#include "stdafx.h"
#include "RcutDotProcess.h"
#include "VisionBufferPro.h"
#include "FileRecipe.h"
#include "Bspline.h"
#include "SoftVisionApp.h"

CRcutDotProcess::CRcutDotProcess(){
	/* code */
	m_id = 0;
	m_strName.Format(_T("Point%d"), m_id);
	m_nPoseX = 0;
	m_nPoseY = 0;
	m_width = 0;
	m_height = 0;

	m_nUse = 0;
	m_nChamferSize = 25;
	m_nChipRange = 30;
	m_nChipThres = 50;

	m_nStartAngle = 8;
	m_nEndAngle = 82;
	m_nDx = 50;
	m_nDy = 50;

	m_nBinThres = 20;
	m_nEdgeSmooth = 1;

	m_x1 = -1;
	m_y1 = -1;
	m_xMmvsp = 0.0f;
	m_yMmvsp = 0.0f;

	HalconCpp::GenEmptyObj(&m_hImage);
	HalconCpp::GenEmptyObj(&m_hRoiRegion);
	HalconCpp::GenEmptyObj(&m_hChipRegion);
}

CRcutDotProcess::CRcutDotProcess(DimensionDir eDir, int id) {
	/* code */
	m_eDir = eDir;
	m_id = id;
	switch (eDir) {
	case GLOBAL_DEFINE::DIMENSION_A:
		m_strName.Format(_T("TopA_RCut_Dot%d"), m_id);
		break;
	case GLOBAL_DEFINE::DIMENSION_B:
		m_strName.Format(_T("TopB_RCut_Dot%d"), m_id);
		break;
	case GLOBAL_DEFINE::DIMENSION_C:
		m_strName.Format(_T("TopC_RCut_Dot%d"), m_id);
		break;
	case GLOBAL_DEFINE::DIMENSION_D:
		m_strName.Format(_T("TopD_RCut_Dot%d"), m_id);
		break;
	case GLOBAL_DEFINE::DIMENSION_A_DN:
		m_strName.Format(_T("BotA_RCut_Dot%d"), m_id);
		break;
	case GLOBAL_DEFINE::DIMENSION_B_DN:
		m_strName.Format(_T("BotB_RCut_Dot%d"), m_id);
		break;
	case GLOBAL_DEFINE::DIMENSION_C_DN:
		m_strName.Format(_T("BotC_RCut_Dot%d"), m_id);
		break;
	case GLOBAL_DEFINE::DIMENSION_D_DN:
		m_strName.Format(_T("BotD_RCut_Dot%d"), m_id);
		break;
	case GLOBAL_DEFINE::DIMENSION_NONE:
		m_strName.Format(_T("P_RCut_Dot%d"), m_id);
		break;
	default:
		m_strName.Format(_T("P_RCut_Dot%d"), m_id);
		break;
	}
	m_nPoseX = 0;
	m_nPoseY = 0;
	m_width = 0;
	m_height = 0;

	m_nUse = 0;
	m_nChamferSize = 25;
	m_nChipRange = 30;
	m_nChipThres = 50;

	m_nStartAngle = 8;
	m_nEndAngle = 82;
	m_nDx = 50;
	m_nDy = 50;

	m_nBinThres = 20;
	m_nEdgeSmooth = 1;

	m_x1 = -1;
	m_y1 = -1;
	m_xMmvsp = 0.0f;
	m_yMmvsp = 0.0f;

	HalconCpp::GenEmptyObj(&m_hImage);
	HalconCpp::GenEmptyObj(&m_hRoiRegion);
	HalconCpp::GenEmptyObj(&m_hChipRegion);
}

CRcutDotProcess::~CRcutDotProcess(){
	/* code */
}

void CRcutDotProcess::getRegion(int &xPos, int &yPos, int &width, int &height){
	/* code */
	CBlSideData* pSideData = CVisionRecipe::getInstance()->getSideData(m_eDir);
	if (nullptr == pSideData) return;

	//½øÐÐ×ø±êת»»
	Point2I offset;
	offset.x = m_nPoseX;
	offset.y = m_nPoseY;
	Point2I result;

	int nType = 1;
	if (1 != m_id) {
		nType = 2;
	}
	if (!CVisionBufferPro::TransformToReal(m_eDir, offset, nType, result)) return;

	int dWidth = (int)(m_width / pSideData->m_dPixelSizeX + 0.5f);
	int dHeight = (int)(m_height / pSideData->m_dPixelSizeY + 0.5f);

	if (1 == m_id) {   //Top RCut)
		xPos = result.x - dWidth + 1;
		yPos = result.y - dHeight + 1;
		width = dWidth;
		height = dHeight;
	}
	else {
		xPos = result.x - dWidth + 1;
		yPos = result.y;
		width = dWidth;
		height = dHeight;
	}
}

void CRcutDotProcess::setRegion(int xPos, int yPos, int width, int height) {
	/* code */
	//»ñÈ¡²à¹âÊý¾Ý
	CBlSideData* pSideData = CVisionRecipe::getInstance()->getSideData(m_eDir);
	if (nullptr == pSideData) return;

	//ÉèÖÃͼÏñµÄÇøÓò
	int x1 = xPos;
	int y1 = yPos;
	int x2 = xPos + width - 1;
	int y2 = yPos + height - 1;
//	Log_GetDebug()->TraceInfo("Trace Set ROI: %d, %d, %d, %d, %d, %d, %d", (int)m_eDir, m_id, x1, y1, x2, y2, __LINE__);

	//¼Ç¼ÓÒÏÂ×ó±ß
	Point2I point;
	if (1 == m_id) {   //Top RCut
		point.x = x2;
		point.y = y2;
	}
	else {            //Bot RCut
		point.x = x2;
		point.y = y1;
	}
	Point2I pose, ptTop, ptBot;
	if (!CSoftVisionApp::getInstance()->transformToStandard(m_eDir,point, pose, ptTop, ptBot)) return;

	//ÉèÖÃposeºÍ¿í¸ß
	if (1 == m_id) {   //Top RCut
		m_nPoseX = ptTop.x;
		m_nPoseY = ptTop.y;
	}
	else {
		m_nPoseX = ptBot.x;
		m_nPoseY = ptBot.y;
	}
	m_width = (int)(pSideData->m_dPixelSizeX * width);
	m_height = (int)(pSideData->m_dPixelSizeY * height);	

#if 0
	int x = 0;
	int y = 0;
	int w = 0;
	int h = 0;
	getRegion(x, y, w, h);

	Log_GetDebug()->TraceInfo("Trace Input Info: %d, %d, %d, %d, %d", xPos, yPos, width, height, __LINE__);
	Log_GetDebug()->TraceInfo("Trace Input Info: %d, %d, %d, %d, %d", x, y, w, h, __LINE__);
#endif
}

int CRcutDotProcess::getID(void) {
	/* code*/
	return m_id;
}

void CRcutDotProcess::setID(int id) {
	/* code */
	m_id = id;
}

int CRcutDotProcess::Execute(DimensionDir eDir, Point2I offset) {
	/* code */
	m_fMaxChamber = 0.0f;
	m_nNgInfo.clear();
	HalconCpp::GenEmptyObj(&m_hResultRegion);
	if (1 != m_nUse)  return 0;
	if (m_width < 1 || m_height < 1) return 0;

	//1. »ñÈ¡½âÊͶÈ
	getMmvsp(eDir);

	//2. »ñȡͼÏñ
	if (!getProcImage(eDir, offset, m_hImage)) return 0;

	//3. Chip¼ì²â
	InspectChip(m_hImage);

	//5. »ñÈ¡½á¹û
	getResult();

	//5. ´òÓ¡Êý¾Ý
	int nRet = (int)(m_nNgInfo.size());
	//KeyDebugInfo inf = CVisionRecipe::getInstance()->getKeyInfo();
	//if (inf.isDebugTool && inf.isCutLineKey) {
	//	for (int i = 0; i < nRet; i++) {
	//		Log_GetDebug()->TraceInfo("Trace CutLine Result %d: %d, %d, (%.1f, %.1f), %d",
	//			(int)m_eDir, m_id, i, m_nNgInfo[i].xResult, m_nNgInfo[i].yResult, __LINE__);
	//	}
	//}
	
	return nRet;
}

void CRcutDotProcess::getResult(void) {
	/* code */
	int nCount = ClsVision::ObjectNumber(m_hResultRegion);
	if (nCount < 1) return;

	NgDotInfo ng;
	ng.eDir = m_eDir;
	ng.id = m_id;
	ng.isRes = false;
	ng.minValue = m_nDx;
	ng.maxValue = m_nDy;
	ng.strName = m_strName;
	ng.ngType = DefectLoc_Chip;   //ȱÏÝÀàÐÍ
	ng.eVision = VISION_RCUT;

	CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(m_eDir);
	HalconCpp::HTuple hvArea, hvY, hvX;
	HalconCpp::HTuple hvY1, hvX1, hvY2, hvX2;
	HalconCpp::AreaCenter(m_hResultRegion, &hvArea, &hvY, &hvX);
	HalconCpp::SmallestRectangle1(m_hResultRegion, &hvY1, &hvX1, &hvY2, &hvX2);
	for (int i = 0; i < nCount; i++) {
		ng.result = hvArea[i].I();
		ng.xResult = (int)(m_xMmvsp * (hvX2[i].I() - hvX1[i].I() + 1));
		ng.yResult = (int)(m_yMmvsp * (hvY2[i].I() - hvY1[i].I() + 1));
		ng.xPosPxl = (int)(0.5 * (hvX2[i].I() + hvX1[i].I())) + m_x1;
		ng.yPosPxl = (int)(0.5 * (hvY1[i].I() + hvY2[i].I())) + m_y1;
		ng.x1 = hvX1[i].I() + m_x1 - 1;
		ng.y1 = hvY1[i].I() + m_y1 - 1;
		ng.x2 = hvX2[i].I() + m_x1 + 1;
		ng.y2 = hvY2[i].I() + m_y1 + 1;

		if (nullptr != pSideData) {  //ÇøÓòµÄÏÔʾ½á¹û
			DispVisionResult inf;
			inf.nType = 1;
			inf.eDir = (int)(m_eDir);
			inf.eVision = (int)(VISION_RCUT);
			inf.rectX1 = ng.x1;
			inf.rectY1 = ng.y1;
			inf.rectX2 = ng.x2;
			inf.rectY2 = ng.y2;
			pSideData->m_vDispVisionResult.push_back(inf);
		}

		m_nNgInfo.push_back(ng);
	}
}

void CRcutDotProcess::getMmvsp(DimensionDir eDir) {
	/* code */
	CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(eDir);
	m_xMmvsp = pSideData->m_dPixelSizeX;
	m_yMmvsp = pSideData->m_dPixelSizeY;
}

bool CRcutDotProcess::getProcImage(DimensionDir eDir, Point2I offset, HalconCpp::HObject &hImage) {
	/* code */
	m_eDir = eDir;
	if (m_width < 1 && m_height < 1) return false;
	if (0 == m_nPoseX && 0 == m_nPoseY)  return false;

	int left = 0;
	int top = 0;
	int width = 0;
	int height = 0;
	getRegion(left, top, width, height);

	int x1 = left;
	int y1 = top;
	int x2 = left + width - 1;
	int y2 = top + height - 1;
	
	m_x1 = x1;
	m_y1 = y1;
	bool bRes = CVisionBufferPro::getImageROI(eDir, hImage, x1, y1, x2, y2);

//	Log_GetDebug()->TraceInfo("Trace ROI: %d, %d, %d, %d, %d, %d", (int)m_eDir, m_id, x1, y1, x2, y2);

	return bRes;
}

void CRcutDotProcess::TechImage(void) {
	/* code */
	ClsVision::GenEmptyObject(m_hChipRegion);
	ClsVision::GenEmptyObject(m_hRoiRegion);

	Point2I offset;
	offset.x = 0;
	offset.y = 0;

	Execute(m_eDir, offset); 
}

void CRcutDotProcess::InspectChip(HalconCpp::HObject &hImage) {
	/* code */
	if (1 == m_id) {
		InspectTopChip(hImage);
		return;
	}

	InspectBotChip(hImage);
}

bool CRcutDotProcess::getRcutEdgePoints(HalconCpp::HObject &hImage, std::vector<Point2D> &vStartPoints, std::vector<Point2D> &vEndPoints, std::vector<Point2D> &vResPoints, double &maxDist, double &minDist) {
	/* code */
	int width = 0;
	int height = 0;
	minDist = 0.0f;
	maxDist = 0.0f;
	ClsVision::GetImageSize(hImage, width, height);
	if (width < 1 || height < 1) return false;

	//HalconCpp::HWindow hDispWin(0, 0, width, height);
	//hDispWin.SetPart(0, 0, height - 1, width - 1);
	//hDispWin.SetColored(6);
	//hDispWin.DispObj(hImage);
	//hDispWin.Click();

	maxDist = 0;
	minDist = MAXINT;
	if (1 == m_id) {
		double radius = sqrt(1.0 * width * width + 1.0 * height * height);
		double centerX = width - 1;
		double centerY = height - 1;
		double angle0 = m_nStartAngle;
		double angle1 = m_nEndAngle;
		double step = 1.0 * (m_nEndAngle - m_nStartAngle) / 15;
		std::vector<Line2D> vLines;
		std::vector<Point2D> vStartResults;
		std::vector<Point2D> vEndResuts;
		std::vector<bool> vFindRes;

		for (int i = 0; i < 16; i++) {
			double angle = angle0 + i * step - 90;
			double phi = DegToRad(angle);
			double cosx = cos(phi);
			double sinx = sin(phi);
			double x0 = centerX - radius * cosx;
			double y0 = centerY + radius * sinx;
			HalconCpp::HTuple hvRow, hvColumn, hvIsOverlapping, hvLength;
			HalconCpp::IntersectionLines(y0, x0, centerY, centerX, 5, -100, 5, 100, &hvRow, &hvColumn, &hvIsOverlapping);
			HalconCpp::TupleLength(hvRow, &hvLength);
			if (hvLength[0].I() < 1) continue;
			double x1 = hvColumn[0].D();
			double y1 = hvRow[0].D();
			if (x1 < 0) {
				HalconCpp::IntersectionLines(y0, x0, centerY, centerX, -100, 5, 100, 5, &hvRow, &hvColumn, &hvIsOverlapping);
				HalconCpp::TupleLength(hvRow, &hvLength);
				if (hvLength[0].I() < 1) continue;
				x1 = hvColumn[0].D();
				y1 = hvRow[0].D();
			}
			Line2D line;
			line.pt0.x = x1;
			line.pt0.y = y1;
			line.pt1.x = centerX;
			line.pt1.y = centerY;
			Point2D ptStart, ptEnd;
			bool isFind = CVisionBufferPro::GetMeasureRCutPos(hImage, line, m_nBinThres, 0, m_nChamferSize, -1.0f, ptStart, ptEnd);
			vLines.push_back(line);
			vStartResults.push_back(ptStart);
			vEndResuts.push_back(ptEnd);
			vFindRes.push_back(isFind);
			
			//HalconCpp::HObject hDispRegion, hDispObj1, hDispObj2;
			//HalconCpp::GenRegionLine(&hDispRegion, y1, x1, centerY, centerX);
			//if (!isFind) {
			//	hDispWin.SetColor("blue");
			//	hDispWin.DispObj(hDispRegion);
			//	hDispWin.Click();
			//}
			if (!isFind) 	continue;

			//HalconCpp::GenCrossContourXld(&hDispObj1, ptStart.y, ptStart.x, 15, 0);
			//HalconCpp::GenCrossContourXld(&hDispObj2, ptEnd.y, ptEnd.x, 15, 0);
			//hDispWin.SetColor("blue");
			//hDispWin.DispObj(hDispRegion);
			//hDispWin.SetColor("green");
			//hDispWin.DispObj(hDispObj1);
			//hDispWin.DispObj(hDispObj2);
			//hDispWin.Click();
		}

		double avg = 0.0f;
		double nCount = 0;
		for (int i = 0; i < 16; i++) {
			if (!vFindRes[i])   continue;

			double dist = ClsVision::DistancePP(vStartResults[i], vEndResuts[i]);
			avg += dist;
			nCount += 1;
		}
		if (nCount < 3) {
			avg = 0.8 * m_nChamferSize;
		}
		else {
			avg = avg / nCount;
		}
		
		for (int i = 0; i < 16; i++) {
			if (vFindRes[i])   continue;

			Line2D line = vLines[i];
			Point2D ptStart, ptEnd;
//			Log_GetDebug()->TraceInfo("Line %d: %.2f, %.2f, %.2f, %.2f", i, line.pt0.x, line.pt0.y, line.pt1.x, line.pt1.y);
			bool isFind = CVisionBufferPro::GetMeasureRCutPos(hImage, line, m_nBinThres, 0, m_nChamferSize, avg, ptStart, ptEnd);

			//HalconCpp::HObject hDispRegion, hDispObj1, hDispObj2;
			//HalconCpp::GenRegionLine(&hDispRegion, line.pt0.y, line.pt0.x, line.pt1.y, line.pt1.x);
			//if (!isFind) {
			//	hDispWin.SetColor("blue");
			//	hDispWin.DispObj(hDispRegion);
			//	hDispWin.Click();
			//}
			if (!isFind) continue;

			vFindRes[i] = isFind;
			vStartResults[i] = ptStart;
			vEndResuts[i] = ptEnd;

			//HalconCpp::GenCrossContourXld(&hDispObj1, ptStart.y, ptStart.x, 15, 0);
			//HalconCpp::GenCrossContourXld(&hDispObj2, ptEnd.y, ptEnd.x, 15, 0);
			//hDispWin.SetColor("blue");
			//hDispWin.DispObj(hDispRegion);
			//hDispWin.SetColor("green");
			//hDispWin.DispObj(hDispObj1);
			//hDispWin.DispObj(hDispObj2);
			//hDispWin.Click();
		}

		for (int i = 0; i < 16; i++) {
			if (!vFindRes[i])   continue;

			double dist = ClsVision::DistancePP(vStartResults[i], vEndResuts[i]);
			if (dist > maxDist)  maxDist = dist;
			if (dist < minDist)  minDist = dist;
			vStartPoints.push_back(vStartResults[i]);
			vEndPoints.push_back(vEndResuts[i]);
			Point2D midPoint;
			midPoint.x = 0.5 * (vStartResults[i].x + vEndResuts[i].x);
			midPoint.y = 0.5 * (vStartResults[i].y + vEndResuts[i].y);
			vResPoints.push_back(midPoint);
		}

	}
	else {
		double radius = sqrt(1.0 * width * width + 1.0 * height * height);
		double centerX = width - 1;
		double centerY = 0;
		double angle0 = m_nStartAngle;
		double angle1 = m_nEndAngle;
		double step = 1.0 * (m_nEndAngle - m_nStartAngle) / 15;

		std::vector<Line2D> vLines;
		std::vector<Point2D> vStartResults;
		std::vector<Point2D> vEndResuts;
		std::vector<bool> vFindRes;

		for (int i = 0; i < 16; i++) {
			double angle = angle0 + i * step;
			double phi = DegToRad(angle);
			double cosx = cos(phi);
			double sinx = sin(phi);
			double x0 = centerX - radius * cosx;
			double y0 = centerY + radius * sinx;
			HalconCpp::HTuple hvRow, hvColumn, hvIsOverlapping, hvLength;
			HalconCpp::IntersectionLines(y0, x0, centerY, centerX, height - 6, -100, height - 6, 100, &hvRow, &hvColumn, &hvIsOverlapping);
			HalconCpp::TupleLength(hvRow, &hvLength);
			if (hvLength[0].I() < 1) continue;
			double x1 = hvColumn[0].D();
			double y1 = hvRow[0].D();
			if (x1 < 0) {
				HalconCpp::IntersectionLines(y0, x0, centerY, centerX, -100, 5, 100, 5, &hvRow, &hvColumn, &hvIsOverlapping);
				HalconCpp::TupleLength(hvRow, &hvLength);
				if (hvLength[0].I() < 1) continue;
				x1 = hvColumn[0].D();
				y1 = hvRow[0].D();
			}
			Line2D line;
			line.pt0.x = x1;
			line.pt0.y = y1;
			line.pt1.x = centerX;
			line.pt1.y = centerY;
			Point2D ptStart, ptEnd;
			bool isFind = CVisionBufferPro::GetMeasureRCutPos(hImage, line, m_nBinThres, 0, m_nChamferSize, -1.0f, ptStart, ptEnd);
			vLines.push_back(line);
			vStartResults.push_back(ptStart);
			vEndResuts.push_back(ptEnd);
			vFindRes.push_back(isFind);

			//HalconCpp::HObject hDispRegion, hDispObj1, hDispObj2;
			//HalconCpp::GenRegionLine(&hDispRegion, y1, x1, centerY, centerX);
			//if (!isFind) {
			//	hDispWin.SetColor("blue");
			//	hDispWin.DispObj(hDispRegion);
			//	hDispWin.Click();
			//}
			if (!isFind) 	continue;

			//HalconCpp::GenCrossContourXld(&hDispObj1, ptStart.y, ptStart.x, 15, 0);
			//HalconCpp::GenCrossContourXld(&hDispObj2, ptEnd.y, ptEnd.x, 15, 0);
			//hDispWin.SetColor("blue");
			//hDispWin.DispObj(hDispRegion);
			//hDispWin.SetColor("green");
			//hDispWin.DispObj(hDispObj1);
			//hDispWin.DispObj(hDispObj2);
			//hDispWin.Click();
		}

		double avg = 0.0f;
		double nCount = 0;
		for (int i = 0; i < 16; i++) {
			if (!vFindRes[i])   continue;

			double dist = ClsVision::DistancePP(vStartResults[i], vEndResuts[i]);
			avg += dist;
			nCount += 1;
		}
		if (nCount < 3) {
			avg = 0.8 * m_nChamferSize;
		}
		else {
			avg = avg / nCount;
		}

		for (int i = 0; i < 16; i++) {
			if (vFindRes[i])   continue;

			Line2D line = vLines[i];
			Point2D ptStart, ptEnd;
			bool isFind = CVisionBufferPro::GetMeasureRCutPos(hImage, line, m_nBinThres, 0, m_nChamferSize, avg, ptStart, ptEnd);

			//HalconCpp::HObject hDispRegion, hDispObj1, hDispObj2;
			//HalconCpp::GenRegionLine(&hDispRegion, line.pt0.y, line.pt0.x, line.pt1.y, line.pt1.x);
			//if (!isFind) {
			//	hDispWin.SetColor("blue");
			//	hDispWin.DispObj(hDispRegion);
			//	hDispWin.Click();
			//}
			if (!isFind) continue;

			vFindRes[i] = isFind;
			vStartResults[i] = ptStart;
			vEndResuts[i] = ptEnd;

			//HalconCpp::GenCrossContourXld(&hDispObj1, ptStart.y, ptStart.x, 15, 0);
			//HalconCpp::GenCrossContourXld(&hDispObj2, ptEnd.y, ptEnd.x, 15, 0);
			//hDispWin.SetColor("blue");
			//hDispWin.DispObj(hDispRegion);
			//hDispWin.SetColor("green");
			//hDispWin.DispObj(hDispObj1);
			//hDispWin.DispObj(hDispObj2);
			//hDispWin.Click();
		}

		for (int i = 0; i < 16; i++) {
			if (!vFindRes[i])   continue;

			double dist = ClsVision::DistancePP(vStartResults[i], vEndResuts[i]);
			if (dist > maxDist)  maxDist = dist;
			if (dist < minDist)  minDist = dist;
			vStartPoints.push_back(vStartResults[i]);
			vEndPoints.push_back(vEndResuts[i]);
			Point2D midPoint;
			midPoint.x = 0.5 * (vStartResults[i].x + vEndResuts[i].x);
			midPoint.y = 0.5 * (vStartResults[i].y + vEndResuts[i].y);
			vResPoints.push_back(midPoint);
		}
	}

	int num = (int)(vStartPoints.size());
	if (num < 3) return false;

	return true;
}

void CRcutDotProcess::InspectBotChip(HalconCpp::HObject &hImage) {
	/* code */
	if (2 != m_id) return;

	double maxDist = 0.0f;
	double minDist = 0.0f;
	std::vector<Point2D> vStartPoints;
	std::vector<Point2D> vEndPoints;
	std::vector<Point2D> vResPoints;
	if (!getRcutEdgePoints(hImage, vStartPoints, vEndPoints, vResPoints, maxDist, minDist)) return;
	m_fMaxChamber = maxDist;
	m_fMinChamber = minDist;

	//int width = 0;
	//int height = 0;
	//ClsVision::GetImageSize(hImage, width, height);
	//HalconCpp::HWindow hDispWin(0, 0, width, height);
	//hDispWin.SetPart(0, 0, height - 1, width - 1);
	//hDispWin.SetColored(6);
	//hDispWin.DispObj(hImage);

	//int sz = (int)(vStartPoints.size());
	//for (int i = 0; i < sz; i++) {
	//	HalconCpp::HObject dispObject1, dispObject2;
	//	HalconCpp::GenCrossContourXld(&dispObject1, vStartPoints[i].y, vStartPoints[i].x, 15, 0);
	//	HalconCpp::GenCrossContourXld(&dispObject2, vEndPoints[i].y, vEndPoints[i].x, 15, 0);
	//	hDispWin.DispObj(dispObject1);
	//	hDispWin.DispObj(dispObject2);
	//}
	//hDispWin.Click();


	HalconCpp::HObject hContourRegion, hChipRegion;
	if (!getRCutRegion(vStartPoints, vEndPoints, hContourRegion, hChipRegion)) return;
	m_hRoiRegion = hContourRegion;
	m_hChipRegion = hChipRegion;

	//hDispWin.SetDraw("fill");
	//hDispWin.DispObj(hContourRegion);
	//hDispWin.Click();

	//hDispWin.DispObj(hImage);
	//hDispWin.DispObj(hChipRegion);
	//hDispWin.Click();

	HalconCpp::HObject hRectRegion, hSelectRegion;
	genRectangeRegion(hRectRegion);
	ImageBinThreshold(hImage, hRectRegion, hContourRegion, hSelectRegion);

	//hDispWin.DispObj(hImage);
	//hDispWin.DispObj(hSelectRegion);
	//hDispWin.Click();

	HalconCpp::HObject hRealRegion;
	if (!getRCutRealRegion(hSelectRegion, vResPoints, hRealRegion)) return;

	//hDispWin.DispObj(hImage);
	//hDispWin.DispObj(hRealRegion);
	//hDispWin.Click();

	InpsectChipRegion(hRealRegion, hChipRegion);
}

bool CRcutDotProcess::getRCutRegion(std::vector<Point2D> vStartPoints, std::vector<Point2D> vEndPoints, HalconCpp::HObject &hTargetRegion, HalconCpp::HObject &hRoiRegion) {
	/* code */
	int num = (int)(vStartPoints.size());
	if (num < 1) return false;

	//1. »ñÈ¡µãÕó
	std::vector<vec> vStartCtrlPoint;
	std::vector<vec> vEndCtrlPoint;
	for (int i = 0; i < num; i++) {
		float x0 = (float)vStartPoints[i].x;
		float y0 = (float)vStartPoints[i].y;
		vec p0(x0, y0, 0);
		vStartCtrlPoint.push_back(p0);
		float x1 = (float)vEndPoints[i].x;
		float y1 = (float)vEndPoints[i].y;
		vec p1(x1, y1, 0);
		vEndCtrlPoint.push_back(p1);
	}

	//2. Ö´ÐÐÑùÌõ²åÖµ
	CBspline bcurve(vStartCtrlPoint);
	bcurve.execute();
	CBspline endBcurve(vEndCtrlPoint);
	endBcurve.execute();

	//3. »ñÈ¡ÑùÌõ²îÖµÂÖÀªµã
	int sz = (int)(bcurve.m_vPtResults.size());
	if (sz < 1) return false;
	HalconCpp::HTuple hvY, hvX;
	for (int i = 0; i < sz; i++) {
		hvX[i] = bcurve.m_vPtResults[i][0];
		hvY[i] = bcurve.m_vPtResults[i][1];
	}
	int idx = sz;
	sz = (int)(endBcurve.m_vPtResults.size());
	if (sz > 0) {
		for (int i = sz - 1; i >= 0; i--) {
			hvX[idx] = endBcurve.m_vPtResults[i][0];
			hvY[idx] = endBcurve.m_vPtResults[i][1];
			idx += 1;
		}
	}

	if (idx < 3) return false;

	//4. Éú²úÇøÓò
	HalconCpp::GenRegionPolygonFilled(&hTargetRegion, hvY, hvX);

	HalconCpp::HTuple hvY0, hvX0;
	for (int i = 0; i < sz; i++) {
		hvX0[i] = endBcurve.m_vPtResults[i][0];
		hvY0[i] = endBcurve.m_vPtResults[i][1];
	}
	if (1 == m_id) {
		hvX0[sz] = m_width - 1;
		hvY0[sz] = m_height - 1;
	}
	else {
		hvX0[sz] = m_width - 1;
		hvY0[sz] = 0;
	}
	HalconCpp::HObject hRegion1;
	HalconCpp::GenRegionPolygonFilled(&hRegion1, hvY0, hvX0);

	HalconCpp::HObject hTempRegion, hTempRegio2, hTempRegio3;
	HalconCpp::DilationCircle(hTargetRegion, &hTempRegion, 2.5);
	HalconCpp::DilationCircle(hTempRegion, &hTempRegio2, m_nChipRange);
	HalconCpp::Difference(hTempRegio2, hTempRegion, &hTempRegio3);
	HalconCpp::Intersection(hTempRegio3, hRegion1, &hRoiRegion);

	return true;
}

void CRcutDotProcess::genRectangeRegion(HalconCpp::HObject &hRectRegion) {
	/* code */
	if (1 == m_id) {
		double centerX = m_width - 1;
		double centerY = m_height - 1;
		double radius = sqrt(1.0 * m_width * m_width + 1.0 * m_height * m_height);

		double x1 = 0.0f;
		double y1 = 0.0f;
		if (true) {   //Ö±Ïß
			double angle = m_nStartAngle - 90.0f;
			double phi = DegToRad(angle);
			double cosx = cos(phi);
			double sinx = sin(phi);
			double x0 = centerX - radius * cosx;
			double y0 = centerY + radius * sinx;
			HalconCpp::HTuple hvY, hvX, hvIsOverlapping;
			HalconCpp::IntersectionLines(y0, x0, centerY, centerX, 0, -100, 0, 100, &hvY, &hvX, &hvIsOverlapping);
			x1 = hvX[0].D();
			y1 = hvY[0].D();
		}

		double x2 = 0.0f;
		double y2 = 0.0f;
		if (true) {   //Ö±Ïß
			double angle = m_nEndAngle - 90.0f;
			double phi = DegToRad(angle);
			double cosx = cos(phi);
			double sinx = sin(phi);
			double x0 = centerX - radius * cosx;
			double y0 = centerY + radius * sinx;
			HalconCpp::HTuple hvY, hvX, hvIsOverlapping;
			HalconCpp::IntersectionLines(y0, x0, centerY, centerX, -100, 0, 100, 0, &hvY, &hvX, &hvIsOverlapping);
			x2 = hvX[0].D();
			y2 = hvY[0].D();
		}

		HalconCpp::GenRectangle1(&hRectRegion, 0, 0, y2, x1);
	}
	else {
		double centerX = m_width - 1;
		double centerY = 0;
		double radius = sqrt(1.0 * m_width * m_width + 1.0 * m_height * m_height);

		double x1 = 0.0f;
		double y1 = 0.0f;
		if (true) {   //Ö±Ïß
			double angle = m_nStartAngle;
			double phi = DegToRad(angle);
			double cosx = cos(phi);
			double sinx = sin(phi);
			double x0 = centerX - radius * cosx;
			double y0 = centerY + radius * sinx;
			HalconCpp::HTuple hvY, hvX, hvIsOverlapping;
			HalconCpp::IntersectionLines(y0, x0, centerY, centerX, 0, 0, m_height-1, 0, &hvY, &hvX, &hvIsOverlapping);
			y1 = hvY[0].D();
		}

		double x2 = 0.0f;
		double y2 = 0.0f;
		if (true) {   //Ö±Ïß
			double angle = m_nEndAngle;
			double phi = DegToRad(angle);
			double cosx = cos(phi);
			double sinx = sin(phi);
			double x0 = centerX - radius * cosx;
			double y0 = centerY + radius * sinx;
			HalconCpp::HTuple hvY, hvX, hvIsOverlapping;
			HalconCpp::IntersectionLines(y0, x0, centerY, centerX, m_height - 1, -100, m_height - 1, 100, &hvY, &hvX, &hvIsOverlapping);
			x2 = hvX[0].D();
			y2 = m_height - 1;
		}

		HalconCpp::GenRectangle1(&hRectRegion, y1, x1, y2, x2);
	}
}

void CRcutDotProcess::ImageBinThreshold(HalconCpp::HObject &hImage, HalconCpp::HObject &hRectRegion, HalconCpp::HObject &hRcutRegion, HalconCpp::HObject &hTarget) {
	/* code */
	int width = 0;
	int height = 0;
	ClsVision::GetImageSize(hImage, width, height);
	if (width < 1 || height < 1) {
		HalconCpp::GenEmptyObj(&hTarget);
		return;
	}

	//1. ͼÏñ·Ö¸î
	HalconCpp::HObject hProcObject, hBinRegion;
	HalconCpp::ReduceDomain(hImage, hRectRegion, &hProcObject);
	HalconCpp::Threshold(hProcObject, &hBinRegion, 0, m_nChipThres);

	//2. ͼÏñºÏ²¢
	HalconCpp::HObject hTempRegion, hUionRegion, hConRegion;
	HalconCpp::ConcatObj(hRcutRegion, hBinRegion, &hTempRegion);
	HalconCpp::Union1(hTempRegion, &hUionRegion);
	HalconCpp::Connection(hUionRegion, &hConRegion);
	HalconCpp::SelectShape(hConRegion, &hTarget, "area", "and", 500, MAXINT);
}

bool CRcutDotProcess::getRCutRealRegion(HalconCpp::HObject &hSelectRegion, std::vector<Point2D> vPoints, HalconCpp::HObject &hTarget) {
	/* code */
	int num = (int)(vPoints.size());
	if (num < 3) return false;

	HalconCpp::HObject hSelRegion;
	HalconCpp::HTuple hvIndex, hvLength;
	HalconCpp::GenEmptyObj(&hSelRegion);

	//1. µÚÒ»¸öµã
	HalconCpp::GetRegionIndex(hSelectRegion, (int)vPoints[1].y, (int)vPoints[1].x, &hvIndex);
	HalconCpp::TupleLength(hvIndex, &hvLength);
	if (hvLength[0].I() > 0) {
		if (hvIndex[0].I() >= 1) {
			HalconCpp::SelectObj(hSelectRegion, &hSelRegion, hvIndex[0].I());
		}
	}

	//2. Öмäµã
	int idx = (int)((num - 1) / 2);
	HalconCpp::GetRegionIndex(hSelectRegion, (int)vPoints[idx].y, (int)vPoints[idx].x, &hvIndex);
	HalconCpp::TupleLength(hvIndex, &hvLength);
	if (hvLength[0].I() > 0) {
		if (hvIndex[0].I() >= 1) {
			HalconCpp::HObject hTempRegion, hTempRegion1;
			HalconCpp::SelectObj(hSelectRegion, &hTempRegion, hvIndex[0].I());
			HalconCpp::ConcatObj(hTempRegion, hSelRegion, &hTempRegion1);
			hSelRegion.Clear();
			hSelRegion = hTempRegion1;
		}
	}

	//3. ×îºóÒ»¸ö
	HalconCpp::GetRegionIndex(hSelectRegion, (int)vPoints[num - 2].y, (int)vPoints[num - 2].x, &hvIndex);
	HalconCpp::TupleLength(hvIndex, &hvLength);
	if (hvLength[0].I() > 0) {
		if (hvIndex[0].I() >= 1) {
			HalconCpp::HObject hTempRegion, hTempRegion1;
			HalconCpp::SelectObj(hSelectRegion, &hTempRegion, hvIndex[0].I());
			HalconCpp::ConcatObj(hTempRegion, hSelRegion, &hTempRegion1);
			hSelRegion.Clear();
			hSelRegion = hTempRegion1;
		}
	}
	HalconCpp::Union1(hSelRegion, &hTarget);
	return true;
}

void CRcutDotProcess::InspectTopChip(HalconCpp::HObject &hImage) {
	/* code */
	if (1 != m_id) return;

	double maxDist = 0.0f;
	double minDist = 0.0f;
	std::vector<Point2D> vStartPoints;
	std::vector<Point2D> vEndPoints;
	std::vector<Point2D> vResPoints;
	if (!getRcutEdgePoints(hImage, vStartPoints, vEndPoints, vResPoints, maxDist, minDist)) return;
	m_fMaxChamber = maxDist;
	m_fMinChamber = minDist;

	//int width = 0;
	//int height = 0;
	//ClsVision::GetImageSize(hImage, width, height);
	//HalconCpp::HWindow hDispWin(0, 0, width, height);
	//hDispWin.SetPart(0, 0, height - 1, width - 1);
	//hDispWin.SetColored(6);
	//hDispWin.DispObj(hImage);

	//int sz = (int)(vStartPoints.size());
	//for (int i = 0; i < sz; i++) {
	//	HalconCpp::HObject dispObject1, dispObject2;
	//	HalconCpp::GenCrossContourXld(&dispObject1, vStartPoints[i].y, vStartPoints[i].x, 15, 0);
	//	HalconCpp::GenCrossContourXld(&dispObject2, vEndPoints[i].y, vEndPoints[i].x, 15, 0);
	//	hDispWin.DispObj(dispObject1);
	//	hDispWin.DispObj(dispObject2);
	//}
	//hDispWin.Click();

	HalconCpp::HObject hContourRegion, hChipRegion;
	if (!getRCutRegion(vStartPoints, vEndPoints, hContourRegion, hChipRegion)) return;
	m_hRoiRegion = hContourRegion;
	m_hChipRegion = hChipRegion;

	//hDispWin.SetDraw("fill");
	//hDispWin.DispObj(hContourRegion);
	//hDispWin.Click();

	//hDispWin.DispObj(hImage);
	//hDispWin.DispObj(hChipRegion);
	//hDispWin.Click();
	
	HalconCpp::HObject hRectRegion, hSelectRegion;
	genRectangeRegion(hRectRegion);
	ImageBinThreshold(hImage, hRectRegion, hContourRegion, hSelectRegion);

	//hDispWin.DispObj(hImage);
	//hDispWin.DispObj(hSelectRegion);
	//hDispWin.Click();

	HalconCpp::HObject hRealRegion;
	if (!getRCutRealRegion(hSelectRegion, vResPoints, hRealRegion)) return;

	//hDispWin.DispObj(hImage);
	//hDispWin.DispObj(hRealRegion);
	//hDispWin.Click();

	InpsectChipRegion(hRealRegion, hChipRegion);

	//hDispWin.DispObj(hImage);
	//hDispWin.DispObj(m_hResultRegion);
	//hDispWin.Click();
}

void CRcutDotProcess::InpsectChipRegion(HalconCpp::HObject &hChipRegion, HalconCpp::HObject &hRoiRegion) {
	/* code */
	if (m_xMmvsp < 0.001 || m_yMmvsp < 0.001) return;

	int fzX = (int)(m_nDx / m_xMmvsp + 0.5f);
	int fzY = (int)(m_nDy / m_yMmvsp + 0.5f);

	HalconCpp::HObject hTempRegion, hConRegion, hSelRegionX, hSelRegionY, hConcatRegion, hUionRegion, hResRegion, hOpenRegion;
	HalconCpp::Intersection(hChipRegion, hRoiRegion, &hTempRegion);
	if (m_nEdgeSmooth > 0) {
		HalconCpp::OpeningCircle(hTempRegion, &hOpenRegion, m_nEdgeSmooth + 0.5);
	}
	else {
		hOpenRegion = hTempRegion;
	}	
	HalconCpp::Connection(hOpenRegion, &hConRegion);
	HalconCpp::SelectShape(hConRegion, &hSelRegionX, "width", "and", fzX, MAXINT);
	HalconCpp::SelectShape(hConRegion, &hSelRegionY, "height", "and", fzY, MAXINT);
	HalconCpp::ConcatObj(hSelRegionX, hSelRegionY, &hConcatRegion);

	HalconCpp::Union1(hConcatRegion, &hUionRegion);
	HalconCpp::Connection(hUionRegion, &hResRegion);
	int num = ClsVision::ObjectNumber(hResRegion);
	if (num < 1) return;

	m_hResultRegion = hResRegion;
}

HalconCpp::HObject& CRcutDotProcess::getImage(void) {
	/* code */
	return m_hImage;
}

HalconCpp::HObject& CRcutDotProcess::getChipRegion(void) {
	/* code */
	return m_hChipRegion;
}

HalconCpp::HObject& CRcutDotProcess::getRoiRegion(void) {
	/* code */
	return m_hRoiRegion;
}

Json::Value CRcutDotProcess::WriteToJson(void) {
	/* code */
	std::string strName = CFileRecipe::toString(m_strName);
	Json::Value jsValue;
	jsValue["alg type"] = RCUT_VISION_TYPE;
	jsValue["side"] = (int)(m_eDir);
	jsValue["id"] = m_id;
	jsValue["name"] = strName;
	jsValue["use"] = m_nUse;
	jsValue["pos x"] = m_nPoseX;
	jsValue["pos y"] = m_nPoseY;
	jsValue["width"] = m_width;
	jsValue["height"] = m_height;
	jsValue["chamber size"] = m_nChamferSize;
	jsValue["chamber range"] = m_nChipRange;
	jsValue["chamber thres"] = m_nChipThres;
	jsValue["start angle"] = m_nStartAngle;
	jsValue["end angle"] = m_nEndAngle;
	jsValue["dx"] = m_nDx;
	jsValue["dy"] = m_nDy;
	jsValue["bin thres"] = m_nBinThres;
	jsValue["edge smooth"] = m_nEdgeSmooth;

	return jsValue;
}

void CRcutDotProcess::DecodeJson(Json::Value &jsValue) {
	/* code */
	int num = (int)(jsValue.size());
	if (num < 1) return;

	//1. side
	std::string strName = "side";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_eDir = (DimensionDir)(jsValue[strName.c_str()].asInt());
	}

	//2. id
	strName = "id";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_id = jsValue[strName.c_str()].asInt();
	}

	//3. name
	strName = "name";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isString()) {
		m_strName = CFileRecipe::toCString(jsValue[strName.c_str()].asString());
	}

	//4. use
	strName = "use";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_nUse = jsValue[strName.c_str()].asInt();
	}

	//5. pos x
	strName = "pos x";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_nPoseX = jsValue[strName.c_str()].asInt();
	}

	//6. pos y
	strName = "pos y";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_nPoseY = jsValue[strName.c_str()].asInt();
	}

	//7. width
	strName = "width";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_width = jsValue[strName.c_str()].asInt();
	}

	//8. height
	strName = "height";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_height = jsValue[strName.c_str()].asInt();
	}

	//9. chamber size
	strName = "chamber size";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_nChamferSize = jsValue[strName.c_str()].asInt();
	}

	//10. chamber range
	strName = "chamber range";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_nChipRange = jsValue[strName.c_str()].asInt();
	}

	//11. chamber thres
	strName = "chamber thres";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_nChipThres = jsValue[strName.c_str()].asInt();
	}

	//12. start angle
	strName = "start angle";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_nStartAngle = jsValue[strName.c_str()].asInt();
	}

	//13. end angle
	strName = "end angle";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_nEndAngle = jsValue[strName.c_str()].asInt();
	}

	//14. dx
	strName = "dx";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_nDx = jsValue[strName.c_str()].asInt();
	}

	//15. dy
	strName = "dy";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_nDy = jsValue[strName.c_str()].asInt();
	}

	//16. bin thres
	strName = "bin thres";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_nBinThres = jsValue[strName.c_str()].asInt();
	}

	//17. edge smooth
	strName = "edge smooth";
	if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
		m_nEdgeSmooth = jsValue[strName.c_str()].asInt();
	}
}