Kyungshin-Welder/AuroraVision/VisionSequence/Inspector/InspSeq_PatternDistance.cs

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

namespace VisionSequence.Inspector {
    /// <summary>
    /// 패턴 간의 거리 검사 시퀀스 파라미터
    /// </summary>
    public class InspSeqParams_PatternDistance {
        /// <summary>얼라인 키 정보</summary>
        public AlignInfo AlignInfo { get; set; }
        /// <summary>패턴 검출 결과</summary>
        public Dictionary<eFovId, BaseResult> MeasureResults { get; set; }

        /// <summary>
        /// 생성자
        /// </summary>
        /// <param name="alignInfo">얼라인 키 정보</param>
        /// <param name="measureResults">패턴 검출 결과</param>
        public InspSeqParams_PatternDistance(
            AlignInfo alignInfo,
            Dictionary<eFovId, BaseResult> measureResults) {

            this.AlignInfo = alignInfo;
            this.MeasureResults = measureResults;
        }
    }

    /// <summary>
    /// 서로 다른 FOV에서 찾은 두 패턴 간에 거리 검사 (서브시퀀스로 호출해서 사용)
    /// </summary>
    public class InspSeq_PatternDistance : SubSeqBase {
        private readonly Logger LOG = new Logger(typeof(InspSeq_PatternDistance).Name);
        private Logger _VisionLog = new Logger("InspSeq_PatternDistance", VisionKeys.LogKey);

        private InspSeqParams_PatternDistance _Params;
        private SubSysInfo _SubSysInfo;
        private SubSysRecipe _SubSysRecipe;
        private PatternDistanceParam _PatternDistanceParam;
        private CsvManager _CsvManager = new CsvManager();

        private string _SeqName;

        #region Sequence Id
        private const string SEQ_ID_INIT = "INIT";
        private const string SEQ_ID_CLEAR = "CLEAR";
        private const string SEQ_ID_MEASURE_DISTANCE = "MEASURE_DISTANCE";
        private const string SEQ_ID_UPDATE_UI = "UPDATE_UI";
        private const string SEQ_ID_SAVE_CSV = "SAVE_CSV";
        private const string SEQ_ID_SEQ_COMPLETE = "SEQ_COMPLETE";
        #endregion

        /// <summary>
        /// 생성자
        /// </summary>
        public InspSeq_PatternDistance() {
        }

        private void SetActions(SequenceBuilder sb) {
            sb.AddAction(SEQ_ID_INIT, Init);
            sb.AddAction(SEQ_ID_CLEAR, Clear);
            sb.AddAction(SEQ_ID_MEASURE_DISTANCE, MeasureDistance);
            sb.AddAction(SEQ_ID_UPDATE_UI, UpdateUI);
            sb.AddAction(SEQ_ID_SAVE_CSV, SaveCsv);
            sb.AddAction(SEQ_ID_SEQ_COMPLETE, SeqComplete);
        }

        public override SequenceBuilder Builder(string seqName) {
            _SeqName = seqName;

            SequenceBuilder sb = new SequenceBuilder(1000);
            SetActions(sb);
            sb.OnStopped(OnStopped);
            sb.OnForceError(OnForceError);

            sb.Flows(
                  sb.Init
                > sb[SEQ_ID_INIT]
                > sb[SEQ_ID_CLEAR]
                > sb[SEQ_ID_MEASURE_DISTANCE]
                > sb[SEQ_ID_UPDATE_UI]
                > sb[SEQ_ID_SAVE_CSV]
                > sb[SEQ_ID_SEQ_COMPLETE]
                );
            sb.Flows(
                  sb[SEQ_ID_SEQ_COMPLETE]
                > sb.Final
                );

#if SEQ_DRAW
            sb.Draw($"{GetType().Name}.pdf");
#endif

            return sb;
        }

        private SequenceActionResult Init(
           SequenceContext context,
           string id,
           SequenceActionResult param) {

            if (param.Param != null) {
                _Params = param.Param as InspSeqParams_PatternDistance;
            }
            else {
                MessageBoxUtil.ShowMessageBoxError(
                    string.Format(StrTokens.MSG_E_ParamIsNull));
                return SequenceAction.Error(E1.ARGUMENT);
            }

            _SubSysInfo = _Params.AlignInfo.ToSubSysInfo();
            var alignRecipe = VisionRecipeManager.GetAlignRecipe(_Params.AlignInfo);
            _PatternDistanceParam = alignRecipe.InspParams.PatternDistanceParam;  // Spec, ErrRange

            if (!IsValidMeasureResults()) {
                return null;
            }

            return SequenceAction.Ok();
        }

        private bool IsValidMeasureResults() {
            if (_Params.MeasureResults == null) {
                LOG.E("_Params.MeasureResults is null.");
                return false;
            }
            else if (_Params.MeasureResults.Count < 2) {
                LOG.E($"_Params.MeasureResults.Count is less than 2.");
                return false;
            }

            return true;
        }

        private SequenceActionResult Clear(
            SequenceContext context,
            string id,
            SequenceActionResult param) {

            PatternDistanceResultItemManager.Clear(_SubSysInfo);

            return SequenceAction.Ok();
        }

        private SequenceActionResult MeasureDistance(
             SequenceContext context,
             string id,
             SequenceActionResult param) {

            List<eFovId> fovList = _Params.MeasureResults.Keys.ToList();
            List<eFovIdPair> fovIdPairs = VisionRecipeManager.GetFovIdPairs(fovList);
            var patternDistanceResults = new List<PatternDistanceResult>();

            foreach (eFovIdPair fovIdPair in fovIdPairs) {
                var result = new PatternDistanceResult();

                switch (fovIdPair) {
                    case eFovIdPair.Fov1_2:
                        MeasureDistanceInternal(eFovId.Fov1, eFovId.Fov2, ref result);
                        break;
                    case eFovIdPair.Fov1_3:
                        MeasureDistanceInternal(eFovId.Fov1, eFovId.Fov3, ref result);
                        break;
                    case eFovIdPair.Fov1_4:
                        MeasureDistanceInternal(eFovId.Fov1, eFovId.Fov4, ref result);
                        break;
                    case eFovIdPair.Fov2_3:
                        MeasureDistanceInternal(eFovId.Fov2, eFovId.Fov3, ref result);
                        break;
                    case eFovIdPair.Fov2_4:
                        MeasureDistanceInternal(eFovId.Fov2, eFovId.Fov4, ref result);
                        break;
                    case eFovIdPair.Fov3_4:
                        MeasureDistanceInternal(eFovId.Fov3, eFovId.Fov4, ref result);
                        break;
                }
                patternDistanceResults.Add(result);
            }

            context.PutValue(string.Format(VisionContextKeys.CNTXT_KEY_PATTERN_DISTANCE_RESULTS, _Params.AlignInfo.GetKey()), patternDistanceResults);

            return SequenceAction.Ok();
        }

        private void MeasureDistanceInternal(eFovId startFov, eFovId endFov, ref PatternDistanceResult result) {
            if (IsValidFovIds(startFov, endFov)) {
                double distance = MathUtil.CalculateDistance(
                    _Params.MeasureResults[startFov].MaterialPosition, _Params.MeasureResults[endFov].MaterialPosition);
                double spec = GetSpec(startFov, endFov);
                InspStatus status = GetStatus(startFov, endFov, spec, distance);

                result.StartFov = startFov;
                result.EndFov = endFov;
                result.Distance = distance;
                result.ErrRange = distance - spec;
                result.InspStatus = status;
            }
            else {
                LOG.E($"_Params.MeasureResults does not contain all fov keys. [{startFov}, {endFov}]");
            }
        }

        private bool IsValidFovIds(eFovId startFov, eFovId endFov) {
            if (_Params.MeasureResults.ContainsKey(startFov) && _Params.MeasureResults.ContainsKey(endFov)) {
                return true;
            }
            else {
                return false;
            }
        }

        private double GetSpec(eFovId startFov, eFovId endFov) {
            return GetRefDistance(startFov, endFov);
        }

        private InspStatus GetStatus(eFovId startFov, eFovId endFov, double spec, double measuredDistance) {
            double measureDiff = measuredDistance - spec;

            if (Math.Abs(measureDiff) <= Math.Abs(_PatternDistanceParam.ErrRange)) {
                return InspStatus.OK;
            }
            else {
                return InspStatus.NG;
            }
        }

        // FOV RefPoint(기준점) 간에 거리를 Spec으로 활용한다. RefPointOffset이 0이면, Spec은 FovCenter 간에 거리가 된다.
        private double GetRefDistance(eFovId startFov, eFovId endFov) {
            var startFovInfo = VisionRecipeManager.GetFovInfo(_SubSysInfo, startFov);
            var endFovInfo = VisionRecipeManager.GetFovInfo(_SubSysInfo, endFov);
            var startRefPoint = VisionRecipeManager.GetRefPoint(startFovInfo);
            var endRefPoint = VisionRecipeManager.GetRefPoint(endFovInfo);

            return MathUtil.CalculateDistance(startRefPoint, endRefPoint);
        }

        private SequenceActionResult UpdateUI(
            SequenceContext context,
            string id,
            SequenceActionResult param) {

            var patternDistanceResults = context.GetValue<List<PatternDistanceResult>>(string.Format(VisionContextKeys.CNTXT_KEY_PATTERN_DISTANCE_RESULTS, _Params.AlignInfo.GetKey()));
            var subSysInfo = _Params.AlignInfo.ToSubSysInfo();

            VisionEnv.AuroraEnv.EventPublisher.Publish(
                new EventMessage(subSysInfo.GetKey(), VisionEventId.UPDATE_PATTERN_DISTANCE_RESULTS, patternDistanceResults));

            PrintVisionLog(patternDistanceResults);

            return SequenceAction.Ok();
        }

        private SequenceActionResult SaveCsv(
            SequenceContext context,
            string id,
            SequenceActionResult param) {

            if (EquipAdapter.Instance.EquipMode.IsNotDryrunAndTransferMode()) {
                var patternDistanceResults = context.GetValue<List<PatternDistanceResult>>(string.Format(VisionContextKeys.CNTXT_KEY_PATTERN_DISTANCE_RESULTS, _Params.AlignInfo.GetKey()));

                foreach (PatternDistanceResult result in patternDistanceResults) {
                    _CsvManager.SaveCsvSync(
                        _SubSysInfo, PatternDistanceResultItemManager.GetPatternDistanceResultItem(_SubSysInfo, result), eSaveDataType.PatternDistance);
                }
            }

            return SequenceAction.Ok();
        }

        private SequenceActionResult SeqComplete(
             SequenceContext context,
             string id,
             SequenceActionResult param) {

            var patternDistanceResults = context.GetValue<List<PatternDistanceResult>>(string.Format(VisionContextKeys.CNTXT_KEY_PATTERN_DISTANCE_RESULTS, _Params.AlignInfo.GetKey()));

            return SequenceAction.Ok(patternDistanceResults);
        }

        private void PrintVisionLog(List<PatternDistanceResult> patternDistanceResults) {
            foreach (PatternDistanceResult result in patternDistanceResults) {
                _VisionLog.I($"StartFov : {result.StartFov}");
                _VisionLog.I($"EndFov : {result.EndFov}");
                _VisionLog.I($"Distance : {result.Distance:F3}");
                _VisionLog.I($"ErrRange : {result.ErrRange:F3}");
                _VisionLog.I($"Status : {result.InspStatus}");
            }
        }

        private void OnStopped(SequenceContext context) {
            LOG.I($"{context.SequenceId} - STOP Handler");
            HandleAbnormalFinish(context);
        }

        private void OnForceError(SequenceContext context, string id) {
            LOG.E($"{context.SequenceId} - FORCE ERROR Handler");
            HandleAbnormalFinish(context);
        }

        void HandleAbnormalFinish(SequenceContext context) {
        }
    }
}