/********************************************
 * 版本号：V1.2
 * 作者： 孙剑
 * 最后修改时间：2022年5月23日
 * 
 * 类功能说明：
 * 
 * 
 * 第一个方法：
 * public static  bool PMARunStatus(CogPMAlignTool pmaTool, int i) 可保证任何情况下使用PMATool的结果是可用的，
 * 不可用时返回false。程序不会报错和崩溃。
 * -------------------------------------------
 * 调用例程：
 * double pmaRotation = 0;
 * double pmaX = 0;
 * double pmaY = 0;
 *        if (CPMARunStatus.PMARunStatus(myPMATool, 1))
            {
                pmaRotation = myPMATool.Results[i].GetPose().Rotation;
                pmaX = myPMATool.Results[i].GetPose().TranslationX;
                pmaY = myPMATool.Results[i].GetPose().TranslationY;
            }
 * --------------------------------------------
 * 第二个方法 在cogRecordDisplay_0的控件上画出匹配的外形轮廓和十字标线，
 * 注意，您如果没让PMATool图形显示您所要的轮廓线，有可能不能画出
 * CPMARunStatus.DrawPMA(myPMATool, cogRecordDisplay_0);
 * 
 * 第三个方法只是画了一个自定义的十字。
 * 
 * 备注：画图的方法是在一个CogRecordDisplay上画出。
 * 
********************************************/
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using Cognex.VisionPro.PMAlign;
using Cognex.VisionPro;


namespace AVP.CRobot
{
    /// <summary>
    /// 返回CogPMAlignTool的运行结果,请调用PMARunStatus方法
    /// </summary>
    class CPMARunStatus
    {
        /// <summary>
        /// 返回CogPMAlignTool的运行结果，工具运行成功，并且数量>=i 的时候返回true
        /// </summary>
        /// <param name="pmaTool">PMA工具Tool</param>
        /// <param name="i">预期找到的数量</param>
        /// <returns>数量>=i 的时候返回true</returns>
        public static bool PMARunStatus(CogPMAlignTool pmaTool, int i)
        {
            if (pmaTool.RunStatus.Result == CogToolResultConstants.Accept)
            {
                if (pmaTool.Results.Count >= i)
                    return true;
            }
            return false;
        }
        /// <summary>
        /// 利用输入的PMATool，在CogRecordDisplay 上画出找到工件的轮廓
        /// </summary>
        /// <param name="pmaTool">输入的PMATool</param>
        /// <param name="disp">输入要显示的CogRecordDisplay</param>
        public static void DrawPMA(CogPMAlignTool pmaTool, CogRecordDisplay disp)
        {
            if (pmaTool.RunStatus.Result == CogToolResultConstants.Accept)
            {
                if (pmaTool.Results.Count > 0)  //判断输入的PMATool是否有结果，才可以画图
                {
                    foreach (CogPMAlignResult item in pmaTool.Results)
                    {
                        disp.InteractiveGraphics.Add(item.CreateResultGraphics(CogPMAlignResultGraphicConstants.MatchFeatures),
                            "", false);
                        disp.InteractiveGraphics.Add(item.CreateResultGraphics(CogPMAlignResultGraphicConstants.CoordinateAxes), "", false);
                    }

                }

            }

        }
        /// <summary>
        /// 画十字
        /// </summary>
        /// <param name="centerX"></param>
        /// <param name="centerY"></param>
        /// <param name="angle"></param>
        /// <param name="color"></param>
        /// <param name="myDisplay"></param>
        /// <param name="spaceName"></param>
        public static void DrawPointMarker(double centerX, double centerY, double angle, CogColorConstants color, CogRecordDisplay myDisplay, string spaceName)
        {
            CogPointMarker cgMarker = new CogPointMarker
            {
                X = centerX,
                Y = centerY,
                Rotation = angle,  //弧度
                Color = color,
                SelectedSpaceName = spaceName,
                Interactive = true,
                LineWidthInScreenPixels = 2,
                SizeInScreenPixels = 50
            };
            myDisplay.InteractiveGraphics.Add(cgMarker, null, false);
        }

        /// <summary>
        /// 在给定的图像空间中画圆
        /// </summary>
        /// <param name="centerX"></param>
        /// <param name="centerY"></param>
        /// <param name="color"></param>
        /// <param name="myDisplay"></param>
        /// <param name="spaceName"></param>
        public static void DrawCircle(double centerX, double centerY, CogColorConstants color, CogRecordDisplay myDisplay, string spaceName)
        {
            CogCircle cgCirlcle = new CogCircle
            {
                CenterX = centerX,
                CenterY = centerY,
                Color = color,
                SelectedSpaceName = spaceName
            };
            myDisplay.InteractiveGraphics.Add(cgCirlcle, null, false);
        }

        /// <summary>
        /// 在给定的图像空间中画线段
        /// </summary>
        /// <param name="startX"></param>
        /// <param name="startY"></param>
        /// <param name="endX"></param>
        /// <param name="endY"></param>
        /// <param name="color"></param>
        /// <param name="myDisplay"></param>
        /// <param name="spaceName"></param>
        public static void DrawLineSegment(double startX, double startY, double endX, double endY, CogColorConstants color, CogRecordDisplay myDisplay, string spaceName)
        {
            CogLineSegment cgLineSegment = new CogLineSegment
            {
                StartX = startX,
                StartY = startY,
                EndX = endX,
                EndY = endY,
                Color = color,
                SelectedSpaceName = spaceName,
                StartPointAdornment = CogLineSegmentAdornmentConstants.Arrow,
                EndPointAdornment = CogLineSegmentAdornmentConstants.Arrow
            };
            myDisplay.InteractiveGraphics.Add(cgLineSegment, null, false);
        }
    }
}