#include "stdafx.h"
#include "TranformCoordinate.h"

CTranformCoordinate::CTranformCoordinate()
{
	/* code */
}

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

Point2I CTranformCoordinate::Execute(DimensionDir eDir, Point2I pose) {
	/* code */
	Point2I ptResult = getPose(eDir, pose);

	Point2I result = TranformPose(eDir, ptResult);

	if (result.x < 0 || result.y < 0) {
		Print(eDir, pose);
	}

	return result;
}

void CTranformCoordinate::Print(DimensionDir eDir, Point2I pose) {
	/* code */
	ILogger *pLogger = Log_GetDebug();
	if (NULL == pLogger) return;

	CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(eDir);
	if (NULL == pSideData) return;

	pLogger->TraceInfo("Trace Tf %d: (%d, %d), %d", (int)eDir, pose.x, pose.y, __LINE__);
	Point2I ptResult = getPose(eDir, pose);
	pLogger->TraceInfo("Trace Tf %d: (%d, %d), %d", (int)eDir, ptResult.x, ptResult.y, __LINE__);

	for (auto iter = pSideData->m_mapSideLineInf.begin(); iter != pSideData->m_mapSideLineInf.begin(); iter++) {
		pLogger->TraceInfo("Trace Tf %d:  %d, (%d, %d), %d", 
			(int)eDir, iter->first, 
			iter->second.nSideLine, iter->second.top, __LINE__);
	}

	ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
	pLogger->TraceInfo("Trace Tf %d: (%d, %d, %d, %d, %d, %d, %d, %d, %d), %d", 
		(int)eDir, 
		scanSetting.lengthSize, scanSetting.shortSize, scanSetting.nStdIndex,
		scanSetting.nIndex0, scanSetting.nIndex1, scanSetting.nIndex2, scanSetting.nIndex3,
		scanSetting.nLengthScan, scanSetting.nShortScan, 
		__LINE__);
}

Point2I CTranformCoordinate::tfPose(DimensionDir eDir, Point2I pose) {
	/* code */
	return TranformPose(eDir, pose);
}

Point2I CTranformCoordinate::TranformPose(DimensionDir eDir, Point2I pose) {
	/* code */
	Point2I result = pose;
	switch (eDir)
	{
	case GLOBAL_DEFINE::DIMENSION_A:
		result = TransformPoseTopA(pose);
		break;

	case GLOBAL_DEFINE::DIMENSION_B:
		result = TransformPoseTopB(pose);
		break;

	case GLOBAL_DEFINE::DIMENSION_C:
		result = TransformPoseTopC(pose);
		break;

	case GLOBAL_DEFINE::DIMENSION_D:
		result = TransformPoseTopD(pose);
		break;

	case GLOBAL_DEFINE::DIMENSION_A_DN:
		result = TransformPoseBotA(pose);
		break;

	case GLOBAL_DEFINE::DIMENSION_B_DN:
		result = TransformPoseBotB(pose);
		break;

	case GLOBAL_DEFINE::DIMENSION_C_DN:
		result = TransformPoseBotC(pose);
		break;

	case GLOBAL_DEFINE::DIMENSION_D_DN:
		result = TransformPoseBotD(pose);
		break;

	default:
		break;
	}

	return result;
}

Point2I CTranformCoordinate::TransformPoseTopA(Point2I pose) {
	/* code */
	ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
	int idx0 = scanSetting.nIndex0;
	if (1 == scanSetting.nLengthScan)  idx0 = scanSetting.nIndex1;

	int idx1 = scanSetting.nStdIndex;

	return TransformResult(pose, true, idx0, idx1, scanSetting);
}

Point2I CTranformCoordinate::TransformPoseTopB(Point2I pose) {
	/* code */
	ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
	int idx0 = scanSetting.nIndex2;
	if (1 == scanSetting.nShortScan)  idx0 = scanSetting.nIndex1;

	int idx1 = scanSetting.nStdIndex;

	return  TransformResult(pose, false, idx0, idx1, scanSetting);
}

Point2I CTranformCoordinate::TransformPoseTopC(Point2I pose) {
	/* code */
	ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
	int idx0 = scanSetting.nIndex3;
	if (1 == scanSetting.nLengthScan)  idx0 = scanSetting.nIndex2;

	int idx1 = scanSetting.nStdIndex;

	return TransformResult(pose, true, idx0, idx1, scanSetting);
}

Point2I CTranformCoordinate::TransformPoseTopD(Point2I pose) {
	/* code */
	ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
	int idx0 = scanSetting.nIndex3;
	if (1 == scanSetting.nShortScan)  idx0 = scanSetting.nIndex0;

	int idx1 = scanSetting.nStdIndex;

	return  TransformResult(pose, false, idx0, idx1, scanSetting);
}

Point2I CTranformCoordinate::TransformPoseBotA(Point2I pose) {
	/* code */
	ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
	int idx0 = scanSetting.nIndex0;
	if (1 == scanSetting.nLengthScan)  idx0 = scanSetting.nIndex1;

	int idx1 = scanSetting.nStdIndex;

	return TransformResult(pose, true, idx0, idx1, scanSetting);
}

Point2I CTranformCoordinate::TransformPoseBotB(Point2I pose) {
	/* code */
	ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
	int idx0 = scanSetting.nIndex2;
	if (1 == scanSetting.nShortScan)  idx0 = scanSetting.nIndex1;

	int idx1 = scanSetting.nStdIndex;

	return  TransformResult(pose, false, idx0, idx1, scanSetting);
}

Point2I CTranformCoordinate::TransformPoseBotC(Point2I pose) {
	/* code */
	ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
	int idx0 = scanSetting.nIndex3;
	if (1 == scanSetting.nLengthScan)  idx0 = scanSetting.nIndex2;

	int idx1 = scanSetting.nStdIndex;

	return TransformResult(pose, true, idx0, idx1, scanSetting);
}

Point2I CTranformCoordinate::TransformPoseBotD(Point2I pose) {
	/* code */
	ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
	int idx0 = scanSetting.nIndex3;
	if (1 == scanSetting.nShortScan)  idx0 = scanSetting.nIndex0;

	int idx1 = scanSetting.nStdIndex;

	return  TransformResult(pose, false, idx0, idx1, scanSetting);
}

Point2I CTranformCoordinate::TransformResult(Point2I pose, bool isScanLength, int idx0, int idx1, ScanSetting scanSetting) {
	/* code */
	Point2I result = pose;
	int id0 = getIndex(idx0, scanSetting);
	int id1 = getIndex(idx1, scanSetting);
	if (-1 == id0 || -1 == id1) return result;

	Point2I pt = pose;
	if (isScanLength) {
		pt.x = pose.y;
		pt.y = pose.x;
	}

	switch (id0){
	case 0: {
		if (0 == id1) {
			result = pt;
		}
		else if (1 == id1) {
			result.x = scanSetting.lengthSize - pt.x;
			result.y = pt.y;
		}
		else if (2 == id1) {
			result.x = scanSetting.lengthSize - pt.x;
			result.y = scanSetting.shortSize - pt.y;
		}
		else if (3 == id1) {
			result.x = pt.x;
			result.y = scanSetting.shortSize - pt.y;
		}
		break;
	}

	case 1: {
		if (0 == id1) {
			result.x = scanSetting.lengthSize - pt.x;
			result.y = pt.y;
		}
		else if (1 == id1) {
			result = pt;
		}
		else if (2 == id1) {
			result.x = pt.x;
			result.y = scanSetting.shortSize - pt.y;
		}
		else if (3 == id1) {
			result.x = scanSetting.lengthSize - pt.x;
			result.y = scanSetting.shortSize - pt.y;
		}
		break;
	}

	case 2: {
		if (0 == id1) {
			result.x = scanSetting.lengthSize - pt.x;
			result.y = scanSetting.shortSize - pt.y;
		}
		else if (1 == id1) {
			result.x = pt.x;
			result.y = scanSetting.shortSize - pt.y;
		}
		else if (2 == id1) {
			result = pt;
		}
		else if (3 == id1) {
			result.x = scanSetting.lengthSize - pt.x;
			result.y = pt.y;
		}
		break;
	}

	case 3: {
		if (0 == id1) {
			result.x = pt.x;
			result.y = scanSetting.shortSize - pt.y;
		}
		else if (1 == id1) {
			result.x = scanSetting.lengthSize - pt.x;
			result.y = scanSetting.shortSize - pt.y;
		}
		else if (2 == id1) {
			result.x = scanSetting.lengthSize - pt.x;
			result.y = pt.y;
		}
		else if (3 == id1) {
			result = pt;
		}
		break;
	}

	default:
		break;
	}

	return result;
}

int CTranformCoordinate::getIndex(int idx, ScanSetting scanSetting) {
	/* code */
	int id = -1;
	if (idx == scanSetting.nIndex0) {
		id = 0;
	}
	else if (idx == scanSetting.nIndex1) {
		id = 1;
	}
	else if (idx == scanSetting.nIndex2) {
		id = 2;
	}
	else if (idx == scanSetting.nIndex3) {
		id = 3;
	}

	return id;
}

Point2I CTranformCoordinate::getPose(DimensionDir eDir, Point2I pose) {
	/* code */
	Point2I result = pose;
	CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(eDir);

	int nCount = (int)(pSideData->m_mapSideLineInf.size());
	if (nCount < 1) return result;

	SideLineInf inf;
	bool isFind = false;
	int minDist = MAXINT;
	int dist = 0;
	for (auto iter = pSideData->m_mapSideLineInf.begin(); iter != pSideData->m_mapSideLineInf.end(); iter++) {
		if (pose.y < iter->second.top) continue;

		dist = abs(pose.y - iter->second.top);
		if (dist > minDist) continue;

		inf = iter->second;
		isFind = true;
		minDist = dist;
	}

	if (!isFind) {
		for (auto iter = pSideData->m_mapSideLineInf.begin(); iter != pSideData->m_mapSideLineInf.end(); iter++) {
			dist = abs(pose.y - iter->second.top);
			if (dist > minDist) continue;

			inf = iter->second;
			isFind = true;
			minDist = dist;
		}
	}

	if (!isFind)  return result;

	result.x = (int)(pSideData->m_dPixelSizeX * (pose.x - inf.nSideLine));
	result.y = (int)(pSideData->m_dPixelSizeY * (pose.y - pSideData->m_nStartLine));

	ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
	if (result.y > scanSetting.lengthSize) {
		result.y = scanSetting.lengthSize - (int)(pSideData->m_dPixelSizeY * abs(pSideData->m_nEndLine - pose.y));
	}
	
	return result;
}