LGES-2170-ACW_CCW-Welder/AuroraVision/CogUI/Pattern/ForceOk/ForceOkView.xaml.cs

/*
  * Copyright (c) 2025 LG Electronics Inc.
   * SPDX-License-Identifier: LicenseRef-LGE-Proprietary
   */
using Aurora.Api;
using VisionCommon;
using Hermes;
using Cognex.VisionPro;
using System;
using System.Windows;
using System.Windows.Controls;
using System.ComponentModel;
using System.Runtime.CompilerServices;
using CogCommon;
using Cognex.VisionPro.Display;

namespace CogUI {
    /// <summary>
    /// Interaction logic for ForceOkView.xaml
    /// </summary>
    public partial class ForceOkView : UserControl, INotifyPropertyChanged, IDisposable {
        protected Window _PatternSettingWindow = null;

        public event PropertyChangedEventHandler PropertyChanged;
        protected bool SetProperty<S>(
            ref S storage,
            S value,
            [CallerMemberName] string propertyName = null) {
            if (Equals(storage, value))
                return false;
            storage = value;
            OnPropertyChanged(propertyName);
            return true;
        }

        protected void OnPropertyChanged([CallerMemberName] string propertyName = null)
            => PropertyChanged?.Invoke(
                this,
                new PropertyChangedEventArgs(propertyName));

        public Window ParentWindow { get; set; }
        public PatternInfo PatternInfo { get; set; }

        private bool _isForceOkEnabled = true;
        public bool IsForceOkEnabled { get => _isForceOkEnabled; set => SetProperty(ref _isForceOkEnabled, value); }

        private ImagePoint _forceOkPoint = new ImagePoint();
        public ImagePoint ForceOkPoint { get => _forceOkPoint; set => SetProperty(ref _forceOkPoint, value); }

        public PatternResult NewFindResult { get; set; }

        private bool _isApplyButtonEnabled = false;
        public bool IsApplyButtonEnabled { get => _isApplyButtonEnabled; set => SetProperty(ref _isApplyButtonEnabled, value); }

        public bool IsApply { get; set; } = false;

        private Logger _logger = new Logger("ForceOkView");
        private FovInfo _fovInfo;
        private PatternAgentBase _patternAgent;
        private CameraAgentBase _CameraAgent;
        private CameraView _cameraView;
        private CameraDisplay _cameraDisplay;
        private CogDisplay _cogDisplay;
        private ICogImage _findImage = null;
        private CogColorConstants COLOR_ORANGE = CogColorConstants.Orange;
        private int _crossLength = 200;
        private const double ZOOM_STEP = 0.1;

        public ForceOkView(FovInfo fovInfo, PatternInfo patternInfo, object findImage) {
            InitializeComponent();

            _fovInfo = fovInfo;
            PatternInfo = patternInfo;

            SetForceOkEnabled();
            SetCameraView();
            SetDisplay();
            SetCameraAgent();
            SetPatternAgent();
            LoadFindlImageToDisplay((ICogImage)findImage);

            if (_isForceOkEnabled) {
                LoadTrainOrigin();
                IsApplyButtonEnabled = true;
            }

            DataContext = this;
        }

        private void SetForceOkEnabled() {
            _isForceOkEnabled = VisionRecipeManager.IsForceOkEnaled(_fovInfo.ToSubSysInfo(), eAlignId.Align1);
        }

        private void SetCameraView() {
            _cameraView = new CameraView(_fovInfo, eDisplayType.ForceOk);
            gridCameraView.Children.Add(_cameraView);
            _cameraDisplay = _cameraView.GetDisplay() as CameraDisplay;
        }

        private void SetDisplay() {
            _cogDisplay = _cameraDisplay.GetDisplay();
        }

        public ICameraDisplay GetDisplay() {
            return _cameraDisplay;
        }

        private void SetCameraAgent() {
            _CameraAgent = CameraAgentManager.GetCameraAgent(_fovInfo);
        }

        private void SetPatternAgent() {
            _patternAgent = PatternAgentManager.GetAgent(_fovInfo);
        }

        public void Dispose() {
            _PatternSettingWindow?.Close();
            CogEnvironment.FreeImage(_findImage);
            _cameraView.Dispose();
        }

        private void LoadFindlImageToDisplay(ICogImage findImage) {
            _findImage = findImage;
            _cameraDisplay.SetImage(findImage);
        }

        private void LoadTrainOrigin() {
            if (_isForceOkEnabled && _patternAgent.IsTrainPattern(PatternInfo)) {
                var trainParam = _patternAgent.GetTrainParam(PatternInfo) as ImageTrainParam;
                _crossLength = (int)(trainParam.TrainRoi.Width * 0.5);
                ForceOkPoint = trainParam.TrainOrigin.Origin.Clone() as ImagePoint;
                AddCross(trainParam);
            }
            else {
                ForceOkPoint = new ImagePoint(0, 0);
            }
        }

        private void ZoomMinus_Button_Click(object sender, RoutedEventArgs e) {
            RelativeZoomImage(ZOOM_STEP * (-1));
        }

        private void FitImage_Button_Click(object sender, RoutedEventArgs e) {
            _cogDisplay.Fit(true);
        }

        private void ZoomPlus_Button_Click(object sender, RoutedEventArgs e) {
            RelativeZoomImage(ZOOM_STEP);
        }

        public int RelativeZoomImage(double zoom) {
            try {
                double curZoom = _cogDisplay.Zoom;
                return AbsZoomImage(curZoom + zoom);
            }
            catch (Exception e) {
                _logger.FuncE(e.Message);
            }

            return E1.GENERIC;
        }

        public int AbsZoomImage(double zoom) {
            try {
                if (zoom > 0) {
                    _cogDisplay.Zoom = zoom;
                }
                return E1.OK;
            }
            catch (Exception e) {
                _logger.FuncE(e.Message);
            }

            return E1.GENERIC;
        }

        public void Clear() {
            _cameraDisplay.ClearMeasureGraphics();
            _PatternSettingWindow = null;
        }

        private void Edit_Button_Click(object sender, RoutedEventArgs e) {
            _cameraDisplay.ClearAllGraphics();

            var param = new Tuple<PatternAgentBase, PatternInfo, ICameraDisplay, FovInfo, Window, ForceOkView>(
                _patternAgent, PatternInfo, _cameraDisplay, _fovInfo, _PatternSettingWindow, this);
            VisionEnv.AuroraEnv.EventPublisher.Publish(
                new EventMessage(string.Empty, VisionEventId.SHOW_PATTERN_SETTING_WINDOW_FORCE_OK, param));
        }

        private void Find_Button_Click(object sender, RoutedEventArgs e) {
            var patternResult = _patternAgent.Find(PatternInfo, _cameraDisplay.GetImage(), _cameraDisplay);
            NewFindResult = patternResult;

            if (patternResult.Status == eFoundStatus.FoundOK) {
                if (patternResult.Results != null) {
                    foreach (var result in patternResult.Results) {
                        ForceOkPoint = result.ImagePosition;
                        break;
                    }
                }
                IsApplyButtonEnabled = true;
            }
            else {
                if (_isForceOkEnabled) {
                    Move(new ImagePoint(0, 0));
                }
                else {
                    IsApplyButtonEnabled = false;
                }
            }
            _cameraDisplay.ClearMeasureGraphics();
            _cameraDisplay.ClearFindGraphics();
            _patternAgent.Draw(PatternInfo, patternResult, _cameraDisplay);
        }

        private void Apply_Button_Click(object sender, RoutedEventArgs e) {
            IsApply = true;
            ParentWindow?.Close();
        }

        private void Cancel_Button_Click(object sender, RoutedEventArgs e) {
            IsApply = false;
            ParentWindow?.Close();
        }

        private void Move_Left_Up_Button_Click(object sender, RoutedEventArgs e) {
            Move(new ImagePoint(
                GetMoveStep() * (-1),
                GetMoveStep() * (-1)));
        }

        private void Move_Right_Up_Button_Click(object sender, RoutedEventArgs e) {
            Move(new ImagePoint(
                GetMoveStep(),
                GetMoveStep() * (-1)));
        }

        private void Move_Up_Button_Click(object sender, RoutedEventArgs e) {
            Move(new ImagePoint(
                0,
                GetMoveStep() * (-1)));
        }

        private void Move_Left_Button_Click(object sender, RoutedEventArgs e) {
            Move(new ImagePoint(
                GetMoveStep() * (-1),
                0));
        }

        private void Move_Right_Button_Click(object sender, RoutedEventArgs e) {
            Move(new ImagePoint(
                GetMoveStep(),
                0));
        }

        private void Move_Left_Down_Button_Click(object sender, RoutedEventArgs e) {
            Move(new ImagePoint(
                GetMoveStep() * (-1),
                GetMoveStep()));
        }

        private void Move_Down_Button_Click(object sender, RoutedEventArgs e) {
            Move(new ImagePoint(0, GetMoveStep()));
        }

        private void Move_Right_Down_Button_Click(object sender, RoutedEventArgs e) {
            Move(new ImagePoint(
                GetMoveStep(),
                GetMoveStep()));
        }

        private double GetMoveStep() {
            return Convert.ToDouble(trainOriginMoveStep.Value);
        }

        private void Move(ImagePoint moveOffset) {
            ForceOkPoint = (ForceOkPoint + moveOffset) as ImagePoint;
            DisplayDrawer.RemoveInteractiveGraphic(_cogDisplay, CogConstants.KEY_CROSS);
            AddCross();
        }

        private void Center_Button_Click(object sender, RoutedEventArgs e) {
            ForceOkPoint = CogEnvironment.GetImageCenter(_findImage);
            DisplayDrawer.RemoveInteractiveGraphic(_cogDisplay, CogConstants.KEY_CROSS);
            AddCross();
        }

        private void AddCross(ImageTrainParam trainParam = null) {
            if (trainParam != null) {
                DisplayDrawer.AddCross(
                    _cogDisplay, COLOR_ORANGE,
                    new Cross(ForceOkPoint, trainParam.TrainRoi.Angle, _crossLength),
                    CogConstants.KEY_CROSS);
            }
            else {
                DisplayDrawer.AddCross(
                    _cogDisplay, COLOR_ORANGE,
                    new Cross(ForceOkPoint, _crossLength),
                    CogConstants.KEY_CROSS);
            }
        }
    }
}