LGES-2170-ACW_CCW-Welder/AuroraVision/VisionSequence/ProcGrabImageManager.cs

using Aurora.Api;
using VisionCommon;
using System;
using System.Collections.Generic;
using System.Reactive.Linq;

namespace VisionSequence.Camera {
    /// <summary>
    /// 공정에서 사용되는 이미지의 정보
    /// </summary>
    public class ImageInfo : IDisposable {
        /// <summary>공정 이미지</summary>
        public object Image { get; set; } = null;
        /// <summary>점유(사용) 상태 플래그</summary>
        public bool Occupied { get; set; } = false;

        /// <summary>
        /// 생성자
        /// </summary>
        /// <param name="image">공정 이미지</param>
        /// <param name="occupied">점유(사용) 상태 플래그</param>
        public ImageInfo(object image, bool occupied) {
            Image = image;
            Occupied = occupied;
        }
        /// <summary>
        /// 명시적 해제 (이미지 메모리 해제, Occupied = false)
        /// </summary>
        public void Dispose() {
            IpAdapter.Instance.IpEnvironment.FreeImage(Image);
            Image = null;
            Occupied = false;
        }
    }

    /// <summary>
    /// 공정 이미지 매니저로 그랩 횟수를 최소화하기 위해 사용한다.
    /// 패턴에서 동일한 조명 값을 사용하는 경우 카메라 그랩을 1회만 수행한다.
    /// </summary>
    public class ProcGrabImageManager : IDisposable {
        private readonly object _Lock = new object();
        private List<ImageInfo> _ImageInfos = new List<ImageInfo>();
        private Dictionary<LightInfo, object> _GrabImages = new Dictionary<LightInfo, object>();
        private Logger _Logger;
        private FovInfo _FovInfo;
        private CameraAgentBase _CameraAgent;
        private IDisposable _EventDisposable;

        /// <summary>
        /// 생성자
        /// </summary>
        /// <param name="fovInfo">FOV 키 정보</param>
        /// <param name="cameraAgent">카메라 에이전트</param>
        public ProcGrabImageManager(FovInfo fovInfo, CameraAgentBase cameraAgent) {
            _Logger = new Logger(GetType().Name);
            _FovInfo = fovInfo;
            _CameraAgent = cameraAgent;
            SetObservable();
        }

        private void SetObservable() {
            var camRecipe = VisionRecipeManager.GetCamRecipe(_FovInfo);
            if (_EventDisposable == null) {
                _EventDisposable = VisionEnv.AuroraEnv.EventObservable.AsObservable(VisionEventId.CAMERA_UPDATE_GRAB_IMAGE_BUFFER).
                    Where(x => x.From == camRecipe.CamId.ToString()).
                    Subscribe(_ => UpdateGrabImageBuffer());
            }
        }

        private void UpdateGrabImageBuffer() {
            lock (_Lock) {
                if (0 < _ImageInfos.Count) {
                    var camImageSize = _CameraAgent.GetImageSize();
                    var imageSize = IpAdapter.Instance.IpEnvironment.GetImageSize(_ImageInfos[0].Image);

                    if (!IpAdapter.Instance.IpEnvironment.ImageSizeEquals(camImageSize, imageSize)) {
                        DisposeImageInfos();
                        Clear();
                    }
                }
            }
        }

        /// <summary>
        /// 공정 이미지 초기화
        /// </summary>
        public void Clear() {
            lock (_Lock) {
                _GrabImages.Clear();
                ClearOccupied();
            }
        }

        private void ClearOccupied() {
            lock (_Lock) {
                foreach (var imageInfo in _ImageInfos) {
                    imageInfo.Occupied = false;
                }
            }
        }

        /// <summary>
        /// 조명 값(LightInfo)의 공정 이미지 그랩 완료 여부
        /// </summary>
        /// <param name="lightInfo">조명 값</param>
        /// <returns>완료 여부</returns>
        public bool IsGrabDone(LightInfo lightInfo) {
            lock (_Lock) {
                return _GrabImages.ContainsKey(lightInfo);
            }
        }

        /// <summary>
        /// 조명 값(LightInfo)으로 그랩된 공정 이미지를 등록
        /// </summary>
        /// <param name="lightInfo">조명 값</param>
        /// <param name="image">공정 이미지</param>
        public void SetGrabImage(LightInfo lightInfo, object image) {
            lock (_Lock) {
                if (_GrabImages.ContainsKey(lightInfo)) {
                    _GrabImages[lightInfo] = image;
                }
                else {
                    _GrabImages.Add(lightInfo, image);
                }
            }
        }

        /// <summary>
        /// 공정이미지를 얻어 온다.
        /// </summary>
        /// <param name="lightInfo">조명 값</param>
        /// <returns>공정 이미지</returns>
        public object GetGrabImage(LightInfo lightInfo) {
            lock (_Lock) {
                if (_GrabImages.ContainsKey(lightInfo)) {
                    return _GrabImages[lightInfo];
                }
                else {
                    _GrabImages[lightInfo] = GetImage();
                    return _GrabImages[lightInfo];
                }
            }
        }

        private object GetImage() {
            lock (_Lock) {
                foreach (var imageInfo in _ImageInfos) {
                    if (!imageInfo.Occupied) {
                        imageInfo.Occupied = true;
                        return imageInfo.Image;
                    }
                }
                var newImageInfo = CreateImageInfo();
                _ImageInfos.Add(newImageInfo);

                return newImageInfo.Image;
            }
        }

        private ImageInfo CreateImageInfo() {
            return new ImageInfo(_CameraAgent.CloneImageBuffer(), occupied: true);
        }
        /// <summary>
        /// 명시적 해제
        /// </summary>
        public void Dispose() {
            lock (_Lock) {
                DisposeImageInfos();
                _EventDisposable.Dispose();
            }
        }

        private void DisposeImageInfos() {
            lock (_Lock) {
                foreach (var imageInfo in _ImageInfos) {
                    imageInfo.Dispose();
                }
                _ImageInfos.Clear();
            }
        }
    }
}