using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using VisionAligner;
using VisionCommon;

namespace MaWeldingCommon.Vision.Aligner {
    // 장비에서 필요한 얼라인 모드를 구현한다.
    // class 이름을 변경하면 정상동작 하지 않는다.
    /// <summary>
    /// 장비 얼라인 모드 B
    /// </summary>
    public class MachineAlign_B : AlignMode {
        /// <summary>
        /// 생성자
        /// </summary>
        /// <param name="alignInfo">얼라인 정보</param>
        public MachineAlign_B(AlignInfo alignInfo) : base(alignInfo) {
        }

        // 장비에서 필요한 얼라인을 구현한다.
        // 1-Point 얼라인이 아니라면, N-Point 얼라인을 구현하면 된다.
        #region N-Point Align
        protected override AlignDelta CalculateT(List<DoublePoint> meaPoints, List<DoublePoint> refPoints, int flipY) {
            return new AlignDelta() {
                T = Angle.CreateWithDegree(3)
            };
        }

        protected override AlignDelta CalculateT_ICP(
            List<DoublePoint> meaPoints,
            List<DoublePoint> refPoints,
            int flipY) {
            return new AlignDelta() {
                T = Angle.CreateWithDegree(9)
            };
        }

        protected override AlignDelta CalculateXY(List<DoublePoint> meaPoints, List<DoublePoint> refPoints, int flipY, DoublePoint thetaOrigin, Angle alignT) {
            return new AlignDelta() {
                Translation = new StaticPoint(1, 2),
                T = Angle.CreateWithDegree(3)
            };
        }
        #endregion

        #region 1-Point Align
        protected override AlignDelta CalculateXYT(DoublePoint meaPoint, DoublePoint refPoint, int flipY, DoublePoint thetaOrigin, Angle theta) {
            return new AlignDelta() {
                Translation = new StaticPoint(4, 5),
                T = Angle.CreateWithDegree(6)
            };
        }
        #endregion
    }
}