using System;
using System.Linq;
using System.Drawing;
using System.Threading;
using System.Diagnostics;
using SHJX.Service.Common.Utils;
using System.Collections.Generic;
using SHJX.Service.Common.Logging;
using Microsoft.Extensions.Logging;
using AForge.Video.DirectShow;
using SHJX.Service.Model.CRUDModules;
namespace shjxCamera
{
    /// <summary>
    /// 图像采集器，定时进行图像采集
    /// 每次采样发布采样事件：ColorDataGrabed
    /// </summary>
    public class ColorData2Graber
    {
        private static readonly ILogger logger = LogFactory.BuildLogger(typeof(ColorData2Graber));

        #region fields
        /// <summary>
        /// 采集到的色彩数据队列
        /// </summary>
        private List<ColorData2Point> LstColorDataPoints;
        #endregion

        #region properties

        /// <summary>
        /// 摄像头
        /// </summary>
        public WebCamera2 WebCam { get; set; }

        /// <summary>
        /// 提取ROI区域色彩数据
        /// </summary>
        protected ImageRGBanalysis2 ColorAnalysis { get; set; }

        /// <summary>
        /// 停止数据采集
        /// </summary>
        protected bool IsStopGrab { get; set; }

        /// <summary>
        /// 每帧间隔采集时间，毫秒
        /// </summary>
        public int Interval { get; set; }

        /// <summary>
        /// 图像目标区域
        /// </summary>
        public Rectangle RectROI { get; set; }
        public int CurrExposure { get; set; }
        /// <summary>
        /// 当前状态：true=工作中，正在采集数据；false=空闲中，未采集数据；
        /// </summary>
        public bool IsWorking { get; set; }
        private Camera2Value cameraValueAll = new Camera2Value();
        #endregion

        #region methods

        /// <summary>
        /// 构造色点采集器对象
        /// </summary>
        /// <param name="webcam"></param>
        public ColorData2Graber(WebCamera2 webcam)
        {
            WebCam = webcam ?? new WebCamera2();
            ColorAnalysis = new ImageRGBanalysis2();
            RectROI = new Rectangle(0, 0, 10, 10);
            LstColorDataPoints = new List<ColorData2Point>();
            Interval = 50;
            IsStopGrab = false;
            IsWorking = false;
        }

        /// <summary>
        /// 自动调整目标取图区域的位置
        /// </summary>
        public Rectangle UpdateRoiPos(bool writeFlag)
        {
            try
            {
                Bitmap imgBitmap = WebCam.GrabImage2();
                if (imgBitmap == null)
                {
                    int cnt = 30;
                    while (imgBitmap == null && cnt-- > 0)
                    {
                        logger.LogError(string.Format("摄像头2imgBitmap2 == null && cnt-- > 0"));
                        Thread.Sleep(100);
                        imgBitmap = WebCam.GrabImage2();
                    }
                    if (imgBitmap == null)
                    {
                        logger.LogError(string.Format("摄像头2imgBitmap2 == null"));
                        return Titration2Settings.SensorPara.RoiSample;
                    }
                }
                //Random rd = new Random();
                //string name = System.DateTime.Now.ToString("yyyyMMddHHmmss") + rd.ToString() + ".bmp";
                //imgBitmap.Save("C:\\Users\\25109\\Desktop\\软件版本库\\测试文件\\高锰测试\\摄像2图片\\"+ name);
                logger.LogCritical(string.Format("22222222old roi=({0}, {1}, {2}, {3})", RectROI.X, RectROI.Y, RectROI.Right, RectROI.Bottom));
                RectROI = ColorAnalysis.GetRoiPos(imgBitmap, Titration2Settings.SensorPara.RoiSample, 35); // 定位新的目标区域坐标
                RectROI.Offset(Titration2Settings.SensorPara.RoiOffsetX, 0); // 加入偏移量
                if (Titration2Settings.SensorPara.UseRoiMask)
                {
                    // 计算目标区域的均值，以均值的1/2作为阈值查找RoiMask
                    int sumR = 0, sumG = 0, sumB = 0;
                    ColorAnalysis.GetTotalFromImage(imgBitmap, RectROI, ref sumR, ref sumG, ref sumB);
                    sumB = Math.Min(10, sumB / (RectROI.Width * RectROI.Height) / 2);
                    #region 检查信号值是否异常[=0]
                    if (sumB < 0.5)
                    {
                        throw new Exception("信号值异常[0]，滴定须终止。");
                    }
                    #endregion
                    Titration2Settings.SensorPara.RoiMaskPoints = ColorAnalysis.GetRoiMask(imgBitmap, RectROI, sumB);
                }

                logger.LogCritical(string.Format("22222222new roi=({0}, {1}, {2}, {3}), offset=({4},0)", RectROI.X, RectROI.Y, RectROI.Right, RectROI.Bottom, Titration2Settings.SensorPara.RoiOffsetX));
                if (writeFlag)
                {
                    ColorAnalysis.WriteRGBlog(imgBitmap, RectROI, "定位后数据" + RectROI.ToString());
                }
            }
            catch (Exception ex)
            {
                logger.LogError(ex.ToString());
            }
            return RectROI;
        }

        /// <summary>
        /// 自动调节曝光值
        /// </summary>
        public void PresetLightParam(int maxRange)
        {
            logger.LogCritical("22222222自动调节曝光值");
            WebCam.SetProperties(CameraControlProperty.Exposure, maxRange,CameraControlFlags.Manual);
            WebCam.GetPropertiesRange(CameraControlProperty.Exposure, out var min, out var max, out var size, out var value, out var flag);
            Thread.Sleep(1000);                                //min=-9,max=0;size=1;value=-7;flag=Manual;
            // 读取信号值
            var cdp = GrabSignal(500);
            // 判断信号所在区间，小于额定值范围则缩小曝光值，大于额定范围则增大曝光值
            CameraControlFlags flags = CameraControlFlags.Manual;
            WebCam.GetProperties(CameraControlProperty.Exposure, out int val, out flags);
            int maxcount = 10;
            double bsvBelow = 114;
            double bsvUp = 114;
            int valBelow = -9;
            int valUp = 0;
            double bsv = 0.0;
            bool flagJudge = true; ;
            while (maxcount > 0)
            {
                maxcount--;
                bsv = cdp.GetBSV();
                if (bsv < 110)
                {
                    bsvBelow = bsv;
                    if (val.Equals(min))
                        break;
                    val = Math.Min(max, Math.Max(maxRange, val - 1));
                    valBelow = val;
                    logger.LogCritical($"22222222增大曝光值为：{val}");
                }
                else if (bsv > 118)
                {
                    bsvUp = bsv;
                    if (val.Equals(max))
                        break;
                    val = Math.Min(max, Math.Max(maxRange, val + 1));
                    valUp = val;
                    logger.LogCritical($"22222222减少曝光值为：{val}");
                }
                else
                {
                    flagJudge = false; ;
                    break;
                }
                WebCam.SetProperties(CameraControlProperty.Exposure, val, CameraControlFlags.Manual);
                Thread.Sleep(500);
                UpdateRoiPos(false);
                cdp = GrabSignal(500);
            }
            if (flagJudge)
            {
                val = 114 - bsvBelow > bsvUp - 114 ? valBelow : valUp;
                val = Math.Min(max, Math.Max(maxRange, val));
                WebCam.SetProperties(CameraControlProperty.Exposure, val, CameraControlFlags.Manual);
                Thread.Sleep(500);
                ContinuePresetLightParam();
            }
            WebCam.GetProperties(CameraControlProperty.Exposure, out val, out flags);
            CurrExposure = val;
            logger.LogCritical($"22222222新的曝光值为：{val}");
        }
        public void ContinuePresetLightParam()
        {
            logger.LogCritical("22222222自动调节亮度值Brightness");
            WebCam.GetVideoProcAmpPropertiesRange(VideoProcAmpProperty.Brightness, out var minb, out var maxb, out var sizeb, out var valueb, out var flagb);
            Thread.Sleep(1000);
            // 读取信号值
            var cdp = GrabSignal(500);
            VideoProcAmpFlags flags = VideoProcAmpFlags.Manual;
            WebCam.GetVideoProcAmpProperties(VideoProcAmpProperty.Brightness, out int val, out flags);
            int maxcount = 40;
            while (maxcount > 0)
            {
                maxcount--;
                 if (cdp.GetBSV() < 110)
                {
                    if (val < minb) break;
                    val = val + 1;
                   
                    logger.LogCritical($"22222222增大亮度值为：{val}");
                    
                }
                else if (cdp.GetBSV() > 118)
                {
                    if (val > maxb) break;
                    val = val - 1;
                    logger.LogCritical($"22222222减少亮度值为：{val}");
                }
                else
                {
                    break;
                }
                WebCam.SetVideoProcAmpProperties(VideoProcAmpProperty.Brightness, val, VideoProcAmpFlags.Manual);
                Thread.Sleep(500);
                UpdateRoiPos(false);
                cdp = GrabSignal(500);
            }
            if (cdp.GetBSV() > 118)
            {logger.LogCritical($"22222222新的亮度值为：{val}");
                PresetLightParammanual(cameraValueAll, 10);
            }
            WebCam.GetVideoProcAmpProperties(AForge.Video.DirectShow.VideoProcAmpProperty.Brightness, out val, out flagb);
            CurrExposure = val;
            logger.LogCritical($"22222222新的亮度值为：{val}");
        }
        public void PresetLightParammanual(Camera2Value cameraValue, int explosionRange)
        {
            cameraValueAll = cameraValue;
            //WebCam.GetVideoProcAmpPropertiesRange(AForge.Video.DirectShow.VideoProcAmpProperty.Brightness, out var minb, out var maxb, out var sizeb, out var valueb, out var flagb);
            //WebCam.GetVideoProcAmpPropertiesRange(AForge.Video.DirectShow.VideoProcAmpProperty.Contrast, out var minbc, out var maxbc, out var sizebc, out var valuebc, out var flagbc);
            //WebCam.GetVideoProcAmpPropertiesRange(AForge.Video.DirectShow.VideoProcAmpProperty.Hue, out var minbh, out var maxbh, out var sizebh, out var valuebh, out var flagbh);
            //WebCam.GetVideoProcAmpPropertiesRange(AForge.Video.DirectShow.VideoProcAmpProperty.Saturation, out var minbs, out var maxbs, out var sizebs, out var valuebs, out var flagbs);
            //WebCam.GetVideoProcAmpPropertiesRange(AForge.Video.DirectShow.VideoProcAmpProperty.Sharpness, out var mins, out var maxs, out var sizes, out var values, out var flags);
            //WebCam.GetVideoProcAmpPropertiesRange(AForge.Video.DirectShow.VideoProcAmpProperty.WhiteBalance, out var minbw, out var maxbw, out var sizebw, out var valuebw, out var flagbw);
            //WebCam.GetVideoProcAmpPropertiesRange(AForge.Video.DirectShow.VideoProcAmpProperty.Gain, out var minbg, out var maxbg, out var sizebg, out var valuebg, out var flagbg);

            WebCam.SetVideoProcAmpProperties(VideoProcAmpProperty.Brightness, cameraValue.Brightness, VideoProcAmpFlags.Manual);
            WebCam.SetVideoProcAmpProperties(VideoProcAmpProperty.Contrast, cameraValue.Contrast, VideoProcAmpFlags.Manual);
            WebCam.SetVideoProcAmpProperties(VideoProcAmpProperty.Sharpness, cameraValue.Sharpness, VideoProcAmpFlags.Manual);
            WebCam.SetVideoProcAmpProperties(VideoProcAmpProperty.Gain, cameraValue.Gain, VideoProcAmpFlags.Manual);
            //WebCam.SetVideoProcAmpProperties(VideoProcAmpProperty.Hue, 0, VideoProcAmpFlags.Manual);
            WebCam.SetVideoProcAmpProperties(VideoProcAmpProperty.Saturation, cameraValue.Saturation, VideoProcAmpFlags.Manual);
            WebCam.SetVideoProcAmpProperties(VideoProcAmpProperty.WhiteBalance, cameraValue.WhiteBalance, VideoProcAmpFlags.Manual);
            if (explosionRange!=10) 
			{
              WebCam.SetProperties(CameraControlProperty.Exposure, explosionRange, CameraControlFlags.Manual);
            }
            Thread.Sleep(1000);
            UpdateRoiPos(true);
            GrabSignal(10);

            int threshold_gray = 5;                            // 色点过滤阈值
            int threshold_hue = 5;           // 色相偏移阈值

            ColorPoint cp = Globals.Camera.SampleBackground("d1camera", threshold_gray, threshold_hue);
            //logger.LogCritical($"22222222亮度：{cameraValue.Brightness} 对比：{cameraValue.Contrast} 锐度：{cameraValue.Sharpness} 增益：{cameraValue.Gain} 曝光：{explosionRange}；***色值：{cp.Hue}");
            logger.LogCritical($"22222222亮度：{cameraValue.Brightness} 对比：{cameraValue.Contrast} 饱和度：{cameraValue.Saturation}" +
               $" 白平衡:{cameraValue.WhiteBalance} 锐度：{cameraValue.Sharpness} 增益：{cameraValue.Gain} 曝光： {explosionRange}；***色值：{cp.Hue}");
            //Random rd = new Random();
            //string name = System.DateTime.Now.ToString("yyyyMMddHHmmss") + rd.ToString() + ".bmp";
            //imgBitmap.Save("C:\\Users\\25109\\Desktop\\软件版本库\\测试文件\\高锰测试\\摄像2图片\\"+ name);
        }


        public void ShowParammanual()
        {
            //    WebCam.GetVideoProcAmpPropertiesRange(AForge.Video.DirectShow.VideoProcAmpProperty.Brightness, out var minb, out var maxb, out var sizeb, out var valueb, out var flagb);
            //    WebCam.GetVideoProcAmpPropertiesRange(AForge.Video.DirectShow.VideoProcAmpProperty.Contrast, out var minbc, out var maxbc, out var sizebc, out var valuebc, out var flagbc);
            //    WebCam.GetVideoProcAmpPropertiesRange(AForge.Video.DirectShow.VideoProcAmpProperty.Hue, out var minbh, out var maxbh, out var sizebh, out var valuebh, out var flagbh);
            //    WebCam.GetVideoProcAmpPropertiesRange(AForge.Video.DirectShow.VideoProcAmpProperty.Saturation, out var minbs, out var maxbs, out var sizebs, out var valuebs, out var flagbs);
            //    WebCam.GetVideoProcAmpPropertiesRange(AForge.Video.DirectShow.VideoProcAmpProperty.Sharpness, out var mins, out var maxs, out var sizes, out var values, out var flags);
            //    WebCam.GetVideoProcAmpPropertiesRange(AForge.Video.DirectShow.VideoProcAmpProperty.WhiteBalance, out var minbw, out var maxbw, out var sizebw, out var valuebw, out var flagbw);
            //    WebCam.GetVideoProcAmpPropertiesRange(AForge.Video.DirectShow.VideoProcAmpProperty.Gain, out var minbg, out var maxbg, out var sizebg, out var valuebg, out var flagbg);


            WebCam.GetVideoProcAmpProperties(AForge.Video.DirectShow.VideoProcAmpProperty.Brightness, out var valuebb, out var flagbb);
            WebCam.GetVideoProcAmpProperties(AForge.Video.DirectShow.VideoProcAmpProperty.Contrast, out var valuebcc, out var flagbcc);
            WebCam.GetVideoProcAmpProperties(AForge.Video.DirectShow.VideoProcAmpProperty.Hue, out var valuebhh, out var flagbhh);
            WebCam.GetVideoProcAmpProperties(AForge.Video.DirectShow.VideoProcAmpProperty.Saturation, out var valuebss, out var flagbss);
            WebCam.GetVideoProcAmpProperties(AForge.Video.DirectShow.VideoProcAmpProperty.Sharpness, out var valuess, out var flagss);
            WebCam.GetVideoProcAmpProperties(AForge.Video.DirectShow.VideoProcAmpProperty.WhiteBalance, out var valuebww, out var flagbww);
            WebCam.GetVideoProcAmpProperties(AForge.Video.DirectShow.VideoProcAmpProperty.Gain, out var valuebgg, out var flagbgg);

            WebCam.GetProperties(CameraControlProperty.Exposure, out var exposure, out var flagex);
            logger.LogCritical($"22222222亮度：{valuebb} 对比：{valuebcc} 锐度：{valuess} 饱和度：{valuebss} 白平衡：{valuebww} 增益：{valuebgg} 曝光：{exposure} ");

        }
        /// <summary>
        /// 连续采集指定时长的信号值，计算并返回该时长的信号总值和均值
        /// </summary>
        /// <param name="milsecCount">指定采集时长</param>
        /// <returns>信号统计数据</returns>
        public ColorData2Point GrabSignal(int milsecCount)
        {
            if (milsecCount < 35) milsecCount = 500;
            IsWorking = true;
            ColorData2Point cdp;
            var rectRoi = RectROI;
            int vr = 0, vg = 0, vb = 0;
            var area = rectRoi.Width * rectRoi.Height;
            if (Titration2Settings.SensorPara.UseRoiMask && Titration2Settings.SensorPara.RoiMaskPoints is not null)
            {
                area = Titration2Settings.SensorPara.RoiMaskPoints.Count;
            }
            // 采集指定时长的数据，计算均值返回
            LstColorDataPoints.Clear();
            var timeLength = 0;
            IsStopGrab = false;
            var sw = new Stopwatch();
            while (!IsStopGrab)
            {
                sw.Restart();
                var bmp = WebCam.GrabImage2();
                if (Titration2Settings.SensorPara.UseRoiMask && Titration2Settings.SensorPara.RoiMaskPoints != null)
                {
                    ColorAnalysis.GetTotalFromImage(bmp, Titration2Settings.SensorPara.RoiMaskPoints, ref vr, ref vg, ref vb);
                }
                else
                {
                    ColorAnalysis.GetTotalFromImage(bmp, rectRoi, ref vr, ref vg, ref vb);
                }
                //Random rd = new Random();
                //string name = System.DateTime.Now.ToString("yyyyMMddHHmmss") + rd.Next().ToString() + ".bmp";
                //bmp.Save("C:\\Users\\25109\\Desktop\\软件版本库\\测试文件\\高锰测试\\摄像2图片\\" + name);
                cdp = new ColorData2Point { Id = LstColorDataPoints.Count, Area = area, RTV = vr, GTV = vg, BTV = vb };
                LstColorDataPoints.Add(cdp); // 加入队列保存
                // 固定每帧图像间隔
                if (sw.ElapsedMilliseconds >= Interval)
                {
                    sw.Stop();
                }
                else
                {
                    Thread.Sleep(Interval - Convert.ToInt32(sw.ElapsedMilliseconds));
                }
                // 是否已到指定时长，结束采集
                timeLength += Interval;
                if (timeLength >= milsecCount)
                {
                    break;
                }
            }

            var lstSort = LstColorDataPoints.OrderByDescending(c => c.GTV).ToList();
            var nMedianPos = Convert.ToInt32(Math.Ceiling(lstSort.Count / 2.0));
            cdp = lstSort[nMedianPos - 1];
            logger.LogCritical($"22222222use r={cdp.GetRSV()},g={cdp.GetGSV()},b={cdp.GetBSV()},h={cdp.GetSaturation()}");
            IsWorking = false;
            Messager<object>.Send("GraberColorValue2", 300 - cdp.GetBSV());
            return cdp;
        }

        #endregion

        #region 未启用
#if false

        public void SavePicture(string filename)
        {
            if (string.IsNullOrWhiteSpace(filename))
            {
                WebCam.GrabImage().Save(filename);
            }
        }

        /// <summary>
        /// 定时拍照采集图像，在后台线程执行
        /// </summary>
        public void StartGrab()
        {
            LstColorDataPoints.Clear();
            IsStopGrab = false;
            if (WebCam == null)
            {
                return;
            }
            var thrGrab = new Thread(ImageGrabing)
            {
                IsBackground = true
            };
            thrGrab.Start();
        }

        /// <summary>
        /// 结束采集线程
        /// </summary>
        public void StopGrab()
        {
            if (LogProgram != null)
            {
                LogProgram.Debug("StopGrab()");
            }

            IsStopGrab = true;
        }

        /// <summary>
        /// 根据启停指令连续采集信号值，计算最后的frameCount帧数据并返回信号总值和均值
        /// </summary>
        /// <param name="frameCount">参与计算的帧数</param>
        /// <returns>信号统计数据</returns>
        public ColorDataPoint GrabSignalWithFrame(int frameCount)
        {
            if (frameCount < 10)
            {
                frameCount = 10;
            }

            IsWorking = true;
            Bitmap bmp;
            ColorDataPoint cdp;
            Rectangle rectROI = RectROI;
            int vr = 0, vg = 0, vb = 0;
            int area = rectROI.Width * rectROI.Height;
            if (Titration2Settings.SensorPara.UseRoiMask && Titration2Settings.SensorPara.RoiMaskPoints != null)
            {
                area = Titration2Settings.SensorPara.RoiMaskPoints.Count;
            }
            // 采集指定时长的数据，计算均值返回
            LstColorDataPoints.Clear();
            int timelength = 0;
            IsStopGrab = false;
            Stopwatch sw = new Stopwatch();
            while (!IsStopGrab)
            {
                sw.Restart();
                bmp = WebCam.GrabImage(); // 拍照
                if (Titration2Settings.SensorPara.UseRoiMask && Titration2Settings.SensorPara.RoiMaskPoints != null)
                {
                    ColorAnalysis.GetTotalFromImage(bmp, Titration2Settings.SensorPara.RoiMaskPoints, ref vr, ref vg,
                        ref vb);
                }
                else
                {
                    ColorAnalysis.GetTotalFromImage(bmp, rectROI, ref vr, ref vg, ref vb);
                }

                cdp = new ColorDataPoint { Id = LstColorDataPoints.Count, Area = area, RTV = vr, GTV = vg, BTV = vb };
                LstColorDataPoints.Add(cdp); // 加入队列保存
                if (LstColorDataPoints.Count > frameCount)
                {
                    LstColorDataPoints.RemoveAt(0);
                }
                if (LogProgram != null && PrintDebugLog == true)
                {
                    LogProgram.Info(string.Format("a={0},b={1},c={2},d={3}", cdp.GetRSV(), cdp.GetGSV(), cdp.GetBSV(), cdp.GetSaturation()));
                }

                // 固定每帧图像间隔
                if (sw.ElapsedMilliseconds >= Interval)
                {
                    sw.Stop();
                }
                else
                {
                    Thread.Sleep(Interval - Convert.ToInt32(sw.ElapsedMilliseconds));
                }

                // 是否已到指定时长，结束采集
                timelength += Interval;
                if (timelength >= frameCount)
                {
                    break;
                }
            }

            var lstSort = LstColorDataPoints.OrderByDescending(c => c.GTV).ToList();
            var nMedianPos = Convert.ToInt32(Math.Ceiling(lstSort.Count / 2.0));
            cdp = lstSort[nMedianPos - 1];
            if (LogProgram != null && PrintDebugLog == true)
            {
                LogProgram.Info(string.Format("use a={0},b={1},c={2},d={3}", cdp.GetRSV(), cdp.GetGSV(), cdp.GetBSV(), cdp.GetSaturation()));
            }
            IsWorking = false;
            //ColorDataGrabed?.Invoke(this, new ColorDataGrabedEventArgs() { ColorPoint = cdp });

            return cdp;
        }

        /// <summary>
        /// 固定间隔时间，循环采集图像
        /// </summary>
        protected void ImageGrabing()
        {
            IsWorking = true;

            Bitmap bmp;
            ColorDataPoint cdp;
            Rectangle rectROI = RectROI;
            int vr = 0, vg = 0, vb = 0;
            int area = rectROI.Width * rectROI.Height;
            if (Titration2Settings.SensorPara.UseRoiMask && Titration2Settings.SensorPara.RoiMaskPoints != null)
            {
                if (LogProgram != null)
                {
                    LogProgram.Debug("UseRoiMaskPoints = True");
                }

                area = Titration2Settings.SensorPara.RoiMaskPoints.Count;
            }

            if (LogProgram != null)
            {
                LogProgram.Debug("area = " + area.ToString());
            }

            Stopwatch sw = new Stopwatch();
            while (!IsStopGrab)
            {
                sw.Restart();
                bmp = WebCam.GrabImage();

                if (Titration2Settings.SensorPara.UseRoiMask && Titration2Settings.SensorPara.RoiMaskPoints != null)
                {
                    ColorAnalysis.GetTotalFromImage(bmp, Titration2Settings.SensorPara.RoiMaskPoints, ref vr, ref vg,
                        ref vb);
                }
                else
                {
                    ColorAnalysis.GetTotalFromImage(bmp, rectROI, ref vr, ref vg, ref vb);
                }

                cdp = new ColorDataPoint { Id = LstColorDataPoints.Count, Area = area, RTV = vr, GTV = vg, BTV = vb };
                LstColorDataPoints.Add(cdp); // 加入队列保存
                //if (ColorDataGrabed != null)
                //{
                //    ColorDataGrabed(this, new ColorDataGrabedEventArgs() { ColorPoint = cdp });
                //} // 发布采样点事件

                if (LogProgram != null && PrintDebugLog == true)
                {
                    LogProgram.Debug(string.Format("a={0}, b={1}, c={2}", cdp.GetRSV(), cdp.GetGSV(), cdp.GetBSV()));
                }

                if (sw.ElapsedMilliseconds >= Interval)
                {
                    sw.Stop();
                }
                else
                {
                    Thread.Sleep(Interval - Convert.ToInt32(sw.ElapsedMilliseconds));
                }
            }

            IsWorking = false;
        }
#endif
        #endregion
    }
}