TeamAAS-2.5/TeamAAS.Plugins/Plugins.Vpp/Engines/VisionProEngine.cs

using System;
using System.Globalization;
using System.IO;
using System.Threading.Tasks;
using System.Windows;
using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using Plugins.Vpp.Converters;
using Plugins.Vpp.Views;
using TeamAAS.Camera.Images;
using TeamAAS.Vision;
using TeamAAS.Vision.Calibration.Interfaces;

namespace Plugins.Vpp.Engines
{
    /// <summary>
    /// VisionPro 引擎：基于 UCDispVpp 多画面控件（VppWindow 网格 + 双击放大）。
    /// 实现 TeamAAS.Vision.IVisualEngine 抽象契约；引擎 SDK（Cognex）只被本插件引用。
    /// 同时实现 <see cref="ICalibrationVisionProvider"/>：为标定算法提供"给图取特征点"能力，
    /// 通过一个 Cognex <see cref="CogToolBlock"/>（约定输入 InputImage、输出 Found/Point）完成。
    /// </summary>
    public class VisionProEngine : IVisualEngine, ICalibrationVisionProvider
    {
        public string EngineName => "VisionPro9.0";

        // 标定工具（Cognex ToolBlock）与其持久化引用（.vpp 路径）。
        private CogToolBlock _calibTool;
        private string _toolRef;

        public FrameworkElement GetMainView()
        {
            return UCDispVpp.Instance;
        }

        public void ApplyHomeLayout(int frameCount, int arrange)
        {
            // RowColNumber：{画面总数, 排列方式}——内部按最优行列铺设 VppWindow 网格
            // frameCount=0 时清空画面区（主页面不显示画面框）
            UCDispVpp.Instance.RowColNumber = new[] { frameCount, arrange };
        }

        public FrameworkElement GetCalibrationView()
        {
            return new VppCalibrationPage();
        }

        /// <summary>设置指定画面框的标题（画面名称）；index 越界时静默忽略。</summary>
        public void SetFrameCaption(int index, string name)
        {
            if (index < 0 || UCDispVpp.Instance.vppWindow.Count <= index) return;
            UCDispVpp.Instance.vppWindow[index].SetCaption(name);
        }

        /// <summary>设置指定画面框的状态圆点显隐；index 越界时静默忽略。</summary>
        public void SetFrameDotVisible(int index, bool visible)
        {
            if (index < 0 || UCDispVpp.Instance.vppWindow.Count <= index) return;
            UCDispVpp.Instance.vppWindow[index].SetStatusDotVisible(visible);
        }

        #region ICalibrationVisionProvider

        /// <summary>当前标定工具句柄（Cognex CogToolBlock）。</summary>
        public object CurrentTool => _calibTool;

        /// <summary>标定工具持久化引用（.vpp 路径）。</summary>
        public string ToolRef
        {
            get { return _toolRef; }
            set { _toolRef = value; }
        }

        /// <summary>
        /// 在图像上运行标定 ToolBlock，返回特征点像素坐标。
        /// 约定：ToolBlock 输入终端 "InputImage"，输出终端 "Found"(bool)、"Point"(字符串 "x,y[,angle]")。
        /// </summary>
        public Task<(bool found, double px, double py, double angle)> FindCalibPoint(GenImage image)
        {
            return Task.Run(() =>
            {
                try
                {
                    if (_calibTool == null || image == null) return (false, 0d, 0d, 0d);
                    ICogImage cog = GenImageConverter.ToCogImage(image);
                    if (cog == null) return (false, 0d, 0d, 0d);

                    var input = _calibTool.Inputs["InputImage"];
                    if (input != null) input.Value = cog;

                    _calibTool.Run();
                    CogToolBlockTerminalCollection outputs = _calibTool.Outputs;

                    var foundTerminal = outputs["Found"];
                    bool found = foundTerminal != null && foundTerminal.Value != null && Convert.ToBoolean(foundTerminal.Value);
                    if (!found) return (false, 0d, 0d, 0d);

                    double px = 0, py = 0, angle = 0;
                    var pointTerminal = outputs["Point"];
                    if (pointTerminal != null && pointTerminal.Value != null)
                    {
                        ParsePoint(pointTerminal.Value, ref px, ref py, ref angle);
                    }
                    return (true, px, py, angle);
                }
                catch
                {
                    return (false, 0d, 0d, 0d);
                }
            });
        }

        /// <summary>畸变校正：VisionPro 引擎暂原样返回（如需棋盘格校正后续在此接入）。</summary>
        public Task<GenImage> Undistort(GenImage image)
        {
            return Task.FromResult(image);
        }

        /// <summary>从 .vpp 引用加载标定 ToolBlock；引用为空或加载失败时新建空 ToolBlock。</summary>
        public void LoadTool(string toolRef)
        {
            _toolRef = toolRef;
            _calibTool = null;
            try
            {
                if (!string.IsNullOrEmpty(toolRef) && File.Exists(toolRef))
                {
                    _calibTool = CogSerializer.LoadObjectFromFile(toolRef) as CogToolBlock;
                }
            }
            catch
            {
                _calibTool = null;
            }
            if (_calibTool == null) _calibTool = new CogToolBlock();
        }

        /// <summary>将当前标定 ToolBlock 保存到目录下的 CalibTool.vpp，返回该路径作为持久化引用。</summary>
        public string SaveTool(string directory)
        {
            if (_calibTool == null) return _toolRef;
            try
            {
                if (!Directory.Exists(directory)) Directory.CreateDirectory(directory);
                string path = Path.Combine(directory, "CalibTool.vpp");
                CogSerializer.SaveObjectToFile(_calibTool, path);
                _toolRef = path;
                return path;
            }
            catch
            {
                return _toolRef;
            }
        }

        private static void ParsePoint(object value, ref double px, ref double py, ref double angle)
        {
            string s = value.ToString();
            if (string.IsNullOrWhiteSpace(s)) return;
            string[] items = s.Split(',');
            if (items.Length >= 2
                && double.TryParse(items[0].Trim(), NumberStyles.Float, CultureInfo.InvariantCulture, out double x)
                && double.TryParse(items[1].Trim(), NumberStyles.Float, CultureInfo.InvariantCulture, out double y))
            {
                px = x; py = y;
            }
            if (items.Length >= 3
                && double.TryParse(items[2].Trim(), NumberStyles.Float, CultureInfo.InvariantCulture, out double a))
            {
                angle = a;
            }
        }

        #endregion
    }
}