/*
  * Copyright (c) 2025 LG Electronics Inc.
   * SPDX-License-Identifier: LicenseRef-LGE-Proprietary
   */
using Aurora.Api;
using VisionCommon;
using System.Collections.Generic;

namespace VisionAligner {
    public class AlignerImpl {
        private static Logger _Logger = new Logger("AlignerImpl");

        #region N-Point Align
        /// <summary>
        /// Source(이동)를 Target(고정)에 맞추는 얼라인 XYT
        /// <para>
        /// Head 얼라인 : Source(RefPoint), Target(MeaPoint)
        /// </para>
        /// <para>
        /// Stage 얼라인 : Source(MeaPoint), Target(RefPoint)
        /// </para>
        /// </summary>
        /// <param name="srcPoints">이동 포인트</param>
        /// <param name="tgtPoints">고정 포인트</param>
        /// <param name="flipY">Y축 반전</param>
        /// <returns>보정량 XYT</returns>
        public static AlignDelta CalculateT(
            List<DoublePoint> srcPoints,
            List<DoublePoint> tgtPoints,
            int flipY) {
            var alignDeltaT = NativeAligner.AlignT(srcPoints, tgtPoints);
            alignDeltaT.T = CoordSystem.DenormalizeAngleDirection(alignDeltaT.T, flipY);

            return alignDeltaT;
        }

        /// <summary>
        /// ICP 알고리즘을 이용하여 Source(이동)를 Target(고정)에 맞추는 얼라인 XYT
        /// <para>
        /// Head 얼라인 : Source(RefPoint), Target(MeaPoint)
        /// </para>
        /// <para>
        /// Stage 얼라인 : Source(MeaPoint), Target(RefPoint)
        /// </para>
        /// </summary>
        /// <param name="srcPoints">이동 포인트</param>
        /// <param name="tgtPoints">고정 포인트</param>
        /// <param name="flipY">Y축 반전</param>
        /// <returns>보정량 XYT</returns>
        public static AlignDelta CalculateT_ICP(
            List<DoublePoint> srcPoints,
            List<DoublePoint> tgtPoints,
            int flipY) {
            var alignDeltaT = NativeAligner.AlignT_ICP(srcPoints, tgtPoints);
            alignDeltaT.T = CoordSystem.DenormalizeAngleDirection(alignDeltaT.T, flipY);

            return alignDeltaT;
        }

        /// <summary>
        /// Source(이동)를 Target(고정)에 맞추는 얼라인 XY
        /// </summary>
        /// <param name="srcPoints">이동 포인트 리스트</param>
        /// <param name="tgtPoints">고정 포인트 리스트</param>
        /// <returns>보정량 XY</returns>
        public static AlignDelta CalculateXY(
            List<DoublePoint> srcPoints,
            List<DoublePoint> tgtPoints) {
            var alignDeltaXY = NativeAligner.AlignXY(srcPoints, tgtPoints);

            return new AlignDelta(
                    alignDeltaXY.Translation,
                    Angle.CreateWithDegree(0));
        }
        #endregion

        #region 1-Point Align
        /// <summary>
        /// Source(이동)를 Target(고정)에 맞추는 얼라인 XYT
        /// <para>
        /// Head 얼라인 : Source(RefPoint), Target(MeaPoint)
        /// </para>
        /// <para>
        /// Stage 얼라인 : Source(MeaPoint), Target(RefPoint)
        /// </para>
        /// </summary>
        /// <param name="srcPoint">이동 포인트</param>
        /// <param name="tgtPoint">고정 포인트</param>
        /// <param name="theta">패턴 틀어진 각도 보정량</param>
        /// <param name="thetaOrigin">회전 원점</param>
        /// <param name="flipY">Y축 반전</param>
        /// <returns>보정량 XYT</returns>
        public static AlignDelta CalculateXYT(
            DoublePoint srcPoint,
            DoublePoint tgtPoint,
            Angle theta,
            DoublePoint thetaOrigin,
            int flipY) {

            var rotatedSrcPoints = MathUtil.Rotate(
                srcPoint,
                CoordSystem.NormalizeAngleDirection(theta, flipY),
                thetaOrigin);
            AlignDelta alignDeltaXY = CalculateXY(rotatedSrcPoints, tgtPoint);

            return new AlignDelta(alignDeltaXY.Translation, theta);
        }

        /// <summary>
        /// Source(이동)를 Target(고정)에 맞추는 얼라인 XY
        /// </summary>
        /// <param name="srcPoint">이동 포인트</param>
        /// <param name="tgtPoint">고정 포인트</param>
        /// <returns>보정량 XY</returns>
        public static AlignDelta CalculateXY(
            DoublePoint srcPoint,
            DoublePoint tgtPoint) {
            var alignDeltaXY = NativeAligner.AlignXY(srcPoint, tgtPoint);

            return new AlignDelta(
                    alignDeltaXY.Translation,
                    Angle.CreateWithDegree(0));
        }
        #endregion
    }
}