LGES-2170-ACW_CCW-Welder/AuroraVision/VisionUI/Pattern/ForceOk/ForceOkWindow.xaml.cs

/*
  * Copyright (c) 2025 LG Electronics Inc.
   * SPDX-License-Identifier: LicenseRef-LGE-Proprietary
   */
using Aurora.Api;
using VisionCommon;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Threading;
using System.Windows;

namespace VisionUI.Pattern {
    /// <summary>
    /// Interaction logic for ForceOkWindow.xaml
    /// </summary>
    public partial class ForceOkWindow : Window {
        private static Logger _logger = new Logger("ForceOkWindow");
        public string WINDOW_TITLE => "Force OK Window";
        public ForceOkResult Result { get; private set; } = null;

        private static FovInfo _FovInfo;

        public ForceOkWindow(FovInfo fovInfo, PatternInfo patternInfo, object findImage) {
            InitializeComponent();

            _FovInfo = fovInfo;

            SetTitle();
            CreateView(patternInfo, findImage);
        }

        public void SetTitle() {
            Title = WINDOW_TITLE;
        }

        public void CreateView(PatternInfo patternInfo, object findImage) {
            IpViewManager.CreateForceOkView(_FovInfo, patternInfo, findImage, this);
            gridForceOkView.Children.Add(IpViewManager.ForceOkView);
        }

        public void ResetPosition() {
            Left = WindowUtil.GetLeftWithRatioOnMainWindow(0.1);
            Top = WindowUtil.GetTopWithRatioOnMainWindow(0.2);
        }

        protected override void OnClosing(CancelEventArgs e) {
            Result = new ForceOkResult() {
                FoundStatus = IpViewManager.ForceOkView.IsApply ? eFoundStatus.ForceOK : eFoundStatus.NotFound,
                ForceOkPoint = IpViewManager.ForceOkView.ForceOkPoint.Clone() as ImagePoint,
                NewFindResult = IpViewManager.ForceOkView.NewFindResult?.Clone() as PatternResult
            };
            ((IDisposable)IpViewManager.ForceOkView).Dispose();
        }

        public static PatternResult Show(
            FovInfo fovInfo, PatternIndex patternIndex, object findImage, PatternResult patternResult) {

            ForceOkWindow forceOkWindow = null;
            var patternAgent = PatternAgentManager.GetAgent(fovInfo);
            var patternInfo = patternAgent.GetPatternInfo(patternIndex);

            Application.Current.Dispatcher.Invoke(() => {
                forceOkWindow = new ForceOkWindow(fovInfo, patternInfo, findImage);
                forceOkWindow.Show();
            });

            if (forceOkWindow != null) {
                while (!forceOkWindow.IsDone()) {
                    Thread.Sleep(100);
                }

                if (forceOkWindow.Result.FoundStatus == eFoundStatus.ForceOK) {
                    var forceOkPoint = forceOkWindow.Result.ForceOkPoint;
                    var newFindResult = forceOkWindow.Result.NewFindResult;

                    if (newFindResult != null &&
                        newFindResult.Results != null &&
                        newFindResult.Status == eFoundStatus.FoundOK) {
                        patternResult = newFindResult;
                    }
                    else {
                        patternResult.Status = eFoundStatus.ForceOK;
                        patternResult.Results = CreateResults(
                            patternInfo.PatternType,
                            IpAdapter.Instance.IpEnvironment.GetImageCenter(findImage),
                            forceOkPoint);
                        patternAgent.SetLineCenterPoint(patternResult, patternInfo, IpViewManager.ForceOkView.GetDisplay());
                    }

                    patternResult.FovId = _FovInfo.FovId;
                    patternResult.PatternIndex = patternInfo.GetPatternIndex().Clone() as PatternIndex;
                    patternResult.MoreInfo = CreateFixtureResult(patternAgent, patternInfo, forceOkPoint);

                    _logger.I($"Force OK ({forceOkWindow.Result.FoundStatus}) : {forceOkPoint}");
                }
                else {
                    _logger.I($"Force OK ({forceOkWindow.Result.FoundStatus})");
                }
            }

            return patternResult;
        }

        public bool IsDone() {
            return Result != null;
        }

        private static IEnumerable<BaseResult> CreateResults(
            ePatternType patternType, ImagePoint imageCenter, ImagePoint forceOkPoint) {

            if (patternType == ePatternType.ImageModelFinder ||
                patternType == ePatternType.ShapeModelFinder) {
                var results = new List<ModelFinderResult>();
                results.Add(new ModelFinderResult(
                    position: forceOkPoint,
                    offset: (forceOkPoint - imageCenter) as ImagePoint,
                    angle: Angle.CreateWithDegree(0),
                    score: 0.1));
                return results;
            }
            else if (patternType == ePatternType.LineFinder) {
                var results = new List<LineFinderResult>();
                results.Add(new LineFinderResult(
                    position: forceOkPoint,
                    angle: Angle.CreateWithDegree(0),
                    lineEquation: null,
                    contextId: null));
                return results;
            }
            else if (patternType == ePatternType.LineIntersection) {
                var results = new List<LineIntersectionResult>();
                results.Add(new LineIntersectionResult(
                    position: forceOkPoint,
                    offset: (forceOkPoint - imageCenter) as ImagePoint,
                    line1PatternResult: null,
                    line2PatternResult: null));
                return results;
            }
            else if (patternType == ePatternType.PatternMatching) {
                var results = new List<PatternMatchingResult>();
                results.Add(new PatternMatchingResult(
                    position: forceOkPoint,
                    offset: (forceOkPoint - imageCenter) as ImagePoint,
                    angle: Angle.CreateWithDegree(0),
                    score: 0.1));
                return results;
            }

            return null;
        }

        private static FixtureResult CreateFixtureResult(
            PatternAgentBase patternAgent, PatternInfo patternInfo, ImagePoint forceOkPoint) {
            if (PatternConstants.IsFixturePatternType(patternInfo.PatternType)) {
                var imageTrainParam = patternAgent.GetTrainParam(patternInfo) as ImageTrainParam;
                var fixtureOrigin = imageTrainParam.TrainOrigin;
                var fixtureResult = new FixtureResult() {
                    Origin = forceOkPoint.Clone() as ImagePoint,
                    Offset = (forceOkPoint - fixtureOrigin.Origin) as ImagePoint,
                    Rotation = fixtureOrigin.Angle.Clone() as Angle
                };
                return fixtureResult;
            }

            return null;
        }
    }
}