LGES-OC5-PtoP-Welder/AuroraVision/MilPattern/ImageModelFinder/ImageModelFinder.cs

using Aurora.Api;
using MilCommon;
using VisionCommon;
using Hermes;
using Matrox.MatroxImagingLibrary;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Drawing;

namespace MilPattern {
    public class ImageModelFinder : PatternBase, IPatternFinder, IPatternTrain, IPatternMask, IDisposable {
        public string FILE_EXT_PATTERN { get; set; } = ".mmf";
        private MmfParamExt _paramExt = null;

        private Logger _logger;
        private PatternInfo _patternInfo;
        private MIL_ID _contextId = MIL.M_NULL;
        private MIL_ID _resultContextId = MIL.M_NULL;

        public ImageModelFinder(PatternInfo patternInfo) {
            _patternInfo = patternInfo;
            _logger = new Logger(
                $"ImageModelFinder_{patternInfo.GetPatternIndex()}");
            InitContext();
        }

        private void InitContext() {
            if (E1.OK != Load()) {
                Create();
            }
        }

        #region IPatternFinder
        public string GetPatternFilePath() {
            return Path.Combine(new string[] {
                PatternConstants.GetSubPatternDirPath(_patternInfo),
                PatternConstants.FILE_NAME_PATTERN + FILE_EXT_PATTERN
            });
        }

        public int Load() {
            var patternFilePath = GetPatternFilePath();

            if (!File.Exists(patternFilePath)) {
                _logger.I($"Pattern File does NOT exist : {patternFilePath}");
                return E2.NOT_FOUND;
            }

            FreeContexts();
            _contextId = MmfCommon.LoadContext(_patternInfo.MilSystemId, patternFilePath);
            _resultContextId = MmfCommon.CreateResultContext(_contextId);
            _paramExt = LoadParamExt();
            ExtractFindRoiFromMmf();

            return E1.OK;
        }

        private void ExtractFindRoiFromMmf() {
            if (!IsParamExtExist()) {
                _logger.I($"Extract Find ROI : {_patternInfo}");
                var findRoiMmf = MmfCommon.GetFindRoiFromMmf(_contextId);
                _logger.I($"findRoiMmf : {findRoiMmf}");

                _paramExt.FindROI = findRoiMmf.Clone() as ROI;
                MmfCommon.ClearFindRoi(_contextId);
                Save();
            }
        }

        public int Save() {
            var patternFilePath = GetPatternFilePath();
            var patternDirPath = Path.GetDirectoryName(patternFilePath);
            if (!Directory.Exists(patternDirPath)) {
                Directory.CreateDirectory(patternDirPath);
            }

            SaveParamExt(_paramExt);
            return MmfCommon.SaveContext(_contextId, patternFilePath);
        }

        public int Create() {
            FreeContexts();
            if (_patternInfo.IsQuickFind) {
                _contextId = MmfCommon.CreateQuickFindContext(_patternInfo.MilSystemId);
            }
            else {
                _contextId = MmfCommon.CreateContext(_patternInfo.MilSystemId);
            }
            _resultContextId = MmfCommon.CreateResultContext(_contextId);
            _paramExt = LoadParamExt();

            return E1.OK;
        }

        public int Remove() {
            FreeContexts();

            var patternFilePath = GetPatternFilePath();
            var patternDirPath = Path.GetDirectoryName(patternFilePath);
            if (Directory.Exists(patternDirPath)) {
                Directory.Delete(patternDirPath, recursive: true);
            }

            return E1.OK;
        }

        public ROI GetFindROI() {
            return _paramExt.FindROI.Clone() as ROI;
        }

        public int SetFindROI(ROI findRoi) {
            if (ROI.IsNullOrEmpty(findRoi)) {
                return E1.GENERIC;
            }

            _paramExt.FindROI = findRoi.Clone() as ROI;
            return E1.OK;
        }

        public IRunParam GetRunParam() {
            var runParam = MmfCommon.GetRunParam(_contextId);
            runParam.MmfParamExt = _paramExt.Clone() as MmfParamExt;

            return runParam;
        }

        public int SetRunParam(IRunParam runParam) {
            _paramExt = ((ModelFinderRunParam)runParam).MmfParamExt.Clone() as MmfParamExt;
            return MmfCommon.SetRunParam(_contextId, runParam);
        }

        public PatternResult Find(object image) {
            return Find(image, _paramExt.FindROI.Clone() as ROI);
        }

        public PatternResult Find(object image, ROI findRoi) {
            var patternResult = MmfCommon.Find(_contextId, _resultContextId, (MIL_ID)image, findRoi);
            var modelFinderResultList = patternResult.Results as List<ModelFinderResult>;

            if (modelFinderResultList?.Count > 0) {
                var fixtureOrigin = MmfImage.GetFixtureOrigin(_contextId);
                var fixture = new FixtureResult() {
                    Origin = modelFinderResultList[0].ImagePosition.Clone() as ImagePoint,
                    Offset = (modelFinderResultList[0].ImagePosition - fixtureOrigin.Origin) as ImagePoint,
                    Rotation = modelFinderResultList[0].Angle.Clone() as Angle
                };
                patternResult.MoreInfo = fixture;
            }

            return patternResult;
        }

        public PatternResult GetNotFoundPatternResult() {
            return MmfCommon.GetNotFoundPatternResult();
        }

        public object GetTool() {
            return _contextId;
        }

        public void Draw(
            PatternResult patternResult, ICameraDisplay cameraDisplay, bool isFixturePattern = false) {
            DrawTrainROI(patternResult, cameraDisplay as IMilCameraDisplay, isFixturePattern);
            MmfCommon.Draw(patternResult, cameraDisplay as IMilCameraDisplay, isFixturePattern, _resultContextId, _paramExt.FindROI.Clone() as ROI);
        }

        private void DrawTrainROI(
            PatternResult patternResult, IMilCameraDisplay milCameraDisplay, bool isFixturePattern) {
            var trainParam = GetTrainParam() as ImageModelFinderTrainParam;

            if (patternResult.Status != eFoundStatus.NotFound) {
                foreach (BaseResult baseResult in patternResult.Results) {
                    var result = baseResult as ModelFinderResult;
                    var offset = result.ImagePosition - trainParam.TrainOrigin.Origin;
                    var transRoiCenter = trainParam.TrainRoi.Center + offset as ImagePoint;
                    var roiCenter = MathUtil.Rotate(transRoiCenter, -result.Angle, result.ImagePosition) as ImagePoint;
                    var foundTrainRoi = new ROI(
                        roiCenter,
                        trainParam.TrainRoi.Width,
                        trainParam.TrainRoi.Height,
                        result.Angle);

                    var color = GraphicColors.GetTrainRoiColor(patternResult.Status, isFixturePattern);
                    milCameraDisplay.AddPatternResultFindRoi(color, foundTrainRoi);
                }
            }
            else {
                var color = GraphicColors.NG;
                milCameraDisplay.AddPatternResultFindRoi(color, trainParam.TrainRoi);
            }
        }

        public Bitmap GetThumbnail() {
            var bitmap = ThumbnailUtil.GetDefaultImage();
            if (!IsTrained()) {
                return bitmap;
            }

            MIL_ID colorModelImage = MIL.M_NULL;

            try {
                colorModelImage = MmfImage.GetColorModelImage(_contextId);
                DrawMaskImage(colorModelImage);

                return MilEnvironment.ConvertToBitmap(colorModelImage);
            }
            catch (Exception e) {
                _logger.FuncE(e.Message);
            }
            finally {
                MilEnvironment.FreeImage(colorModelImage);
            }

            return bitmap;
        }
        #endregion

        #region IPatternTrain
        public bool IsTrained() {
            return MmfCommon.HasModel(_contextId);
        }

        public ITrainParam GetTrainParam() {
            return MmfImage.GetTrainParam(_contextId);
        }

        public int Train(ITrainParam trainParam) {
            return MmfImage.Train(_contextId, trainParam);
        }
        #endregion

        #region IPatternMask
        public MIL_ID GetGrayModelImage() {
            return MmfImage.GetGrayModelImage(_contextId);
        }

        public MIL_ID GetColorModelImage() {
            return MmfImage.GetColorModelEdgeImage(_contextId);
        }

        public MIL_ID GetMaskImage() {
            return MmfImage.GetMaskImage(_contextId);
        }

        public void DrawMaskImage(MIL_ID overlayId) {
            MmfImage.DrawMaskImage(_contextId, overlayId);
        }

        public int SetMaskImage(MIL_ID maskImage) {
            return MmfImage.SetMaskImage(_contextId, maskImage);
        }

        public int SetTrainOrigin(Cross trainOriginInModel) {
            return MmfImage.SetTrainOrigin(_contextId, trainOriginInModel);
        }
        #endregion

        #region IDisposible
        public void Dispose() {
            FreeContexts();
        }

        private void FreeContexts() {
            MmfCommon.FreeContext(_contextId);
            MmfCommon.FreeContext(_resultContextId);

            _contextId = MIL.M_NULL;
            _resultContextId = MIL.M_NULL;
        }
        #endregion

        #region ImageModelFinder Specific
        public bool IsParamExtExist() {
            return MmfParamExt.Exists(PatternConstants.GetSubPatternDirPath(_patternInfo));
        }

        internal MmfParamExt LoadParamExt() {
            return MmfParamExt.Load(PatternConstants.GetSubPatternDirPath(_patternInfo));
        }

        internal int SaveParamExt(MmfParamExt mmfParamExt) {
            return MmfParamExt.Save(
                PatternConstants.GetSubPatternDirPath(_patternInfo),
                mmfParamExt);
        }
        #endregion

        public int GetFindNumber() {
            var runParam = MmfCommon.GetRunParam(_contextId);
            return runParam.FindNumber;
        }
    }
}