LGES-2170-ACW_CCW-Welder/AuroraVision/MilPattern/PatternMatching/PatternMatching.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.Collections.Generic;
using System.IO;
using System.Linq;
using System.Drawing;

namespace MilPattern {
    public class PatternMatching : PatternBase, IPatternFinder, IPatternTrain, IPatternMask, IDisposable {
        public string FILE_EXT_PATTERN { get; set; } = ".mpat";
        private PmParamExt _paramExt = null;

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

        public PatternMatching(PatternInfo patternInfo) {
            _patternInfo = patternInfo;
            _logger = new Logger(
                $"PatternMatching_{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 = MilPatternMatching.LoadContext(_patternInfo.MilSystemId, patternFilePath);
            _resultContextId = MilPatternMatching.CreateResultContext(_contextId);
            _paramExt = LoadParamExt();
            ExtractFindRoiFromMpat();

            return E1.OK;
        }

        private void ExtractFindRoiFromMpat() {
            if (!IsParamExtExist()) {
                _logger.I($"Extract Find ROI : {_patternInfo}");
                var findRoiMpat = MilPatternMatching.GetFindRoiFromMpat(_contextId);
                _logger.I($"findRoiMpat : {findRoiMpat}");

                _paramExt.FindROI = findRoiMpat.Clone() as ROI;
                MilPatternMatching.ClearFindRoi(_contextId);
                Save();
            }
        }

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

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

        public int Create() {
            FreeContexts();
            _contextId = MilPatternMatching.CreateContext(_patternInfo.MilSystemId);
            _resultContextId = MilPatternMatching.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.Clone() as ROI;
        }

        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 = MilPatternMatching.GetRunParam(_contextId);
            runParam.PmParamExt = _paramExt.Clone() as PmParamExt;

            return runParam;
        }

        public int SetRunParam(IRunParam runParam) {
            _paramExt = ((PatternMatchingRunParam)runParam).PmParamExt.Clone() as PmParamExt;
            return MilPatternMatching.SetRunParam(_contextId, runParam);
        }

        public PatternResult Find(object image) {
            return Find(image, _paramExt.FindROI.Clone() as ROI);
        }

        public PatternResult Find(object image, ROI findRoi) {
            var patternResult = MilPatternMatching.Find(_contextId, _resultContextId, (MIL_ID)image, findRoi);
            var patternMatchingResultList = patternResult.Results as List<PatternMatchingResult>;

            if (patternMatchingResultList?.Count > 0) {
                var fixtureOrigin = MilPatternMatching.GetFixtureOrigin(_contextId);
                var fixture = new FixtureResult() {
                    Origin = patternMatchingResultList[0].ImagePosition.Clone() as ImagePoint,
                    Offset = (patternMatchingResultList[0].ImagePosition - fixtureOrigin.Origin) as ImagePoint,
                    Rotation = patternMatchingResultList[0].Angle.Clone() as Angle
                };
                patternResult.MoreInfo = fixture;
            }

            return patternResult;
        }

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

        public object GetTool() {
            return _contextId;
        }

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

        private void DrawTrainROI(
            PatternResult patternResult, IMilCameraDisplay milCameraDisplay, bool isFixturePattern) {
            var trainParam = GetTrainParam() as PatternMatchingTrainParam;

            if (patternResult.Status != eFoundStatus.NotFound) {
                foreach (BaseResult baseResult in patternResult.Results) {
                    var result = baseResult as PatternMatchingResult;
                    var offset = result.ImagePosition - trainParam.TrainOrigin.Origin;
                    var transRoiCenter = trainParam.TrainRoi.Center + offset as ImagePoint;
                    var roiCenter = MathUtil.Rotate(transRoiCenter, -result.Angle, result.ImagePosition) as ImagePoint;
                    var foundTrainRoi = new ROI(
                        roiCenter,
                        trainParam.TrainRoi.Width,
                        trainParam.TrainRoi.Height,
                        result.Angle);

                    var color = GraphicColors.GetTrainRoiColor(patternResult.Status, isFixturePattern);
                    milCameraDisplay.AddPatternResultFindRoi(color, foundTrainRoi);
                }
            }
            else {
                var color = GraphicColors.NG;
                milCameraDisplay.AddPatternResultFindRoi(color, trainParam.TrainRoi);
            }
        }

        public Bitmap GetThumbnail() {
            var bitmap = ThumbnailUtil.GetDefaultImage();
            if (!IsTrained()) {
                return bitmap;
            }

            MIL_ID colorModelImage = MIL.M_NULL;

            try {
                colorModelImage = MilPatternMatching.GetColorModelImage(_contextId);
                DrawMaskImage(colorModelImage);

                return MilEnvironment.ConvertToBitmap(colorModelImage);
            }
            catch (Exception e) {
                _logger.FuncE(e.Message);
            }
            finally {
                MilEnvironment.FreeImage(colorModelImage);
            }

            return bitmap;
        }
        #endregion

        #region IPatternTrain
        public bool IsTrained() {
            return MilPatternMatching.HasModel(_contextId);
        }

        public ITrainParam GetTrainParam() {
            return MilPatternMatching.GetTrainParam(_contextId);
        }

        public int Train(ITrainParam trainParam) {
            return MilPatternMatching.Train(_contextId, trainParam);
        }
        #endregion

        #region IPatternMask
        public MIL_ID GetGrayModelImage() {
            return MilPatternMatching.GetGrayModelImage(_contextId);
        }

        public MIL_ID GetColorModelImage() {
            return MilPatternMatching.GetColorModelImage(_contextId);
        }

        public MIL_ID GetMaskImage() {
            return MilPatternMatching.GetMaskImage(_contextId);
        }

        public void DrawMaskImage(MIL_ID overlayId) {
            MilPatternMatching.DrawMaskImage(_contextId, overlayId);
        }

        public int SetMaskImage(MIL_ID maskImage) {
            return MilPatternMatching.SetMaskImage(_contextId, maskImage);
        }

        public int SetTrainOrigin(Cross trainOriginInModel) {
            return MilPatternMatching.SetTrainOrigin(_contextId, trainOriginInModel);
        }
        #endregion

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

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

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

        #region PatternMatching Specific
        internal bool IsParamExtExist() {
            return PmParamExt.Exists(PatternConstants.GetSubPatternDirPath(_patternInfo));
        }

        internal PmParamExt LoadParamExt() {
            return PmParamExt.Load(PatternConstants.GetSubPatternDirPath(_patternInfo));
        }

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

        #region DFA Inspection
        public MIL_ID GetContextId() {
            return _contextId;
        }

        public MIL_ID GetResultContextId() {
            return _resultContextId;
        }

        public Cross GetTrainOrigin() {
            return MilPatternMatching.GetFixtureOrigin(_contextId);
        }
        #endregion

        public int GetFindNumber() {
            var runParam = MilPatternMatching.GetRunParam(_contextId);
            return runParam.FindNumber;
        }
    }
}