Kyungshin-Welder/AuroraVision/MilPattern/Code/Code.cs

/*
  * Copyright (c) 2025 LG Electronics Inc.
   * SPDX-License-Identifier: LicenseRef-LGE-Proprietary
   */
using Aurora.Api;
using MilCommon;
using VisionCommon;
using Hermes;
using Matrox.MatroxImagingLibrary;
using System;
using System.IO;
using System.Drawing;
using VisionCommonUI;

namespace MilPattern {
    public class Code : PatternBase, IPatternFinder, IDisposable {
        public string FILE_EXT_PATTERN { get; set; } = ".mco";
        private CodeParamExt _paramExt = null;

        private Logger _logger;
        private PatternInfo _patternInfo;
        private MIL_ID _contextId = MIL.M_NULL;
        private MIL_ID _resultContextId = MIL.M_NULL;

        public Code(PatternInfo patternInfo) {
            _patternInfo = patternInfo;
            _logger = new Logger(
                $"Code_{patternInfo.GetPatternIndex()}");
            InitContext();
        }

        private void InitContext() {
            if (E1.OK != Load()) {
                Create();
            }
        }

        #region IPatternFinder
        public string GetPatternFilePath(string patternName = PatternConstants.FILE_NAME_PATTERN) {
            return Path.Combine(new string[] {
                PatternConstants.GetSubPatternDirPath(_patternInfo),
                patternName + FILE_EXT_PATTERN
            });
        }

        public int Load() {
            var patternFilePath = GetPatternFilePath();

            if (!File.Exists(patternFilePath)) {
                _logger.I($"Pattern File does NOT exist : {patternFilePath}");
                return E2.NOT_FOUND;
            }

            FreeContexts();
            _contextId = MilCodeRead.LoadContext(_patternInfo.MilSystemId, patternFilePath);
            _resultContextId = MilCodeRead.CreateResultContext(_contextId);
            _paramExt = LoadParamExt();

            return E1.OK;
        }

        public int Save() {
            var patternFilePath = GetPatternFilePath();
            var patternDirPath = Path.GetDirectoryName(patternFilePath);
            if (!Directory.Exists(patternDirPath)) {
                Directory.CreateDirectory(patternDirPath);
            }

            SaveParamExt(_paramExt);
            return MilCodeRead.SaveContext(_contextId, patternFilePath);
        }

        public int Create() {
            FreeContexts();
            _contextId = MilCodeRead.CreateContext(_patternInfo.MilSystemId);
            _resultContextId = MilCodeRead.CreateResultContext(_contextId);
            _paramExt = LoadParamExt();

            return E1.OK;
        }

        public int Remove() {
            FreeContexts();

            var patternFilePath = GetPatternFilePath();
            var patternDirPath = Path.GetDirectoryName(patternFilePath);
            if (Directory.Exists(patternDirPath)) {
                Directory.Delete(patternDirPath, recursive: true);
            }

            return E1.OK;
        }

        public ROI GetFindROI() {
            return _paramExt.FindROI;
        }

        public int SetFindROI(ROI findRoi) {
            if (ROI.IsNullOrEmpty(findRoi)) {
                return E1.GENERIC;
            }

            _paramExt.FindROI = findRoi.Clone() as ROI;

            return E1.OK;
        }

        public IRunParam GetRunParam() {
            var runParam = MilCodeRead.GetRunParam(_contextId);
            runParam.CodeParamExt = _paramExt.Clone() as CodeParamExt;

            return runParam;
        }

        public int SetRunParam(IRunParam runParam) {
            FreeContexts();
            Create();

            _paramExt = ((CodeRunParam)runParam).CodeParamExt.Clone() as CodeParamExt;
            return MilCodeRead.SetRunParam(_contextId, runParam);
        }

        public PatternResult Find(object image) {
            return Find((MIL_ID)image, _paramExt.FindROI);
        }

        public PatternResult Find(object image, ROI findRoi) {
            MIL_ID cropImage = MIL.M_NULL;
            var patternResult = new PatternResult() { Status = eFoundStatus.NotFound };

            try {
                if (!ROI.IsNullOrEmpty(findRoi)) {
                    cropImage = MilEnvironment.CropImage((MIL_ID)image, findRoi);
                    patternResult = MilCodeRead.Find(_contextId, _resultContextId, cropImage, _paramExt);

                    if (patternResult.Status != eFoundStatus.NotFound) {
                        var imageCenter = MilEnvironment.GetImageCenter((MIL_ID)image);

                        foreach (CodeResult result in patternResult.Results) {
                            result.ImagePosition = result.ImagePosition + findRoi.LeftTop as ImagePoint;
                            result.Offset = result.ImagePosition - imageCenter as ImagePoint;
                        }
                    }
                }
            }
            catch (Exception e) {
                _logger.E(e.Message);
            }
            finally {
                MilEnvironment.FreeImage(cropImage);
            }

            return patternResult;
        }

        public PatternResult GetNotFoundPatternResult() {
            return MilCodeRead.GetNotFoundPatternResult();
        }

        public object GetTool() {
            return _contextId;
        }

        public void Draw(
            PatternResult patternResult, ICameraDisplay cameraDisplay, bool isFixturePattern = false) {
            MilCodeRead.Draw(patternResult, cameraDisplay as IMilCameraDisplay);
        }

        public Bitmap GetThumbnail() {
            return ThumbnailImage.Code();
        }
        #endregion

        #region IDisposible
        public void Dispose() {
            FreeContexts();
        }

        private void FreeContexts() {
            MilCodeRead.FreeContext(_contextId);
            MilCodeRead.FreeContext(_resultContextId);

            _contextId = MIL.M_NULL;
            _resultContextId = MIL.M_NULL;
        }
        #endregion

        #region Code Specific
        internal CodeParamExt LoadParamExt() {
            return CodeParamExt.Load(PatternConstants.GetSubPatternDirPath(_patternInfo));
        }

        internal int SaveParamExt(CodeParamExt codeParamExt) {
            return CodeParamExt.Save(
                PatternConstants.GetSubPatternDirPath(_patternInfo),
                codeParamExt);
        }
        #endregion
    }
}