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

using Aurora;
using Aurora.Api;
using MilCommon;
using VisionCommon;
using System;
using System.Reflection;
using System.IO;
using System.Linq;

namespace MilCamera {
    /// <summary>
    /// 카메라 생성 및 등록
    /// </summary>
    public static class CameraFactory {
        private static Logger _Logger = new Logger("CameraFactory");
        private static IDisposable _EventDisposable;

        /// <summary>
        /// 카메라 생성 및 등록
        /// </summary>
        /// <param name="registry">Aurora 레지스트리</param>
        public static void Register(IDeviceRegistry registry) {
            VersionChecker.Print(Assembly.GetExecutingAssembly().GetName());
            var callingAssembly = Assembly.GetCallingAssembly();    // 위치 바꾸면 안됨.
            _Logger.I($"CallingAssembly : {callingAssembly}");

            SetObservable();

            try {
                VersionChecker.Print(Assembly.GetExecutingAssembly().GetName());

                var visionSetting = VisionSettingManager.VisionSetting;
                if (visionSetting.RecipeModelType == eRecipeModelType.AuroraModel) {
                    foreach (string modelName in VisionEnv.AuroraEnv.ModelManager.Models()) {
                        var vsModelDef = VisionEnv.AuroraEnv.ModelManager.ModelItem(modelName, VisionKeys.VisionRecipeKey) as VisionModelDef;
                        RegisterInternal(registry, vsModelDef, callingAssembly);
                    }
                }
                else if (visionSetting.RecipeModelType == eRecipeModelType.AuroraIngredient) {
                    var vsIngredient = VisionEnv.AuroraEnv.IngredientsManager.Ingredient(VisionKeys.VisionRecipeKey);
                    foreach (var vsIngredientName in vsIngredient.Items()) {
                        var vsIngredientDef = vsIngredient.IngredientItem(vsIngredientName.name) as VisionIngredientDef;
                        RegisterInternal(registry, vsIngredientDef, callingAssembly);
                    }
                }
                else {
                    foreach (var recipeItem in VisionEnv.AuroraEnv.RecipeManager.Recipes()) {
                        var vsRecipeDef = VisionEnv.AuroraEnv.RecipeManager.RecipeItem(recipeItem.Id, VisionKeys.VisionRecipeKey) as VisionRecipeDef;
                        RegisterInternal(registry, vsRecipeDef, callingAssembly);
                    }
                }

                SetCameraAgentManager();
            }
            catch (Exception e) {
                _Logger.FuncE(e.Message);
            }
        }

        private static void SetObservable() {
            if (_EventDisposable == null) {
                var observable = VisionEventId.GetRecipeUpdateObservable();
                _EventDisposable = observable.Subscribe(_ => SetCameraAgentManager());
            }
        }

        private static void SetCameraAgentManager() {
            CameraAgentManager.Clear();

            foreach (var fovInfo in VisionRecipeManager.GetFovInfos()) {
                if (!CameraAgentManager.ContainsKey(fovInfo)) {
                    var milCameraAgent = new MilCameraAgent(fovInfo);
                    CameraAgentManager.SetCameraAgent(fovInfo, milCameraAgent);
                }
            }
        }

        private static void RegisterInternal(IDeviceRegistry registry, VisionDef vsDef, Assembly callingAssembly) {
            try {
                foreach (var fovInfo in vsDef.GetFovInfos()) {
                    var camIdList = vsDef.GetCamIds(vsDef.GetFovRecipes(vsDef.GetFovInfos())).OrderBy(x => x);
                    foreach (var camId in camIdList) {
                        var boardType = (EquipmentInfoManager.EquipmentInfo.SimulationMode) ? eBoardType.Mock : GetBoardType(camId);
                        if (!VisionEnv.AuroraEnv.DeviceManager.IsRegisteredDevice(camId.ToString())) {
                            registry.Register(
                                camId.ToString(),
                                () => Create(boardType, camId.ToString(), callingAssembly),
                                CamConfig.GetDefaultConfig());
                        }
                    }
                }
            }
            catch (Exception e) {
                _Logger.FuncE(e.Message);
            }
        }

        private static CameraBase Create(eBoardType boardType, string deviceId, Assembly callingAssembly) {
            eCamModel camModel = GetCamModel((eCamId)Enum.Parse(typeof(eCamId), deviceId));

            if (boardType == eBoardType.Mock) {
                return new MilCameraMock(deviceId);
            }
            else {
                if (camModel == eCamModel.DEFAULT) {
                    if (EuresysEnvironment.IsEuresysBoardType(boardType)) {
                        return new EuresysCamera(deviceId);
                    }
                    else {
                        return new MilCamera(deviceId);
                    }
                }
                else {
                    CameraBase machineCamera = GetCameraFromMachine(camModel, deviceId, callingAssembly);
                    if (machineCamera != null) {
                        _Logger.FuncI($"{deviceId} is created from {camModel}.");
                        return machineCamera;
                    }
                }
            }

            _Logger.FuncW($"{deviceId} is created from DEFAULT(MilCamera).");
            return new MilCamera(deviceId);    // Default
        }

        /// <summary>
        /// 카메라 ID로 보드 타입 가져오기
        /// </summary>
        /// <param name="camId">카메라 ID</param>
        /// <returns>보드 타입</returns>
        public static eBoardType GetBoardType(eCamId camId) {
            string configPath = Path.Combine(ApplicationExt.DataPath, "_config_device", camId + @".json");
            return JsonManager.GetValue<eBoardType>(configPath, string.Format($"{typeof(CamConnConfig).Name}.BoardType"));
        }

        private static eCamModel GetCamModel(eCamId camId) {
            string configPath = Path.Combine(ApplicationExt.DataPath, "_config_device", camId + @".json");
            return JsonManager.GetValue<eCamModel>(configPath, "CamModel");
        }

        private static CameraBase GetCameraFromMachine(eCamModel camModel, string deviceId, Assembly callingAssembly) {
            Type targetType = typeof(CameraBase);
            string className = camModel.ToString();
            var types = callingAssembly.GetExportedTypes();

            foreach (var type in types) {
                if (className == type.Name &&
                    targetType.IsAssignableFrom(type)) {
                    ConstructorInfo ctor = type.GetConstructor(new[] { typeof(string) });
                    return (CameraBase)ctor.Invoke(new object[] { deviceId });
                }
            }

            return null;
        }
    }
}