using Aurora.Api.DataType;
using System.Collections.Generic;
using System.Diagnostics;
using System.Windows;
using VisionCommon;

namespace VisionCalibrator {
    /// <summary>
    /// MIL or Cognex 상호참조 해결을 위한 클래스
    /// </summary>
    public class CalManager : ICalManager {
        /// <summary>
        /// 켈리브레이터를 Get한다.
        /// </summary>
        /// <param name="fovInfo">FovInfo</param>
        /// <returns>Calibrator</returns>
        public object GetCalibrator(FovInfo fovInfo) {
            return CalibratorManager.GetCalibrator(fovInfo);
        }

        /// <summary>
        /// 이미지 좌표를 자재 좌표계로 변환한다
        /// </summary>
        /// <param name="fovInfo">FOV 정보</param>
        /// <param name="imagePoint">변환할 이미지 좌표</param>
        /// <param name="imageSize">변환할 이미지의 크기</param>
        /// <returns>자재 좌표</returns>
        public StaticPoint TransformToCalibratedSpace(FovInfo fovInfo, ImagePoint imagePoint, ImageSize imageSize) {
            var fovRecipe = VisionRecipeManager.GetFovRecipe(fovInfo);
            var fovCenter = fovRecipe.CalFovRecipe.FovCenter;
            var calibrator = GetCalibrator(fovInfo) as Calibrator;
            return calibrator.TransformToCalibratedSpace(fovCenter, imagePoint, imageSize.Width, imageSize.Height);
        }

        /// <summary>
        /// 자재 좌표를 이미지 좌표계로 변환한다
        /// </summary>
        /// <param name="fovInfo">FOV 정보</param>
        /// <param name="staticPoint">변환할 자재 좌표</param>
        /// <param name="imageSize">변환할 이미지의 크기</param>
        /// <returns>이미지 좌표</returns>
        public ImagePoint TransformToImagePoint(FovInfo fovInfo, StaticPoint staticPoint, ImageSize imageSize) {
            var fovRecipe = VisionRecipeManager.GetFovRecipe(fovInfo);
            var fovCenter = fovRecipe.CalFovRecipe.FovCenter;
            var calibrator = GetCalibrator(fovInfo) as Calibrator;

            return calibrator.InverseTransformToCalibratedSpace(
                fovRecipe.CalFovRecipe.FovCenter,
                staticPoint,
                imageSize.Width,
                imageSize.Height,
                fovRecipe.CalFovRecipe.ErrRotationX,
                fovRecipe.CalFovRecipe.PixelSize
                );
        }
    }
}