LGES-2170-ACW_CCW-Welder/AuroraVision/MilCamera/MilCameraAgent.cs

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

namespace MilCamera {
    /// <summary>
    /// MIL 카메라 에이전트
    /// </summary>
    public class MilCameraAgent : CameraAgentBase {
        private Logger _Logger;

        /// <summary>
        /// 생성자
        /// </summary>
        /// <param name="fovInfo">FOV 정보</param>
        public MilCameraAgent(FovInfo fovInfo) : base(fovInfo) {
            _Logger = new Logger(string.Format("CamAgent[{0}]", fovInfo.FovName));
        }

        /// <summary>
        /// 이미지 사이즈 가져오기
        /// </summary>
        /// <returns>이미지 사이즈</returns>
        public override ImageSize GetImageSize() {
            return _CamDev.GetImageSize();
        }

        /// <summary>
        /// 이미지 버퍼 복제
        /// </summary>
        /// <returns>복제 버퍼</returns>
        public override object CloneImageBuffer() {
            if (_CamDev != null && _CamDev.IsActivated) {
                return _CamDev.CloneImageBuffer();
            }
            else {
                return AllocDefaultImageBuffer();
            }
        }

        private MIL_ID AllocDefaultImageBuffer() {
            if (!MilEnvironment.Instance.HasValidLicense()) {
                return MIL.M_NULL;
            }
            if (_CamConfig == null) {
                _Logger.FuncE("_CamConfig is null.");
                return MIL.M_NULL;
            }

            MIL_ID image = MIL.M_NULL;
            MIL.MbufAlloc2d(
                    MilEnvironment.Instance.GetSystem(_CamConfig.CamConnConfig.BoardType, _CamConfig.CamConnConfig.BoardSlotPos),
                    _CamConfig.ImageSize.Width,
                    _CamConfig.ImageSize.Height,
                    8 + MIL.M_UNSIGNED,
                    MIL.M_IMAGE + MIL.M_GRAB + MIL.M_PROC + MIL.M_DISP,
                    ref image);
            MIL.MbufClear(image, 0);

            return image;
        }

        /// <summary>
        /// 버퍼로부터 이미지를 꺼내온다.
        /// </summary>
        /// <param name="cameraDisplay">디스플레이</param>
        /// <param name="image">이미지</param>
        /// <returns>성공 유무</returns>
        public override int GetGrabImageFromBuffer(ICameraDisplay cameraDisplay, ref object image) {
            var milCameraDisplay = cameraDisplay as IMilCameraDisplay;
            FitAndClearImage(milCameraDisplay);

            if (!_CamDev.IsActivated) {
                _Logger.FuncE("Camera Not Activated.");
                return E1.GENERIC;
            }
            if (image == null) {
                _Logger.FuncE("image buffer is null.");
                return E1.GENERIC;
            }

            return _CamDev.GetGrabImageFromBuffer(cameraDisplay, ref image);
        }

        /// <summary>
        /// 동기식 그랩
        /// </summary>
        /// <param name="cameraDisplay">디스플레이</param>
        /// <param name="image">그랩 이미지</param>
        /// <returns>성공 유무</returns>
        public override int GrabSync(ICameraDisplay cameraDisplay, ref object image) {
            if (_CamDev == null || _CamConfig == null) {
                _Logger.FuncE("_CamDev or _CamConfig is null.");
                return E1.GENERIC;
            }

            var milCameraDisplay = cameraDisplay as IMilCameraDisplay;
            FitAndClearImage(milCameraDisplay);

            if (!_CamDev.IsActivated) {
                _Logger.FuncE("Camera Not Activated.");
                return E1.GENERIC;
            }

            // Jin : Scout Sequence에서 GrabSync 호출 시 MilCameraAgent로 들어와서 image가 null이면 return하기 때문에 아래 부분 주석 처리
            // AuroraVision 버전 업데이트할때 하기 부분은 용접기에 맞게 주석처리 해줘야 함
            //if (image == null) {
            //    _Logger.FuncE("image buffer is null.");
            //    return E1.GENERIC;
            //}

            return _CamDev.GrabSync(milCameraDisplay, ref image);
        }

        private void FitAndClearImage(IMilCameraDisplay milCameraDisplay) {
            if (milCameraDisplay == null) {
                return;
            }

            Application.Current.Dispatcher.BeginInvoke(
                new System.Action(() => {
                    milCameraDisplay.FitImage(_CamDev.GetImageSize());
                    milCameraDisplay.ClearMeasureGraphics();
                }));
        }

        //public MIL_ID GetGrabImageFromQueue(eGrabTrigSrcType grabTrigSrcType) {
        //    return _MilCamera.GetGrabImageFromQueue(grabTrigSrcType);
        //}

        /// <summary>
        /// 라이브 시작
        /// </summary>
        /// <param name="cameraDisplay">디스플레이</param>
        public override void StartLive(ICameraDisplay cameraDisplay) {
            if (_CamDev == null) {
                _Logger.FuncE("_CamDev is null.");
                return;
            }
            if (!_CamDev.IsActivated) {
                _Logger.FuncE("Camera Not Activated.");
                return;
            }

            var milCameraDisplay = cameraDisplay as IMilCameraDisplay;

            // 현재 Fov를 사용하는 디스플레이의 라이브 버튼만 켜기
            CamLiveBtnManager.SetVisibilityAsLiveStart(milCameraDisplay.GetDisplayType(), _FovInfo);

            FitAndClearImage(milCameraDisplay);

            _Logger.I("Start Live.");
            _CamDev.StartLive(milCameraDisplay);
        }

        /// <summary>
        /// 라이브 종료
        /// </summary>
        public override void StopLive() {
            if (_CamDev == null) {
                _Logger.FuncE("_CamDev is null.");
                return;
            }

            // 같은 HwCam을 사용하는 디스플레이의 라이브 버튼만 켜기
            CamLiveBtnManager.SetVisibilityAsLiveStop(_FovInfo);

            _Logger.I("Stop Live.");
            _CamDev?.StopLive();
        }

        /// <summary>
        /// 라이브 상태 체크
        /// </summary>
        /// <returns>라이브 상태</returns>
        public override bool IsLiveRunning() {
            return _CamDev.IsLiveOn();
        }

        /// <summary>
        /// 카메라 노출시간 읽기
        /// </summary>
        /// <returns>노출시간</returns>
        public override double GetExposure() {
            return _CamDev.GetExposure();
        }

        /// <summary>
        /// 카메라 노출시간 쓰기
        /// </summary>
        /// <param name="exposureTime_ms">노출시간[ms]</param>
        /// <returns>성공 유무</returns>
        public override int SetExposure(double exposureTime_ms) {
            return _CamDev.SetExposure(exposureTime_ms);
        }

        /// <summary>
        /// 이미지 반전 & 회전 Config 갱신
        /// </summary>
        /// <param name="flipAndRotation">이미지 반전 & 회전 Config</param>
        /// <returns>성공 유무</returns>
        public override int ResetFlipAndRotation(FlipAndRotation flipAndRotation) {
            return _CamDev.ResetFlipAndRotation(flipAndRotation);
        }

        #region Activate & Deactivate
        public override int Activate() {
            return _CamDev.Activate();
        }

        public override int Deactivate() {
            return _CamDev.Deactivate();
        }
        #endregion

        #region For Flying
        /// <summary>
        /// 플라잉 시작
        /// </summary>
        /// <param name="fovInfo">FOV 정보</param>
        /// <param name="param">추가 파라미터</param>
        /// <returns>성공 유무</returns>
        public override int StartFlying(FovInfo fovInfo, object param = null) {
            return _CamDev.StartFlying(fovInfo);
        }

        /// <summary>
        /// 플라잉 종료
        /// </summary>
        /// <param name="param">추가 파라미터</param>
        /// <returns>성공 유무</returns>
        public override int StopFlying(object param = null) {
            return _CamDev.StopFlying();
        }

        /// <summary>
        /// 플라잉 상태 체크
        /// </summary>
        /// <returns>성공 유무</returns>
        public override bool IsFlyingRunning() {
            return _CamDev.IsFlyingRunning();
        }

        /// <summary>
        /// 현재 플라잉 인덱스 가져오기
        /// </summary>
        /// <returns>현재 플라잉 인덱스</returns>
        public override int GetCurrentFlyingIdx() {
            return _CamDev.GetCurrentFlyingIdx();
        }

        /// <summary>
        /// 플라잉 이미지 가져오기
        /// </summary>
        /// <param name="flyingIdx">플라잉 인덱스</param>
        /// <returns>플라잉 이미지</returns>
        public override object GetFlyingImage(int flyingIdx) {
            return _CamDev.GetFlyingImage(flyingIdx);
        }

        /// <summary>
        /// 플라잉 이미지 전체 가져오기
        /// </summary>
        /// <returns>플라잉 이미지 전체</returns>
        public override object[] GetFlyingImages() {
            return _CamDev.GetFlyingImages();
        }

        /// <summary>
        /// 플라잉 합성(원장) 이미지 가져오기. *원장 : Child 이미지를 조합하여 한 장으로 만듬
        /// </summary>
        /// <returns>플아잉 합성(원장) 이미지</returns>
        public override object GetParentImage() {
            return _CamDev.GetParentImage();
        }
        #endregion

        #region For Child Image
        /// <summary>
        /// Child 이미지들로 Parent(원장) 이미지가 정상적으로 만들어지는지 검증
        /// </summary>
        /// <param name="cameraDisplay">디스플레이</param>
        /// <param name="image">원장(부모) 이미지</param>
        /// <returns>성공 유무</returns>
        public override int VerifyChildImage(ICameraDisplay cameraDisplay, ref object image) {
            return _CamDev.VerifyChildImage(cameraDisplay, ref image);
        }
        #endregion
    }
}