LGES-2170-ACW_CCW-Welder/AuroraVision/CogPattern/ImageModelFinder/ImageModelFinder.cs

/*
  * Copyright (c) 2025 LG Electronics Inc.
   * SPDX-License-Identifier: LicenseRef-LGE-Proprietary
   */
using Aurora.Api;
using CogCommon;
using VisionCommon;
using Hermes;
using Cognex.VisionPro;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using CogPattern;
using Cognex.VisionPro.PMAlign;
using Aurora.Api.DataType;
using Cognex.VisionPro.Display;
using System.Drawing;

namespace CogPattern {
    public class ImageModelFinder : PatternBase, IPatternFinder, IPatternTrain, IPatternMask, IDisposable {
        public string FILE_EXT_PATTERN { get; set; } = "_PatMax.vpp";

        private Logger _logger;
        private PatternInfo _patternInfo;
        private CogPMAlignTool _CogPMAlignTool;

        public ImageModelFinder(PatternInfo patternInfo) {
            _patternInfo = patternInfo;
            _logger = new Logger(
                $"ImageModelFinder_{patternInfo.GetPatternIndex()}");
            Init();
        }

        private void Init() {
            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;
            }

            _CogPMAlignTool = MmfCommon.LoadTool(patternFilePath);

            return E1.OK;
        }

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

            return MmfCommon.SaveTool(_CogPMAlignTool, patternFilePath);
        }

        public int Create() {
            _CogPMAlignTool = MmfCommon.CreateTool();

            return E1.OK;
        }

        public int Remove() {
            FreeTool();

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

            return E1.OK;
        }

        public ROI GetFindROI() {
            return MmfCommon.GetFindROI(_CogPMAlignTool);
        }

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

            return MmfCommon.SetFindROI(_CogPMAlignTool, findRoi);
        }

        public IRunParam GetRunParam() {
            return MmfCommon.GetRunParam(_CogPMAlignTool);
        }

        public int SetRunParam(IRunParam runParam) {
            return MmfCommon.SetRunParam(_CogPMAlignTool, runParam);
        }

        public PatternResult Find(object image) {
            var findRoi = MmfCommon.GetFindROI(_CogPMAlignTool);
            return Find(image, findRoi);
        }

        public PatternResult Find(object image, ROI findRoi) {
            var patternResult = MmfCommon.Find(_CogPMAlignTool, (ICogImage)image, findRoi);
            var modelFinderResultList = patternResult.Results as List<ModelFinderResult>;

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

            return patternResult;
        }

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

        public object GetTool() {
            return _CogPMAlignTool;
        }

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

        private void DrawTrainROI(
            PatternResult patternResult, ICogCameraDisplay cogCameraDisplay, bool isFixturePattern) {
            var trainParam = GetTrainParam() as ImageModelFinderTrainParam;
            var cogDisplay = cogCameraDisplay.GetDisplay() as CogDisplay;

            if (patternResult.Status != eFoundStatus.NotFound) {
                foreach (BaseResult baseResult in patternResult.Results) {
                    var result = baseResult as ModelFinderResult;
                    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);
                    cogCameraDisplay.AddPatternResultFindRoi(cogDisplay, color, foundTrainRoi);
                }
            }
            else {
                var color = GraphicColors.NG;
                cogCameraDisplay.AddPatternResultFindRoi(cogDisplay, color, trainParam.TrainRoi);
            }
        }

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

            ICogImage modelImage = null;

            try {
                modelImage = MmfImage.GetModelImage(_CogPMAlignTool);
                if (modelImage != null) {
                    return modelImage.ToBitmap();
                }
            }
            catch (Exception e) {
                _logger.FuncE(e.Message);
            }
            finally {
                CogEnvironment.FreeImage(modelImage);
            }

            return bitmap;
        }
        #endregion

        #region IPatternTrain
        public bool IsTrained() {
            return MmfCommon.IsTrained(_CogPMAlignTool);
        }

        public ITrainParam GetTrainParam() {
            return MmfImage.GetTrainParam(_CogPMAlignTool);
        }

        public object GetTrainTool() {
            return _CogPMAlignTool;
        }

        public int Train(ITrainParam trainParam) {
            return MmfImage.Train(_CogPMAlignTool, trainParam);
        }
        #endregion

        #region IPatternMask
        public ICogImage GetModelImage() {
            return MmfImage.GetModelImage(_CogPMAlignTool);
        }

        public ICogImage GetMaskImage() {
            return MmfImage.GetMaskImage(_CogPMAlignTool);
        }

        public int SetMaskImage(ICogImage maskImage) {
            return MmfImage.SetMaskImage(_CogPMAlignTool, maskImage);
        }

        public int SetTrainOrigin(Cross trainOrigin) {
            return MmfImage.SetTrainOrigin(_CogPMAlignTool, trainOrigin);
        }

        public int SetTrainOriginInModel(Cross trainOriginInModel) {
            return MmfImage.SetTrainOriginInModel(_CogPMAlignTool, trainOriginInModel);
        }
        #endregion

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

        private void FreeTool() {
            MmfCommon.FreeTool(_CogPMAlignTool);
        }
        #endregion

        public int GetFindNumber() {
            var runParam = MmfCommon.GetRunParam(_CogPMAlignTool);
            return runParam.FindNumber;
        }
    }
}