using VisionCommon;
using System;
using System.Collections.Generic;

namespace VisionAligner {
    /// <summary>
    /// 헤드 얼라인
    /// </summary>
    public class AlignModeHead : AlignMode {
        private AlignModeHead() : base() {
            // For UnitTest
        }

        /// <summary>
        /// 생성자
        /// </summary>
        /// <param name="alignInfo">얼라인 정보</param>
        public AlignModeHead(AlignInfo alignInfo) : base(alignInfo) { }

        #region N-Point Align
        /// <summary>
        /// N-포인트 얼라인 보정량 T를 계산한다.
        /// </summary>
        /// <param name="meaPoints">패턴 검출 위치</param>
        /// <param name="refPoints">레퍼런스(기준) 위치</param>
        /// <param name="flipY">좌표계의 Y축 반전 여부</param>
        /// <returns>얼라인 보정량</returns>
        protected override AlignDelta CalculateT(
            List<DoublePoint> meaPoints,
            List<DoublePoint> refPoints,
            int flipY) {
            // Align Direction : refPoints -> meaPoints
            // meaPoints, refPoints 순서가 반대
            return AlignerImpl.CalculateT(refPoints, meaPoints, flipY);
        }

        /// <summary>
        /// ICP 알고리즘을 이용하여 N-포인트 얼라인 보정량 T를 계산한다.
        /// </summary>
        /// <param name="meaPoints">패턴 검출 위치</param>
        /// <param name="refPoints">레퍼런스(기준) 위치</param>
        /// <param name="flipY">좌표계의 Y축 반전 여부</param>
        /// <returns>얼라인 보정량</returns>
        protected override AlignDelta CalculateT_ICP(
            List<DoublePoint> meaPoints,
            List<DoublePoint> refPoints,
            int flipY) {
            // Align Direction : refPoints -> meaPoints
            // meaPoints, refPoints 순서가 반대
            return AlignerImpl.CalculateT_ICP(refPoints, meaPoints, flipY);
        }

        /// <summary>
        /// N-포인트 얼라인 보정량 XY를 계산한다.
        /// </summary>
        /// <param name="meaPoints">패턴 검출 위치</param>
        /// <param name="refPoints">레퍼런스(기준) 위치</param>
        /// <param name="flipY">좌표계의 Y축 반전 여부</param>
        /// <param name="thetaOrigin">회전 원점</param>
        /// <param name="alignT">얼라인 보정량 T</param>
        /// <returns>얼라인 보정량</returns>
        protected override AlignDelta CalculateXY(
            List<DoublePoint> meaPoints,
            List<DoublePoint> refPoints,
            int flipY,
            DoublePoint thetaOrigin,
            Angle alignT) {
            var normalizedAngle = CoordSystem.NormalizeAngleDirection(alignT, flipY);

            // XY
            var centroidRefPoint = DoublePoint.GetCentroid(refPoints);
            var markOffsets = new List<DoublePoint>();
            for (int i = 0; i < refPoints.Count; i++) {
                markOffsets.Add(meaPoints[i] - refPoints[i]);
            }
            var centroidMarkOffset = DoublePoint.GetCentroid(markOffsets);

            AlignDelta alignDeltaXY = NativeAligner.HeadAlignXY(
                normalizedAngle,
                centroidRefPoint - thetaOrigin,     // Coordinate Origin Convert : (0, 0) -> thetaOrigin
                centroidMarkOffset - thetaOrigin);  // Coordinate Origin Convert : (0, 0) -> thetaOrigin
            alignDeltaXY.Translation += thetaOrigin; // Coordinate Origin Convert : (0, 0) <- thetaOrigin

            return new AlignDelta(
                    alignDeltaXY.Translation,
                    Angle.CreateWithDegree(0));
        }
        #endregion

        #region 1-Point Align
        /// <summary>
        /// 1-포인트 얼라인 보정량 XYT를 계산한다.
        /// </summary>
        /// <param name="meaPoint">패턴 검출 위치</param>
        /// <param name="refPoint">레퍼런스(기준) 위치</param>
        /// <param name="flipY">좌표계의 Y축 반전 여부</param>
        /// <param name="thetaOrigin">회전 원점</param>
        /// <param name="theta">얼라인 보정량 T</param>
        /// <returns>얼라인 보정량</returns>
        protected override AlignDelta CalculateXYT(
            DoublePoint meaPoint,
            DoublePoint refPoint,
            int flipY,
            DoublePoint thetaOrigin,
            Angle theta) {
            // Align Direction : refPoint -> meaPoint
            // refPoint, meaPoint 순서가 반대이다.
            // theta는 패턴의 검출 각도 = 자재의 틀어짐
            //  -> Head 보정량 : theta 부호 반전 불필요
            return AlignerImpl.CalculateXYT(refPoint, meaPoint, theta, thetaOrigin, flipY);
        }
        #endregion
    }
}