);
        set_digital_gain_8478(i, fpgaparam.GainF_G[i], true, 1);
        set_digital_gain_8478(i, fpgaparam.GainF_B[i], true, 2);
        set_digital_gain_8478(i, fpgaparam.GainB_R[i], false, 0);
        set_digital_gain_8478(i, fpgaparam.GainB_G[i], false, 1);
        set_digital_gain_8478(i, fpgaparam.GainB_B[i], false, 2);
        printf("\n GainF_R[%d] = %d  GainF_G[%d] = %d  GainF_B[%d] = %d ", i, fpgaparam.GainF_R[i],
               i, fpgaparam.GainF_G[i], i, fpgaparam.GainF_B[i]);
        printf("\n GainB_R[%d] = %d  GainB_G[%d] = %d  GainB_B[%d] = %d ", i, fpgaparam.GainB_R[i],
               i, fpgaparam.GainB_G[i], i, fpgaparam.GainB_B[i]);
    }
}

void MultiFrameCapture_8478_HL::openDevice(int dpi, int mode)
{
    FPGAConfigParam_8478 fpgaparam = Get_Static_CorrectParam().GetFpgaparam_8478(dpi, mode);

    if (dpi == 0x10  || dpi == 0x20)
        dpi = 1;
    if (dpi == 0x11  || dpi == 0x21)
        dpi = 2;
    int channelwidth = dpi == 0x02 ? WIDTH_8478 : (dpi == 0x03 ? WIDTH_8478 * 2 : WIDTH_8478 * 2 / 3);
    int channels = mode == 0x01 ? 3 : 1;
    int width = channelwidth * channels;
    fpgaComm->set_8478_type(true);
    set_ADC_config_frequency(12);
    init_adc_8478();
    uint32_t reg11 = 0, reg8 = 0, reg5 = 0, reg10 = 0, reg12 = 0;
    fpgaComm->read(11, reg11);
    fpgaComm->write(11, (reg11 & 0xffffffc0) | 0x12);

    // fpgaComm->write(13,0xdec0000);
    fpgaComm->write(13, 0xce40000); // 旗标位 18 -27位

    // fpgaComm->write(13,0xd680000);

    video->set_buf_count(10);
    fpgaComm->set_cis_type(true);
    dpi == 3 ? set_EN_postion(0x54, 0x3a0) : set_EN_postion(0x54, 0x1f0);
    set_LED_PTN_8478(mode == false);
    set_dpi_mode(dpi);
    set_pixel_count_8478(fpgaparam.Sp / 3 / (mode ? 3 : 1), mode == false);

    frame_height = 300;
    frame_count = 1; // 最后一帧丢帧，多采集一帧防止图像数据缺失
    fpgaComm->read(15, m_fpgaversion);
    int startsample = 0;
    ModeFpga fpgamod = {
        .colorMode = mode,
        .dpi = dpi,
        .led = 1,
        .sample = startsample, // 256+39
        .adcA = 0,
        .adcB = 0,
        .selftest = 0,
        .sp = fpgaparam.Sp}; // 600DPI  0x1450 300DPI  0xe10  10138
    fpgaComm->setRegs(0x01, *((int *)(&fpgamod)));
    fpgaComm->setSample(startsample);
    fpgaComm->enableLed(true);
    fpgaComm->setEnTestCol(false);
    fpgaComm->setEnTestBit(false);
    uint32_t video_w = dpi == 0x03 ? WIDTH_8478 * 2 : (dpi == 1 ? WIDTH_8478 * 2 / 3 : WIDTH_8478);
    video->open(video_w, frame_height * 2);
    fpgaComm->setFrameNum(frame_count);
    fpgaComm->setFrameHeight(frame_height);
    printf("fpgaComm set height = %d \n", frame_height);
    fpgaComm->read(8, reg8);
    // fpgaComm->write(8,reg8|0x100);  //行号  enable
    fpgaComm->write(8, reg8 & 0xfffffeff); // 行号 disable
    fpgaComm->read(5, reg5);
    // fpgaComm->write(5,reg5|0x2000);  //测试数据 白+黑 enable
    fpgaComm->write(5, reg5 & 0xffffdfff); // 测试数据 白+黑 disable
    fpgaComm->read(12, reg12);
    fpgaComm->read(10, reg10);
    // if(dpi == 3){
    //     fpgaComm->write(10,0x03b0037a);    //120 us 600*600 多帧
    //     fpgaComm->write(12,0x02000100);    //120 us 600*600 多帧
    // }
    // else
    {
        fpgaComm->write(12, 0x00200010); // 58us 300*600 多帧
        fpgaComm->write(10, 0x0150012a); // 58us 300*600 多帧
    }
    configFPGAParam(mode, dpi);
    configFPGAParam_digital_gain(mode,dpi);
    fpgaComm->update(3);
    fpgaComm->capture(); // abort first frame
    for (int i = 0; i < frame_count; i++)
        video->read_frame(500);
}

void MultiFrameCapture_8478_HL::creatcorrectconfig(int dpi, int mode)
{
    printf(" opendevice");
    openDevice(dpi, mode);
    printf(" opendevice end ");
    bool isDone = false;
    int i = 1;
    initStep1();
    set_led_off();
    while (!isDone) // 先暗场
    {
        std::string log = "==============================第" + std::to_string(i) + "次===============================";
        ftm_cr_log.append_log(log);
        configFPGAParam(mode, dpi);
        configFPGAParam_digital_gain(mode,dpi);
        ftm_cr_log.append_log(log);
        std::this_thread::sleep_for(std::chrono::milliseconds(3));
        fpgaComm->capture();
        std::this_thread::sleep_for(std::chrono::milliseconds(3));
        isDone = saveLutImg(dpi, mode, true); // 0 color_black 1 color_white 2 gray_balck 3 gray_white
        i++;
    }
    i = 1;
    isDone = false;

    initStep1();
    while (!isDone) // 后明场
    {
        FPGAConfigParam_8478 fpgaparam = Get_Static_CorrectParam().GetFpgaparam_8478(dpi, mode);
        set_exp_8478_single(fpgaparam.ExposureF[0], fpgaparam.ExposureF[1], fpgaparam.ExposureF[2], fpgaparam.Sp / (mode ? 3 : 1), true, mode);
        set_exp_8478_single(fpgaparam.ExposureB[0], fpgaparam.ExposureB[1], fpgaparam.ExposureB[2], fpgaparam.Sp / (mode ? 3 : 1), false, mode);
        std::string log = "==============================第" + std::to_string(i) + "次===============================";
        ftm_cr_log.append_log(log);
        std::this_thread::sleep_for(std::chrono::milliseconds(3));
        fpgaComm->capture();
        std::this_thread::sleep_for(std::chrono::milliseconds(3));
        isDone = saveLutImg(dpi, mode, false);
        i++;
    }
    printf("creatcorrectconfig %s \n", (mode == IMAGE_COLOR ? " Color" : " Gray"));
    // creatLUTData(dpi, mode);
    video->close();
}

static int savelutindex = 0;
bool MultiFrameCapture_8478_HL::saveLutImg(int dpi, int mode, bool black)
{
    FPGAConfigParam_8478 param = Get_Static_CorrectParam().GetFpgaparam_8478(dpi, mode);
    if (dpi == 0x10 || dpi == 0x20)
        dpi = 1;
    if (dpi == 0x11 || dpi == 0x21)
        dpi = 2;
    int offset_indexs[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 0, 1, 2, 3, 4, 5, 6, 7, 8};
    int width = WIDTH_8478 * 3 * 2 * (dpi == 3 ? 2 : 1) * (mode ? 3 : 1);
    if (dpi == 1)
        width = width * 2 / 3;
    int height = frame_height / (mode ? 3 : 1);

    bool isNeedSave = true;
    std::string log;
    void *data = video->read_frame(10000);
    if (data == NULL)
    {
        isNeedSave = false;
        log = "WARNNING WARNNING WARNNING  FAILDED TO READ IMAGE DATA !!!!!!!!!!!!!!!!!!!\r\n";
        ftm_cr_log.append_log(log);
        if (m_captureCallback)
            m_captureCallback(mode, log);
        return isNeedSave;
    }
    cv::Mat src(height, width, CV_8UC1, data);
    // cv::imwrite(std::to_string(savelutindex++) + ".jpg", src);

    CImageMerge t_marge;
    // cv::Mat mrgmat = t_marge.MergeImage(mode == 0x01, src, dstwidth, height,m_fpgaversion);
    cv::Mat mrgmat = merge_8478(src, mode, 0);
    mrgmat = mrgmat(cv::Rect(0, 10, mrgmat.cols, mrgmat.rows - 20));
    // cv::imwrite("correct.bmp",mrgmat);
    //   return false;

    if (black) // 暗场
    {
        double offValues_R[18]{0};
        double offValues_G[18]{0};
        double offValues_B[18]{0};
        std::vector<bool> bflags(2 * 9 * (mode ? 3 : 1), false);
        for (volatile int n = 0; n < 2; n++)
        {
            cv::Mat img = mrgmat(cv::Rect(mrgmat.cols * n / 2, 10, mrgmat.cols / 2, mrgmat.rows - 10)).clone();
            int offset_total = 0;
            for (volatile int s = 0; s < 9; s++) //
            {
                int k = n * 9 + s;
                int offset_wdth;
                if ((k == 8) || (k == 17))
                    offset_wdth = dpi == 0x03 ? 432 : (dpi == 0x02 ? 216 : 144);
                else
                    offset_wdth = dpi == 0x03 ? 864 : (dpi == 0x02 ? 432 : 288);
                cv::Scalar mean = cv::mean(img(cv::Rect(offset_total, 10, offset_wdth, img.rows - 10)));

                if (mode)
                {
                    offValues_R[k] = mean.val[0];
                    offValues_G[k] = mean.val[1];
                    offValues_B[k] = mean.val[2];

                    // auto tmp_mat = img(cv::Rect(offset_total, 10, offset_wdth, img.rows - 10));
                    // offValues_R[k] = (*std::min_element(tmp_mat.begin<cv::Vec3b>(),tmp_mat.end<cv::Vec3b>(), 
                    //             [](cv::Vec3b a, cv::Vec3b b) -> bool{ return a[0] < b[0]; }))[0];
                    // offValues_G[k] = (*std::min_element(tmp_mat.begin<cv::Vec3b>(),tmp_mat.end<cv::Vec3b>(), 
                    //             [](cv::Vec3b a, cv::Vec3b b) -> bool{ return a[1] < b[1]; }))[1];
                    // offValues_B[k] = (*std::min_element(tmp_mat.begin<cv::Vec3b>(),tmp_mat.end<cv::Vec3b>(), 
                    //             [](cv::Vec3b a, cv::Vec3b b) -> bool{ return a[2] < b[2]; }))[2];
                    printf("\noffValues[%d] R = %f G = %f B= %f", k, offValues_R[k], offValues_G[k], offValues_B[k]);
                }
                else{
                    offValues_R[k] = offValues_G[k] = offValues_B[k] = mean.val[0];
                    // auto tmp_mat = img(cv::Rect(offset_total, 10, offset_wdth, img.rows - 10));
                    // offValues_R[k] = offValues_G[k] = offValues_B[k] = *std::min_element(tmp_mat.begin<std::uint8_t>(),
					// 			tmp_mat.end<std::uint8_t>(), [](std::uint8_t a, std::uint8_t b) -> bool{ return a < b; });
                    printf("\noffValues[%d] = %f", k, offValues_R[k]);
                }

                offset_total += offset_wdth;
            }

        }

        // std::string clrmode = (mode == 0x01 ? "彩色" : " 灰度");
        // log = "开始" + clrmode + "暗场校正 \n";
        for (volatile int s = 0; s < 2; s++)
        {
            int offsets_R[9]{0}, offsets_G[9]{0}, offsets_B[9]{0}; // = (int *)(s == 0 ? &param.OffsetF[0] : &param.OffsetB[0]);
            memcpy(offsets_R, (s == 0 ? &param.OffsetF_R[0] : &param.OffsetB_R[0]), sizeof(param.OffsetF_R));
            memcpy(offsets_G, (s == 0 ? &param.OffsetF_G[0] : &param.OffsetB_G[0]), sizeof(param.OffsetF_G));
            memcpy(offsets_B, (s == 0 ? &param.OffsetF_B[0] : &param.OffsetB_B[0]), sizeof(param.OffsetF_B));
            if (mode == IMAGE_GRAY)
            {
                for (volatile int j = 0; j < 9; j++)
                {
                    int k = s * 9 + j;
                    double diff = BLACK_DIFF(offValues_R[k]);
                    //double diff = 3 - offValues_R[k];
                    double step = radio * diff;
                    int preStep = offsetStep1[k];
                    if (step < 1 && step > 0)
                        step = 1;
                    if (step < 0 && step > -1)
                        step = -1;

                    // FMT_STEP(step);
                    bool isMinStep = abs(step) == 1 && step == offsetStep1[k];
                    bool isOutBounds = offsets_R[j] >= 512 && step > 0;
                    isOutBounds |= offsets_R[j] <= 0 && step < 0;
                    log += "	暗场校正 :" + std::to_string(k) + ";diff:" + std::to_string(diff) + ";light:" + std::to_string(offValues_R[k]) + ";offset:" + std::to_string(offsets_R[j]) + ";step:" + std::to_string(step) + "\r\n";
                    if (isOutBounds)
                        log += "	第" + std::to_string(k) + "条带暗场校正异常，暗场值无法降低 \r\n";
                    //else if (abs(step) > 1 || isMinStep)
                    else if (abs(step) > 1)
                    {
                        offsetStep1[k] = (int)(step);
                        offsets_R[offset_indexs[k]] += step;
                        log += "offsetStep1" + std::to_string(k) + " = " + std::to_string(offsetStep1[k]) + ", offset_indexs" + std::to_string(k) + " =" + std::to_string(offset_indexs[k]) + "\r\n";

                        if (offsets_R[offset_indexs[k]] < 1)
                            offsets_R[offset_indexs[k]] = 1;
                        if (offsets_R[offset_indexs[k]] > 512)
                            offsets_R[offset_indexs[k]] = 512;
                        // isNeedSave = false;
                        bflags[k] = false;
                    }
                    else
                    {
                        bflags[k] = true;
                        // printf("channel[%d] black correct done\n",k);
                    }
                    
                    log += (s == 0 ? "彩色正面" : "彩色背面");
                    log += "偏移值:" + std::to_string(offsets_R[0]) + "," + std::to_string(offsets_R[1]) + "," + std::to_string(offsets_R[2]) + "," +
                           std::to_string(offsets_R[3]) + "," + std::to_string(offsets_R[4]) + "," + std::to_string(offsets_R[5]) + "," + std::to_string(offsets_R[6]) +
                           "," + std::to_string(offsets_R[7]) + "," + std::to_string(offsets_R[8]) + "\r\n";
                    // printf("\n%s",log.c_str());
                    // log += (s == 0 ? "彩色正面暗场校正完成 \r\n" : "彩色背面暗场校正完成 \r\n");
                    ftm_cr_log.append_log(log);
                    if (m_captureCallback)
                        m_captureCallback(mode, log);
                    log = "";
                }
                memcpy(offsets_G, offsets_R, sizeof(offsets_R));
                memcpy(offsets_B, offsets_R, sizeof(offsets_R));
            }
            else
            {
                double offValues[18]{0};
                int offsets[9]{0};
                for (int color = 0; color < 3; color++)
                {
                    memcpy(offValues, color == 0 ? offValues_R : (color == 1 ? offValues_G : offValues_B), sizeof(offValues));
                    memcpy(offsets, color == 0 ? offsets_R : (color == 1 ? offsets_G : offsets_B), sizeof(offsets));
                    for (volatile int j = 0; j < 9; j++)
                    {
                        int k = s * 9 + j;
                        double diff = BLACK_DIFF(offValues[k]);
                        // double diff = 3 - offValues[k];
                        double step = radio * diff;
                        int preStep = offsetStep1[k];
                        if (step < 1 && step > 0)
                            step = 1;
                        if (step < 0 && step > -1)
                            step = -1;

                        // FMT_STEP(step);
                        bool isMinStep = abs(step) == 1 && step == offsetStep1[k];
                        bool isOutBounds = offsets[j] >= 512 && step > 0;
                        isOutBounds |= offsets[j] <= 0 && step < 0;
                        log += "	暗场校正 :" + std::to_string(k) + ";diff:" + std::to_string(diff) + ";light:" + std::to_string(offValues[k]) + ";offset:" + std::to_string(offsets[j]) + ";step:" + std::to_string(step) + "\r\n";
                        if (isOutBounds)
                            log += "	第" + std::to_string(k) + "条带暗场校正异常，暗场值无法降低 \r\n";
                        //else if (abs(step) > 1 || isMinStep)
                        else if (abs(step) > 1)
                        {
                            offsetStep1[k] = (int)(step);
                            offsets[offset_indexs[k]] += step;
                            log += "offsetStep1" + std::to_string(k) + " = " + std::to_string(offsetStep1[k]) + ", offset_indexs" + std::to_string(k) + " =" + std::to_string(offset_indexs[k]) + "\r\n";

                            if (offsets[offset_indexs[k]] < 1)
                                offsets[offset_indexs[k]] = 1;
                            if (offsets[offset_indexs[k]] > 512)
                                offsets[offset_indexs[k]] = 512;
                            // isNeedSave = false;
                            bflags[18 * color + k] = false;
                        }
                        else
                        {
                            bflags[18 * color + k] = true;
                            // printf("channel[%d] black correct done\n",k);
                        }
                        log += (s == 0 ? "彩色正面" : "彩色背面");
                        log += "偏移值:" + std::to_string(offsets[0]) + "," + std::to_string(offsets[1]) + "," + std::to_string(offsets[2]) + "," +
                               std::to_string(offsets[3]) + "," + std::to_string(offsets[4]) + "," + std::to_string(offsets[5]) + "," + std::to_string(offsets[6]) +
                               "," + std::to_string(offsets[7]) + "," + std::to_string(offsets[7]) + "\r\n";
                        // log += (s == 0 ? "彩色正面暗场校正完成 \r\n" : "彩色背面暗场校正完成 \r\n");
                        // printf("\n%s",log.c_str());
                        ftm_cr_log.append_log(log);
                        if (m_captureCallback)
                            m_captureCallback(mode, log);
                        log = "";
                    }
                    memcpy(color == 0 ? offValues_R : (color == 1 ? offValues_G : offValues_B), offValues, sizeof(offValues));
                    memcpy(color == 0 ? offsets_R : (color == 1 ? offsets_G : offsets_B), offsets, sizeof(offsets));
                }
            }
            memcpy((s == 0 ? &param.OffsetF_R[0] : &param.OffsetB_R[0]), offsets_R, sizeof(param.OffsetF_R));
            memcpy((s == 0 ? &param.OffsetF_G[0] : &param.OffsetB_G[0]), offsets_G, sizeof(param.OffsetF_G));
            memcpy((s == 0 ? &param.OffsetF_B[0] : &param.OffsetB_B[0]), offsets_B, sizeof(param.OffsetF_B));
        }

        for (int i = 0; i < bflags.size(); i++)
        {
            if (!bflags[i])
                isNeedSave = false;
                printf(" b_flags [%d]  = %s ",i,bflags[i]?"true":"false");
        }

        if (isNeedSave)
        {
            printf("Save LUT image path :%s \n", param.Flat_BwPath.c_str());
            log = "暗场校正完成 \r\n";
            if (m_captureCallback)
                m_captureCallback(mode, log);
            // log ="";
            imwrite(param.Flat_BwPath, mrgmat);
        }
    }
    else // 明场
    {
        radio = 1.0;
        if (mode == IMAGE_COLOR)
        {
            double values[2][3];

            cv::Scalar a = cv::mean(mrgmat(cv::Rect(0, 0, mrgmat.cols / 2, mrgmat.rows)));
            cv::Scalar b = cv::mean(mrgmat(cv::Rect(mrgmat.cols / 2, 0, mrgmat.cols / 2, mrgmat.rows)));
            for (int j = 0; j < 3; j++)
            {
                values[0][j] = a.val[2 - j];
                values[1][j] = b.val[2 - j];
            }
            printf("\n mean F_R = %f F_G = %f F_B = %f B_R = %f B_G = %f B_B = %f ", values[0][0], values[0][1], values[0][2],
                   values[1][0], values[1][1], values[1][2]);

            log = "开始彩色明场校正 \r\n";
            if (m_captureCallback)
                m_captureCallback(mode, log);
            for (int s = 0; s < 2; s++)
            {
                int exposures[3]; // = (int *)(s == 0 ? param.ExposureF : param.ExposureB);
                memcpy(exposures, (s == 0 ? &param.ExposureF[0] : &param.ExposureB[0]), sizeof(param.ExposureB));
                for (int x = 0; x < 3; x++)
                {
                    int k = (3 * s + x);
                    int diff = LIGHT_DIFF(param.MaxBright, *((double *)values + k));
                    log += "	明场:" + std::to_string(k) + ";diff：" + std::to_string(diff) + "\r\n";
                    // if(abs(diff) > 30)
                    //     radio = 2;
                    // else
                    //     radio = 1;
                    double step = diff * radio;
                    int preStep = *((int *)expStep + k);
                    if (step * preStep < 0)
                    {
                        step = 0 - preStep / 2;
                    }
                    if (step < 1 && step > 0)
                        step = 1;
                    if (step < 0 && step > -1)
                        step = -1;

                    bool isMinStep = abs(step) == 1 && step == *((int *)expStep + k);
                    bool isOutBounds = exposures[x] >= (param.Sp / 3 / (mode ? 3 : 1) - 15) && step > 0;
                    isOutBounds |= exposures[x] <= 0 && step < 0;
                    if (isOutBounds)
                        log += "	第" + std::to_string(x) + "个明场校正异常 \r\n";
                    else if (abs(diff) >= 1 || isMinStep)
                    {
                        *((int *)expStep + k) = (int)(step);
                        exposures[x] += step;
                        if (exposures[x] > (param.Sp / 3 / (mode ? 3 : 1) - 15))
                        {
                            exposures[x] = (param.Sp / 3 / (mode ? 3 : 1) - 15);
                        }
                        if (exposures[x] <= 0)
                            exposures[x] = 1;
                        isNeedSave = false;
                    }
                    log += "	曝光值：" + std::to_string(exposures[x]) + "\r\n";
                    log += "	调整步长：" + std::to_string(*((int *)expStep + k)) + "\r\n";
                }
                memcpy((s == 0 ? &param.ExposureF[0] : &param.ExposureB[0]), exposures, sizeof(param.ExposureB));
            }
            printf("\n%s", log.c_str());
            ftm_cr_log.append_log(log);
            if (m_captureCallback)
                m_captureCallback(mode, log);

            if (isNeedSave)
            {
                log = "彩色明场校正完成\r\n";
                if (m_captureCallback)
                    m_captureCallback(mode, log);
                // log ="";
                imwrite(param.Flat_WhitePath, mrgmat);
            }
        }
        else
        {
            double values[2];
            values[0] = cv::mean(mrgmat(cv::Rect(0, 0, mrgmat.cols / 2, mrgmat.rows))).val[0];
            values[1] = cv::mean(mrgmat(cv::Rect(mrgmat.cols / 2, 0, mrgmat.cols / 2, mrgmat.rows))).val[0];
            log = "-----开始灰色明场校正-----\r\n";
            log += "	灰色扫描灰度明场均值：" + std::to_string(values[0]) + "," + std::to_string(values[1]) + "\r\n";
            if (m_captureCallback)
                m_captureCallback(mode, log);
            for (int s = 0; s < 2; s++)
            {
                int *exposures = (int *)(s == 0 ? param.ExposureF : param.ExposureB);
                int diff = LIGHT_DIFF(param.MaxBright, values[s]);
                // if(abs(diff) > 30)
                //     radio = 2;
                // else
                //     radio = 1;
                double step = diff * radio;
                log += "	明场:" + std::to_string(s) + ";diff：" + std::to_string(diff) + "\r\n";
                int preStep = expStep[s][0];
                if (step * preStep < 0)
                {
                    step = 0 - preStep / 2;
                }
                else
                {
                    radio = 1;
                }
                if (step < 1 && step > 0)
                    step = 1;
                if (step < 0 && step > -1)
                    step = -1;

                int exp = *(exposures + 1);
                // std::string ss1(string_format("exp[%d] = %d step = %.3f \r\n", s, exp, step));
                // log += ss1;
                bool isMinStep = abs(step) == 1 && step == expStep[s][0];
                bool isOutBounds = exp >= (param.Sp / 3 / (mode ? 3 : 1) - 15) && step > 0;
                isOutBounds |= exp <= 0 && step < 0;
                if (isOutBounds)
                    log += "	第" + std::to_string(s) + "个明场校正异常 \r\n";
                else if (abs(diff) > 1 || isMinStep)
                {
                    exp += step;
                    if (exp < 0)
                        exp = 0;
                    if (exp > (param.Sp / 3 / (mode ? 3 : 1) - 15))
                        exp = param.Sp / 3 / (mode ? 3 : 1) - 15;

                    float coffe[3] = {1, 1, 1}; // 0.2, 1,0.51
                    for (int k = 0; k < 3; k++)
                    {
                        *(exposures + k) = (int)(exp * coffe[k]);
                        expStep[s][k] = (int)(step);
                        std::string exps(string_format("expStep[%d][%d] = %.3f\r\n", s, k, step));
                        log += exps;
                        std::string ss(string_format("exposures[%d] = %0.3f \r\n", k, exposures[k]));
                        log += ss;
                    }

                    isNeedSave = false;
                }
            }
            printf("\n%s", log.c_str());
            ftm_cr_log.append_log(log);
            if (m_captureCallback)
                m_captureCallback(mode, log);
            if (isNeedSave)
            {
                printf("Save LUT image path :%s \n", param.Flat_WhitePath.c_str());
                log = "灰度明场校正完成\r\n";
                if (m_captureCallback)
                    m_captureCallback(mode, log);
                log = "";
                imwrite(param.Flat_WhitePath, mrgmat);
            }
        }
    }
    Get_Static_CorrectParam().SaveCorrectParam(param);
    printf("exit Save_lut \n");
    return isNeedSave;
}

void MultiFrameCapture_8478_HL::correctcolor(int correctmode)
{

    printf(" correctcolor start mode = %d \n", correctmode);
    auto _start = std::chrono::steady_clock::now();
    std::map<int, std::pair<int, int>> mode = {{1, {1, 0}}, {2, {1, 1}}, {3, {2, 0}}, {4, {2, 1}}, {5, {3, 0}}, {6, {3, 1}}, {7, {16, 0}}, {8, {16, 1}}, 
    {9, {17, 0}}, {10, {17, 1}},{11,{32,1}},{12,{32,0}},{13,{33,1}},{14,{33,0}}};
    ThreadPool pool(2);
    std::queue<std::future<void>> fu_correct;
    std::string loginfo = "Start Correctcolor \r\n";
    if (m_captureCallback)
        m_captureCallback(0x01, loginfo);
    if (correctmode != 0)
    {
        creatcorrectconfig(mode[correctmode].first, mode[correctmode].second);
        auto param = Get_Static_CorrectParam().GetFpgaparam_8478(mode[correctmode].first, mode[correctmode].second);
        fu_correct.emplace(pool.enqueue([param](int dpi, int color)
                                        { creatLUTData(dpi, color, param); },
                                        mode[correctmode].first, mode[correctmode].second));
    }
    else
    {
        for (auto node : mode)
        {
            creatcorrectconfig(node.second.first, node.second.second);
            auto param = Get_Static_CorrectParam().GetFpgaparam_8478(node.second.first, node.second.second);
            fu_correct.emplace(pool.enqueue([param](int dpi, int color)
                                            { creatLUTData(dpi, color, param); },
                                            node.second.first, node.second.second));
        }
    }

    while (fu_correct.size())
    {
        fu_correct.front().get();
        fu_correct.pop();
    }
    loginfo = "******Correct Done****** time " + std::to_string(std::chrono::duration<double>(std::chrono::steady_clock::now() - _start).count()) + "s";
    if (m_captureCallback)
        m_captureCallback(0x04, loginfo);
}

void MultiFrameCapture_8478_HL::fpga_reset()
{
    reset_pin->setValue(Gpio::Low);
    std::this_thread::sleep_for(std::chrono::milliseconds(50));
    reset_pin->setValue(Gpio::High);
    std::this_thread::sleep_for(std::chrono::milliseconds(50));
}

void MultiFrameCapture_8478_HL::fpga_reload()
{
    // fpga 代码重载
    fpgaLoad->setValue(Gpio::Low);
    std::this_thread::sleep_for(std::chrono::milliseconds(15));
    fpga_conf_initn->setValue(Gpio::Low);
    std::this_thread::sleep_for(std::chrono::milliseconds(15));
    printf("\n fpga_conf_done value %d", fpga_conf_done->getValue());
    fpgaLoad->setValue(Gpio::High);
    std::this_thread::sleep_for(std::chrono::milliseconds(15));
    fpga_conf_initn->setValue(Gpio::High);
    // std::this_thread::sleep_for(std::chrono::milliseconds(5));
    printf("\n fpga_conf_done value %d", fpga_conf_done->getValue());
    // while(fpga_conf_done->getValue() == Gpio::GpioLevel::Low)
    //     std::this_thread::sleep_for(std::chrono::milliseconds(5));
    std::this_thread::sleep_for(std::chrono::seconds(3));
    printf("\n fpga_conf_done value %d", fpga_conf_done->getValue());
    fpgaComm->resetADC();
    fpgaComm->update(0);
}

void MultiFrameCapture_8478_HL::init_imagedatabuffer()
{

    if (pimgdata_info.pdata)
        free(pimgdata_info.pdata);
    pimgdata_info.pdata = nullptr;
    pimgdata_info.offset = pimgdata_info.frame_count = pimgdata_info.img_h = pimgdata_info.img_w = 0;
    if (frame_count != 0)
    {
        int t_frame_count = fpgaComm->getFrameNum();
        int width = this->width() * (m_config.g200params.color ? 3 : 1);
        int height = frame_height * 2;
        pimgdata_info.pdata = malloc(height * t_frame_count * width);
        pimgdata_info.total = height * t_frame_count;
        pimgdata_info.offset = 0;
        pimgdata_info.frame_count = 0;
        pimgdata_info.img_h = 0;
        pimgdata_info.img_w = 0;
        printf("pimgdata_info.pdata = %p malloc_size = %d \n", pimgdata_info.pdata, height * t_frame_count * width, t_frame_count, width, height);
    }
}

void MultiFrameCapture_8478_HL::free_imagedatabuffer()
{
    if (pimgdata_info.pdata)
        free(pimgdata_info.pdata);
    pimgdata_info.pdata = nullptr;
    printf("--- free imagedatabuf --- \n");
}

// static void neon_memcpy(volatile void *dst, volatile void *src, int sz)
// {
//     if (sz & 63)
//         sz = (sz & -64) + 64;
//     asm volatile (
//     "NEONCopyPLD: \n"
//             " VLDM %[src]!,{d0-d7} \n"
//             " VSTM %[dst]!,{d0-d7} \n"
//             " SUBS %[sz],%[sz],#0x40 \n"
//             " BGT NEONCopyPLD \n"
//     : [dst]"+r"(dst), [src]"+r"(src), [sz]"+r"(sz) : : "d0", "d1", "d2", "d3", "d4", "d5", "d6", "d7", "cc", "memory");
// }

void MultiFrameCapture_8478_HL::update_imgdatainfo(void *itemmat, frame_data_info &info, uint32_t h, uint32_t w)
{
    // StopWatch sw;
    if (info.pdata && itemmat)
    {
        // neon_memcpy(pimgdata_info.pdata + pimgdata_info.offset,itemmat,h*w);
        memcpy(info.pdata + info.offset, itemmat, h * w);
        info.offset += h * w;
        info.frame_count++;
        info.img_h += h;
        info.img_w = w;
        // printf("offset = %d item_total = %d \n", pimgdata_info.offset,pimgdata_info.frame_count);
    }
    // printf("size = %d frame memcpy time = %fms \n", h*w,sw.elapsed_ms());
}

void MultiFrameCapture_8478_HL::update_imgdatainfo(void *itemmat, uint32_t h, uint32_t w)
{
    if (pimgdata_info.pdata && itemmat)
    {
        memcpy(pimgdata_info.pdata + pimgdata_info.offset, itemmat, h * w);
        pimgdata_info.offset += h * w;
        pimgdata_info.frame_count++;
        pimgdata_info.img_h += h;
        pimgdata_info.img_w = w;
    }
}

void MultiFrameCapture_8478_HL::init_adc_8478()
{
    // std::this_thread::sleep_for(std::chrono::milliseconds(100));
    for (int bank = 0; bank < 4; bank++)
        for (int i = 1; i < 64; i++)
        {
            write_adc_8478(bank_change[bank], i, bank_value[i + 64 * bank], 1);
            write_adc_8478(bank_change[bank], i, bank_value[i + 64 * bank], 0);
        }
    // std::this_thread::sleep_for(std::chrono::milliseconds(100));
}

void MultiFrameCapture_8478_HL::write_adc_8478(int bank, int addr, int val, bool A_or_B)
{
    uint32_t reg5 = 0;
    fpgaComm->read(5, reg5);
    fpgaComm->write(5, reg5 | 0xc000); // adc 配置使能打开
    // std::this_thread::sleep_for(std::chrono::milliseconds(1));
    adc_8478_param p_adc{0};
    p_adc.param.r_or_w_h = p_adc.param.r_or_w_l = 0;
    p_adc.param.addr_l = 0;
    p_adc.param.addr_h = addr;
    p_adc.param.val_l = bank;
    p_adc.param.val_h = val;
    fpgaComm->write(A_or_B ? 4 : 7, p_adc.value);
    uint32_t reg1_v;
    fpgaComm->read(1, reg1_v);
    Mode_FPGA reg1 = *((Mode_FPGA *)&reg1_v);
    A_or_B ? reg1.adcA = 1 : reg1.adcB = 1;
    fpgaComm->write(1, *((uint32_t *)&reg1));
    A_or_B ? reg1.adcA = 0 : reg1.adcB = 0;
    fpgaComm->write(1, *((uint32_t *)&reg1));
    // std::this_thread::sleep_for(std::chrono::microseconds(100));
    fpgaComm->write(5, reg5 & 0xffff3fff); // adc 配置使能关闭
}

uint32_t MultiFrameCapture_8478_HL::read_adc_8478(int bank, int addr, bool A_or_B)
{
    uint32_t reg5 = 0;
    fpgaComm->read(5, reg5);
    fpgaComm->write(5, reg5 | 0xc000); // adc 配置使能打开
    std::this_thread::sleep_for(std::chrono::milliseconds(1));
    adc_8478_param p_adc{0};
    p_adc.param.r_or_w_h = 0;
    p_adc.param.r_or_w_l = 2;
    p_adc.param.addr_l = 0;
    p_adc.param.addr_h = addr;
    p_adc.param.val_l = bank;
    p_adc.param.val_h = 0;
    fpgaComm->write(A_or_B ? 4 : 7, p_adc.value);
    uint32_t reg1_v;
    fpgaComm->read(1, reg1_v);
    Mode_FPGA reg1 = *((Mode_FPGA *)&reg1_v);
    A_or_B ? reg1.adcA = 1 : reg1.adcB = 1;
    fpgaComm->write(1, *((uint32_t *)&reg1));
    A_or_B ? reg1.adcA = 0 : reg1.adcB = 0;
    fpgaComm->write(1, *((uint32_t *)&reg1));
    std::this_thread::sleep_for(std::chrono::milliseconds(1));
    fpgaComm->write(5, reg5 & 0xffff3fff); // adc 配置使能关闭
    uint32_t read_reg = 0;
    fpgaComm->read(3, read_reg);
    return read_reg;
}

void MultiFrameCapture_8478_HL::set_exp_8478_single(int exp_r, int exp_g, int exp_b, int sp, bool A_or_B, bool is_gray)
{

    int pix_counter = sp / 3 - 10;
    // set_pixel_count_8478(pix_counter,is_gray);
    int exp_max = pix_counter - 10;
    if (exp_r > exp_max)
        exp_r = exp_max;
    if (exp_g > exp_max)
        exp_g = exp_max;
    if (exp_b > exp_max)
        exp_b = exp_max;

    write_adc_8478(bank_change[1], 0x7, 0, A_or_B); // exp R  start
    write_adc_8478(bank_change[1], 0x8, 0x35, A_or_B);
    write_adc_8478(bank_change[1], 0x9, (exp_r & 0x7f00) / 0x100, A_or_B); // exp R  end
    write_adc_8478(bank_change[1], 0xa, exp_r & 0xff, A_or_B);

    write_adc_8478(bank_change[1], 0xe, 0, A_or_B); // exp G  start
    write_adc_8478(bank_change[1], 0xf, 0x35, A_or_B);
    write_adc_8478(bank_change[1], 0x10, (exp_g & 0x7f00) / 0x100, A_or_B); // exp G   end
    write_adc_8478(bank_change[1], 0x11, exp_g & 0xff, A_or_B);

    write_adc_8478(bank_change[1], 0x15, 0, A_or_B); // exp B  start
    write_adc_8478(bank_change[1], 0x16, 0x35, A_or_B);
    write_adc_8478(bank_change[1], 0x17, (exp_b & 0x7f00) / 0x100, A_or_B); // exp B   end
    write_adc_8478(bank_change[1], 0x18, exp_b & 0xff, A_or_B);
}

void MultiFrameCapture_8478_HL::set_led_off()
{
    for (int i = 0; i < 2; i++)
    {
        write_adc_8478(bank_change[1], 0x7, 0, i); // exp R  start
        write_adc_8478(bank_change[1], 0x8, 0, i);
        write_adc_8478(bank_change[1], 0x9, 0, i); // exp R  end
        write_adc_8478(bank_change[1], 0xa, 0, i);

        write_adc_8478(bank_change[1], 0xe, 0, i); // exp G  start
        write_adc_8478(bank_change[1], 0xf, 0, i);
        write_adc_8478(bank_change[1], 0x10, 0, i); // exp G   end
        write_adc_8478(bank_change[1], 0x11, 0, i);

        write_adc_8478(bank_change[1], 0x15, 0, i); // exp B  start
        write_adc_8478(bank_change[1], 0x16, 0, i);
        write_adc_8478(bank_change[1], 0x17, 0, i); // exp B   end
        write_adc_8478(bank_change[1], 0x18, 0, i);
    }
}

void MultiFrameCapture_8478_HL::set_pixel_count_8478(int val, bool is_gray)
{

    val = val - 10;
    fpgaComm->write(21, ((val & 0xffff) * 0x10000) * 3 + (val & 0xffff) * 3); 
    fpgaComm->write(19, ((val & 0xffff) * 0x10000) * 3 + (val & 0xffff) * 3); 

    write_adc_8478(bank_change[1], 1, (val & 0x7f00) / 0x100, true); // count0 -A
    write_adc_8478(bank_change[1], 2, val & 0xff, true);
    write_adc_8478(bank_change[1], 1, (val & 0x7f00) / 0x100, false); // count0 -B
    write_adc_8478(bank_change[1], 2, val & 0xff, false);
    if (is_gray)
        return;

    write_adc_8478(bank_change[1], 3, (val & 0x7f00) / 0x100, true); // count1 -A
    write_adc_8478(bank_change[1], 4, val & 0xff, true);
    write_adc_8478(bank_change[1], 3, (val & 0x7f00) / 0x100, false); // count1 -B
    write_adc_8478(bank_change[1], 4, val & 0xff, false);

    write_adc_8478(bank_change[1], 5, (val & 0x7f00) / 0x100, true); // count2 -A
    write_adc_8478(bank_change[1], 6, val & 0xff, true);
    write_adc_8478(bank_change[1], 5, (val & 0x7f00) / 0x100, false); // count2 -B
    write_adc_8478(bank_change[1], 6, val & 0xff, false);
}

void MultiFrameCapture_8478_HL::set_digital_offset_8478(int channel, int val, bool A_or_B, int color)
{
    if (channel < 0 || channel > 8)
        return;
    if (color < 0 || color > 2)
        return;
    int s_addr = ((color == 0) ? 7 : ((color == 2) ? 1 : 0x1c));
    int bank = color == 0 ? 0 : 3;
    val = val & 0x1ff;
    write_adc_8478(bank_change[bank], s_addr + channel * 2, val < 255 ? 1 : 0, A_or_B);
    write_adc_8478(bank_change[bank], s_addr + 1 + channel * 2, val & 0xff, A_or_B);
}

void MultiFrameCapture_8478_HL::set_digital_gain_8478(int channel, uint8_t val, bool A_or_B, int color)
{
    if (channel < 0 || channel > 8)
        return;
    if (color < 0 || color > 2)
        return;
    int s_addr = ((color == 0) ? 0x19 : ((color == 2) ? 0x13 : 0x2e));
    int bank = color == 0 ? 0 : 3;
    write_adc_8478(bank_change[bank], s_addr + channel, val, A_or_B);
}

void MultiFrameCapture_8478_HL::set_dpi_mode(int type)
{
    write_adc_8478(bank_change[1], 0x38, 0x30, true);
    write_adc_8478(bank_change[1], 0x38, 0x30, false);
    int val = 0;
    if(type == 1)  val = 3;
    if(type == 2)  val = 0;
    if(type == 3)  val = 1;
    write_adc_8478(bank_change[0], 0x33, val, true);
    write_adc_8478(bank_change[0], 0x33, val, false);
}

void MultiFrameCapture_8478_HL::set_BOS_postion(uint32_t rise, uint32_t fall)
{
    write_adc_8478(bank_change[2], 0x1, (rise & 0xff00) / 0x100, true); // A面 BOS 起始位置
    write_adc_8478(bank_change[2], 0x2, rise & 0xff, true);

    write_adc_8478(bank_change[2], 0x3, (fall & 0xff00) / 0x100, true); // A面 BOS 结束位置
    write_adc_8478(bank_change[2], 0x4, fall & 0xff, true);

    write_adc_8478(bank_change[2], 0x1, (rise & 0xff00) / 0x100, false); // B面 BOS 起始位置
    write_adc_8478(bank_change[2], 0x2, rise & 0xff, false);

    write_adc_8478(bank_change[2], 0x3, (fall & 0xff00) / 0x100, false); // B面 BOS 结束位置
    write_adc_8478(bank_change[2], 0x4, fall & 0xff, false);
}

void MultiFrameCapture_8478_HL::set_EN_postion(uint32_t rise, uint32_t fall)
{
    write_adc_8478(bank_change[2], 0xd, (rise & 0xff00) / 0x100, true); // A面 EN 起始位置
    write_adc_8478(bank_change[2], 0xe, rise & 0xff, true);

    write_adc_8478(bank_change[2], 0xf, (fall & 0xff00) / 0x100, true); // A面 EN 结束位置
    write_adc_8478(bank_change[2], 0x10, fall & 0xff, true);

    write_adc_8478(bank_change[2], 0xd, (rise & 0xff00) / 0x100, false); // B面 EN 起始位置
    write_adc_8478(bank_change[2], 0xe, rise & 0xff, false);

    write_adc_8478(bank_change[2], 0xf, (fall & 0xff00) / 0x100, false); // B面 EN 结束位置
    write_adc_8478(bank_change[2], 0x10, fall & 0xff, false);
}

void MultiFrameCapture_8478_HL::set_7864A_current_ctrl(uint32_t current)
{
    if (current > 6)
        return;
    write_adc_8478(bank_change[2], 0x1a, current * 0x10 + current, false);
    write_adc_8478(bank_change[2], 0x1b, current * 0x10 + current, false);
    write_adc_8478(bank_change[2], 0x1c, current * 0x10 + current, false);

    write_adc_8478(bank_change[2], 0x1a, current * 0x10 + current, true);
    write_adc_8478(bank_change[2], 0x1b, current * 0x10 + current, true);
    write_adc_8478(bank_change[2], 0x1c, current * 0x10 + current, true);
}

void MultiFrameCapture_8478_HL::set_LED_PTN_8478(bool is_bw)
{
    if (is_bw)
    {
        write_adc_8478(bank_change[0], 0x3d, 0x01, false);
        write_adc_8478(bank_change[0], 0x3d, 0x01, true);
        return;
    }
    write_adc_8478(bank_change[0], 0x3d, 0x11, false);
    write_adc_8478(bank_change[0], 0x3d, 0x11, true);
}

void MultiFrameCapture_8478_HL::set_ADC_config_frequency(uint32_t freq)
{
    uint32_t reg2 = 0;
    fpgaComm->read(2, reg2);
    fpgaComm->write(2, (reg2 & 0xffffffe1) | (freq << 1)); // adc 配置 频率
}

void MultiFrameCapture_8478_HL::set_cis_type_hl(bool is_hl)
{
    uint32_t reg2 = 0;
    fpgaComm->read(2, reg2);
    fpgaComm->write(2, (reg2 & 0xffffffdf) | (is_hl ? 0x20: 0x0)); // 设置CIS类型 华菱
}

cv::Mat MultiFrameCapture_8478_HL::merge_8478(cv::Mat src, bool color, uint32_t version)
{
    if (!color)
        return src;
    cv::Mat dst(src.rows, src.cols / 3, CV_8UC3);
    uint32_t width = src.cols / 6;
    cv::insertChannel(src(cv::Rect(0, 0, src.cols / 6, src.rows)), dst(cv::Rect(0, 0, dst.cols / 2, dst.rows)), 0);
    cv::insertChannel(src(cv::Rect(src.cols / 3, 0, src.cols / 6, src.rows)), dst(cv::Rect(0, 0, dst.cols / 2, dst.rows)), 2);
    cv::insertChannel(src(cv::Rect(src.cols / 3 * 2, 0, src.cols / 6, src.rows)), dst(cv::Rect(0, 0, dst.cols / 2, dst.rows)), 1);
    cv::insertChannel(src(cv::Rect(src.cols / 6, 0, src.cols / 6, src.rows)), dst(cv::Rect(dst.cols / 2, 0, dst.cols / 2, dst.rows)), 0);
    cv::insertChannel(src(cv::Rect(src.cols / 6 * 3, 0, src.cols / 6, src.rows)), dst(cv::Rect(dst.cols / 2, 0, dst.cols / 2, dst.rows)), 2);
    cv::insertChannel(src(cv::Rect(src.cols / 6 * 5, 0, src.cols / 6, src.rows)), dst(cv::Rect(dst.cols / 2, 0, dst.cols / 2, dst.rows)), 1);
    return dst;
}

void MultiFrameCapture_8478_HL::single_correct(std::uint32_t mode)
{
    std::vector<uint32_t> sup_correct_dpi{1, 2, 3, 0x10, 0x11,0x20,0x21};
    union correct_mode_
    {
        struct
        {
            uint32_t dpi : 16;
            uint32_t color_mode : 8;
            uint32_t correct_mode : 8;
        } param;
        uint32_t value;
    };
    correct_mode_ tmp;
    tmp.value = mode;
    if (std::count(sup_correct_dpi.begin(), sup_correct_dpi.end(), tmp.param.dpi) && (tmp.param.color_mode < 2))
    {
        auto param = Get_Static_CorrectParam().GetFpgaparam_8478(tmp.param.dpi, tmp.param.color_mode);
        if (tmp.param.correct_mode == 1)
            creatLUTData(tmp.param.dpi, tmp.param.color_mode, param);
        else if (tmp.param.correct_mode == 2)
            creatLUTData_gray(tmp.param.dpi, tmp.param.color_mode, param);
    }
}