using DVPCameraType;
using Microsoft.VisualBasic.Logging;
using OpenCvSharp;
using OpenCvSharp.Dnn;
using OpenCvSharp.Extensions;
using OpenCvSharp.XFeatures2D;
using System.Data;
using System.Diagnostics;
using System.Drawing;
using System.Drawing.Drawing2D;
using System.Net;
using System.Numerics;
using System.Text.RegularExpressions;
using System.Windows.Forms;
using XKRS.Device.SimboVision.SimboHelper;
using static HisenceYoloDetection.MainForm;
using static System.Runtime.InteropServices.JavaScript.JSType;
using static System.Windows.Forms.VisualStyles.VisualStyleElement;


namespace HisenceYoloDetection
{
    public partial class MainForm : Form
    {
        public MainForm()
        {
            InitializeComponent();
        }
        MGSCameraDriver Cam1 = new MGSCameraDriver();
        MGSCameraDriver Cam2 = new MGSCameraDriver();
        SQLiteHelper sqlhelper = new SQLiteHelper();
        TCPClienDriver Scanner = new TCPClienDriver();
        MelsecPLCTCPDriver melsecPLCTCPDriver = new MelsecPLCTCPDriver();
        SimboObjectDetection simboObjectDetection = new SimboObjectDetection();
        PaddleOcrModel paddleOcrModel = new PaddleOcrModel();
        PaddleOcrModelCountry paddleOcrModelCountry = new PaddleOcrModelCountry();
        List<XKHisence> xKHisences = new List<XKHisence>();

        static AutoResetEvent myResetEvent = new AutoResetEvent(false);
        bool PLC545 = false;

        bool PLC548 = false;
        string m_sKEYENCEBar;
        string IfChangeLanguage = "";//是否换洗衣机的型号
        bool bTriger = true;//是否可以触发检测
        bool bBarTriger = false;//第一个地址完成后才能触发第二个位置
        bool bBar = false;//是否可以反馈条码
        bool IfCam1OneTriger = false;//相机1第一次拍照
        bool IfCam1TwoTriger = false;//相机1第2次拍照
        bool IfCam2Triger = false;//相机2第一次拍照
        Mat Cam1ImgOne = new Mat();//实时相机1的照片
        Mat Cam1ImgTwo = new Mat();//实时相机1的照片
        Mat Cam2ImgShowBar = new Mat();//实时相机2的照片 用来识别条码

        XKHisence xKNow;//数据库中的洗衣机数据
        bool bOn = false;
        ////////////////////////////
        public static int m_CamCount = 0;
        public int m_n_dev_count = 0;
        public static dvpCameraInfo[] m_info = new dvpCameraInfo[16];
        bool ifXZeroValue = false;
        bool ifYZeroValue = false;
        bool ifZZeroValue = false;

        bool ifXForward = false;
        bool ifYForward = false;
        bool ifZForward = false;

        bool ifXBackward = false;
        bool ifYBackward = false;
        bool ifZBackward = false;
        //录入数据库
        string BarPath = "";
        string Cam1OnePath = "";
        string Cam1TwoPath = "";
        string ModelChangePath = "";
        /// <summary>
        /// 查看相机列表
        /// </summary>
        public void InitDevList()
        {
            dvpStatus status;
            uint i, n = 0;
            dvpCameraInfo dev_info = new dvpCameraInfo();

            // "n" represents the number of cameras that is enumerated successfully, the drop-down list contains each camera's FriendlyName.
            DevNameCombo.Items.Clear();

            // Get the number of cameras that has been connected to a computer.
            status = DVPCamera.dvpRefresh(ref n);
            Debug.Assert(status == dvpStatus.DVP_STATUS_OK);
            m_n_dev_count = (int)n;
            if (status == dvpStatus.DVP_STATUS_OK)
            {
                m_CamCount = 0;

                for (i = 0; i < n; i++)
                {
                    // Acquire each camera's information one by one.
                    status = DVPCamera.dvpEnum(i, ref dev_info);
                    Debug.Assert(status == dvpStatus.DVP_STATUS_OK);
                    if (status == dvpStatus.DVP_STATUS_OK)
                    {
                        m_info[m_CamCount] = dev_info;

                        int item = -1;

                        // add User Define Name
                        item = DevNameCombo.Items.Add(dev_info.UserID);

                        if (item == 0)
                        {
                            DevNameCombo.SelectedIndex = item;
                        }
                        m_CamCount++;

                        if (item == 0)
                        {
                            DevNameCombo.SelectedIndex = item;
                        }
                    }
                }
            }





        }
        System.Timers.Timer SpeedTimer = new System.Timers.Timer();
        System.Timers.Timer PostionTimer = new System.Timers.Timer();

        public delegate void MyDelegateUI(); //定义委托类型
        MyDelegateUI myDelegateUI; //声明委托对象

        public delegate void MyPosDelegateUI(); //定义委托类型
        MyPosDelegateUI myPosDelegateUI; //声明委托对象

        public delegate void MyLogDelegateUI(); //定义委托类型
        MyLogDelegateUI myLogDelegateUI; //声明日志委托对象
        private void Application_ThreadException(Exception e)
        {
            string msg = e.Message;

            using (StreamWriter sw = new StreamWriter("D://ThreadException.log", true))
            {
                sw.WriteLine("================================");
                sw.WriteLine(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"));
                sw.WriteLine(msg);
                sw.Flush();
            }



        }
        /// <summary>
        /// 主窗口
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void MainForm_Load(object sender, EventArgs e)
        {
            string vBarPath = "D:\\Hisence\\202452915589671.jpg";
            string vCam1OnePath = "D:\\Hisence\\4\\202452915596701.jpg";
            string vCam1TwoPath = "D:\\Hisence\\4\\202452915599711.jpg";
            string vModelChangePath = "D:\\Hisence\\config\\chinese.json";
            if (File.Exists(vBarPath) && File.Exists(vCam1OnePath) && File.Exists(vCam1TwoPath) && File.Exists(vModelChangePath))
            {
                BarPath = vBarPath;
                Cam1OnePath = vCam1OnePath;
                Cam1TwoPath = vCam1TwoPath;
                ModelChangePath = vModelChangePath;
            }
            ifXZeroValue = XZerorbx.Checked;
            ifYZeroValue = YZerorbx.Checked;
            InitDevList();
            this.WindowState = FormWindowState.Maximized;

            string Dectionstr = "D:\\Hisence\\best.onnx";
            string CountryStr = "D:\\Hisence\\config\\chinese.json";
            if (File.Exists(Dectionstr) && File.Exists(CountryStr))
            {
            }
            else
            {
                MessageBox.Show("检测" + Dectionstr + " " + CountryStr + "模型有无");
                return;
            }
            //初始化检测驱动
            simboObjectDetection.Load(Dectionstr, "CPU", "images", 640, 640);
            paddleOcrModelCountry.Load(CountryStr, "CPU");
            paddleOcrModel.Load(CountryStr, "CPU");
            IfChangeLanguage = CountryStr;
            //相机配置

            StartDecBtn.Enabled = false;

            //myThread = new Thread(doWork);
            myDelegateUI = new MyDelegateUI(initAll);//绑定委托


            myPosDelegateUI = new MyPosDelegateUI(initAll2);//绑定委托

            myLogDelegateUI = new MyLogDelegateUI(initAll3);//绑定委托

            //初始化PLC
            melsecPLCTCPDriver.Start();




            //bool ismatch = IsMatchOcrText("WF3S7021BB", strMatListListOne);
            //相机回调

            melsecPLCTCPDriver.Heartbeat -= PLcHeratAdress;
            melsecPLCTCPDriver.Heartbeat += PLcHeratAdress;

            OnSpeedShow();//线程开启将速度显示在界面上
            OnPostionShow();//线程开启将位置显示在界面上
        }
        private void initAll() //信息处理函数定义
        {
            //richTextBox1.AppendText("TEST line \r");
            if (HspeedList.Count == 33)
            {

                lnEditmiXHS.Text = HspeedList[1].ToString();
                lnEditmiYHS.Text = HspeedList[6].ToString();
                lnEditmiZHS.Text = HspeedList[11].ToString();
                //定位速度
                lnEditmiXS.Text = HspeedList[0].ToString();
                lnEditmiYS.Text = HspeedList[5].ToString();
                lnEditmiZS.Text = HspeedList[10].ToString();
            }
            if (disShow != 0)
            {
                //TODO实时公式 知道测距移动多少
                double disreal = disShow * (-0.54054) + 1324.3232;
                DistanceShow.Text = Math.Ceiling(disreal).ToString();
                //换算成一元一函数
                //y = -0.54054x + 1324.3232

            }
        }
        private void initAll2() //信息处理函数定义
        {
            if (relPosStrList.Count == 31)
            {


                // XPostion.Text = "";
                XPostion.Text = relPosStrList[0].ToString();
                //YPostion.Text = "";
                YPostion.Text = relPosStrList[5].ToString();
                // ZPostion.Text = "";
                ZPostion.Text = relPosStrList[10].ToString();

            }
        }
        string Logtxt = "";
        private void initAll3() //信息处理函数定义
        {
            richTextBox1.AppendText(Logtxt);
            AllDSum.Text = AllDsums.ToString();
            OKDNum.Text = OKDsums.ToString();
            NGDNum.Text = NGDsums.ToString();
            using (StreamWriter stream = new StreamWriter("D://information.log", true))
            {
                stream.WriteLine(Logtxt);
                stream.Flush();
            }
        }

        private void OnSpeedShow()
        {
            Task.Run(() =>
            {
                while (true)
                {
                    try
                    {
                        UpDatePlcValue(600, 2);
                        //从404 地址 读33个地址
                        UpDatePlcValue(404, 33);
                        if (HspeedList.Count == 33)
                        {

                            //手动速度

                            this.Invoke(myDelegateUI); //richTextBox1.AppendText("TEST line \r");
                            Application.DoEvents();
                        }
                        if (disShow != 0)
                        {
                            this.Invoke(myDelegateUI); //richTextBox1.AppendText("TEST line \r");
                            Application.DoEvents();
                        }

                    }
                    catch (Exception ex)
                    {

                    }

                    Thread.Sleep(200);
                }
            });
        }

        private void OnPostionShow()
        {
            Task.Run(() =>
            {
                while (true)
                {
                    try
                    {
                        UpDatePlcValue(102, 31);
                        if (relPosStrList.Count == 31)
                        {
                            this.Invoke(myPosDelegateUI); //richTextBox1.AppendText("TEST line \r");
                            Application.DoEvents();



                        }
                    }
                    catch (Exception ex)
                    {
                    }


                    Thread.Sleep(200);
                }
            });

        }
        /// <summary>
        /// 相机打开
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void CamOpenBtn_Click(object sender, EventArgs e)
        {


            Cam1.Start("Cam1");

            bnGetParam.Enabled = true;
            SetCtrlWhenOpen();
            Cam1OpenBtn.BackColor = Color.Green;

        }
        private void SetCtrlWhenOpen()
        {


            tbExposure.Enabled = true;
            tbGain.Enabled = true;
            // tbFrameRate.Enabled = true;
            bnGetParam.Enabled = true;
            bnSetParam.Enabled = true;
        }
        private void bnGetParam_Click(object sender, EventArgs e)
        {
            tbExposure.Text = Cam1.dvpGetExposure().ToString();
            tbGain.Text = Cam1.dvpGetAnalogGain().ToString();

        }

        private void bnGetParam2_Click(object sender, EventArgs e)
        {
            //tbExposure2.Text = Cam1.dvpGetExposure().ToString();
            //tbGain2.Text = Cam1.dvpGetAnalogGain().ToString();
        }
        /// <summary>
        /// 相机2打开
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Cam2OpenBtn_Click(object sender, EventArgs e)
        {

            // Cam2.Start("Cam2");
            // bnGetParam2.Enabled = true;
            // Cam2OpenBtn.BackColor = Color.Green;
        }

        private void button2_Click(object sender, EventArgs e)
        {
            Cam1.Stop();
            SetCtrlWhenClose();
        }
        private void SetCtrlWhenClose()
        {

            tbExposure.Enabled = false;
            tbGain.Enabled = false;
            // tbFrameRate.Enabled = false;
            bnGetParam.Enabled = false;
            bnSetParam.Enabled = false;
        }
        private void button3_Click(object sender, EventArgs e)
        {
            Cam2.Stop();
        }
        /// <summary>
        /// 相机1软触发
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void SnapshotCam1_Click(object sender, EventArgs e)
        {
            Cam1.Snapshot();

        }
        /// <summary>
        /// 相机2软触发
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void SnapshotCam2_Click(object sender, EventArgs e)
        {
            //Cam2.Snapshot();
        }
        int TimesCalled = 0;
        Bitmap OKbitmap = new Bitmap("OK.jpg");
        Bitmap NGbitmap = new Bitmap("NG.jpg");

        /// <summary>
        /// 主线程调用
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void InitMachine_Click(object sender, EventArgs e)
        {
            try
            {
                //初始化相机

                DataSet dataSet = SQLiteHelper.Query("select * from XK_HisenceDet");
                dataGridView1.DataSource = dataSet.Tables[0];

                //  xKNow = GetModeFromBar("VWJ070633V0WW80F0120356");//从数据库中查询到这个条码的四轴的值
                //string sql = "insert into XK_HisenceDet VALUES('" + xKNow.Type + "','" + xKNow.OcrBar + "'," + xKNow.MoveX + "," + xKNow.MoveY + "," +
                //    xKNow.MoveZ + ",'" + "123" + "',null," + xKNow.MoveTwoZ + "," + xKNow.MoveTwoY + "," + xKNow.MoveTwoZ + ", '" + DateTime.Now + "'," + 1 + ")";
                //SQLiteHelper.ExecuteSql(sql);
                Cam1.Start("Cam1");
                if (Cam1.IfSuccess)
                {
                    myLog("Cam1相机启动", DateTime.Now);
                }
                Cam2.Start("Cam2");
                if (Cam2.IfSuccess)
                {
                    myLog("Cam2相机启动", DateTime.Now);
                }
                Cam1.OnHImageOutput -= OnCameraMatOutPut;
                Cam1.OnHImageOutput += OnCameraMatOutPut;
                Cam2.OnHImageOutput -= OnCameraMatOutPut2;
                Cam2.OnHImageOutput += OnCameraMatOutPut2;

                OKOrNGShow.Image = OKbitmap;
                //初始化扫码枪
                //Scanner.Strart();
                //Scanner.OnClientDataReceived -= OnDataReceived;
                //Scanner.OnClientDataReceived += OnDataReceived;
                //Scanner.btnSendMsg("LON\r");//发送开启指令
                //myLog("发送恩士扫码枪开启指令", DateTime.Now);

                //PLC使能开启
                melsecPLCTCPDriver.WriteInt("581", 0);//定位松开
                melsecPLCTCPDriver.WriteInt("504", 0);//定位松开
                melsecPLCTCPDriver.WriteInt("514", 0);//定位松开
                melsecPLCTCPDriver.WriteInt("524", 0);//定位松开
                melsecPLCTCPDriver.WriteInt("406", 60000);  //写入手动速度
                melsecPLCTCPDriver.WriteInt("416", 8000);
                melsecPLCTCPDriver.WriteInt("426", 8000);
                melsecPLCTCPDriver.WriteInt("404", 100000);   //写入定位速度
                melsecPLCTCPDriver.WriteInt("414", 8000);
                melsecPLCTCPDriver.WriteInt("424", 8000);


                melsecPLCTCPDriver.WriteInt("500", 0);

                melsecPLCTCPDriver.WriteInt("500", 1);
                Thread.Sleep(200);

                bOn = true;
                melsecPLCTCPDriver.WriteInt("580", 0);//归零
                melsecPLCTCPDriver.WriteInt("580", 1);//归零
                Thread.Sleep(200);
                melsecPLCTCPDriver.WriteInt("580", 0);
                Thread.Sleep(200);
                while (true)
                {
                    int IfXZeros = melsecPLCTCPDriver.ReadInt("102");
                    int IfYZeros = melsecPLCTCPDriver.ReadInt("112");
                    int IfZZeros = melsecPLCTCPDriver.ReadInt("122");
                    if (IfXZeros <= 40 && IfYZeros <= 140 && IfZZeros <= 40)
                    {
                        StartDecBtn.Enabled = true;
                        break;
                    }
                    Thread.Sleep(10);
                }



                myLog("设备全部启动完成", DateTime.Now);

            }
            catch (Exception ex)
            {
                Application_ThreadException(ex);
            }

        }
        /// <summary>
        /// 全图洗衣机 裁剪之后 OCR识别的结果
        /// </summary>
        /// <param name="currentMatC"></param>
        /// <param name="cam1TwoML"></param>
        /// <param name="strMatListList"></param>
        private void InsertSqlRunData(ref Mat currentMatC, MLResult cam1TwoML, ref List<string> strMatListList, ref PaddleOcrModel IOcrModel)
        {

           

#if false
 try
            {
                List<Mat> mats = new List<Mat>();

                Mat mResultCut = currentMatC.Clone();
                string OcrTextinsert = "";
                for (int i = 0; i < cam1TwoML.ResultDetails.Count; i++)
                {
                    Mat mResultCuti = mResultCut.Clone();
                    int rectsx = cam1TwoML.ResultDetails[i].Rect.X;
                    int rectsy = cam1TwoML.ResultDetails[i].Rect.Y;
                    int rectsWidth = cam1TwoML.ResultDetails[i].Rect.Width;
                    int rectsHeight = cam1TwoML.ResultDetails[i].Rect.Height;
                    Rect area = new Rect(rectsx, rectsy, rectsWidth, rectsHeight);
                    Mat matroi = new Mat(mResultCuti, area);
                    mats.Add(matroi);
                    //OCR识别裁剪图片
                    MLRequest reqcut = new MLRequest();
                    reqcut.currentMat = matroi.Clone();
                    MLResultModel mLcut = IOcrModel.RunInferenceFixed(reqcut);


                    for (int j = 0; j < mLcut.ResultDetails.Count; j++)
                    {
                        string jdetial = mLcut.ResultDetails[j].LabelDisplay;
                        strMatListList.Add(jdetial);
                        OcrTextinsert += jdetial + "##";
                    }


                }


            }
            catch (Exception ex)
            {

            }
#endif


        }

        /// <summary>
        /// 数据库中条码所对应的OCR文本是否与识别出来的文本相似
        /// </summary>
        /// <param name="WashBar"></param>
        /// <param name="DetMatstrList"></param>
        /// <returns></returns>
        private bool IsMatchOcrText(string WashBar, List<string> DetMatstrList)
        {
            try
            {
                xKNow = GetModeFromBar(WashBar);//从数据库中查询到这个条码的四轴的值
                List<string> strMatListListB = new List<string>();
                if (xKNow.OcrText.Contains("##"))
                {

                    string[] sArray = Regex.Split(xKNow.OcrText, "##", RegexOptions.IgnoreCase);


                    for (int i = 0; i < sArray.Count(); i++)
                    {
                        if (sArray[i] != "")
                        {
                            strMatListListB.Add(sArray[i]);
                        }


                    }


                }
                var firstNotSecond = DetMatstrList.Except(strMatListListB, StringComparer.OrdinalIgnoreCase).ToList();
                var secondNotFirst = strMatListListB.Except(DetMatstrList, StringComparer.OrdinalIgnoreCase).ToList();
                if (firstNotSecond.Count() == 0 && secondNotFirst.Count() == 0)
                {
                    return true;
                }
                return false;

            }
            catch (Exception ex)
            {
                return false;
            }
        }
        /// <summary>
        /// 实时移动模组
        /// </summary>
        public void MoveToP(int currentXP, int currentYP, int currentZP)
        {

            melsecPLCTCPDriver.WriteInt("581", 0);
            melsecPLCTCPDriver.WriteInt("402", currentXP);
            melsecPLCTCPDriver.WriteInt("412", currentYP);
            melsecPLCTCPDriver.WriteInt("422", currentZP);
            melsecPLCTCPDriver.WriteInt("581", 1);
            Thread.Sleep(200);
            melsecPLCTCPDriver.WriteInt("581", 0);
            while (true)
            {
                int IfXZeros = melsecPLCTCPDriver.ReadInt("102");
                int IfYZeros = melsecPLCTCPDriver.ReadInt("112");
                int IfZZeros = melsecPLCTCPDriver.ReadInt("122");
                if ((IfXZeros < currentXP + 20) && (IfXZeros > currentXP - 20) && (IfYZeros <= currentYP + 20) && (IfYZeros >= currentYP - 20) && (IfZZeros <= currentZP + 20) && (IfZZeros >= currentZP - 20))//TODO:设置第一次拍摄的位置
                {

                    break;
                }
                Thread.Sleep(10);
            }
        }
        public int disShow = new int();
        public List<int> MonitorValues { get; set; } = new List<int>();
        public List<int> relPosStrList { get; set; } = new List<int>();
        public List<int> HspeedList { get; set; } = new List<int>();
        /// <summary>
        /// 实时刷新PLC地址的值
        /// </summary>
        /// 
        public void UpDatePlcValue(int Address, int length)
        {
            //Task.Run(() =>
            //{
            //    while (true)
            //    {
            try
            {
                //实时刷新机械手的位置
                List<int> newValues = melsecPLCTCPDriver.GetMonitorValues(Address, length);
                if (newValues == null || newValues.Count == 0)
                    return;

                Stopwatch sw = new Stopwatch();
                sw.Start();
                if (Address == 600)
                {
                    disShow = melsecPLCTCPDriver.ReadInt(Convert.ToString(Address));
                }
                if (Address == 102)   //若起始地址为102
                {
                    if (relPosStrList.Count == newValues.Count)
                    {
                        var tempNew = new List<int>(newValues);
                        var tempOld = new List<int>(relPosStrList);
                        //MonitorCheckAndInvoke(tempNew, tempOld);
                    }
                    relPosStrList = new List<int>(newValues);
                    // relPosStrList = MonitorValues;
                    //实时显示在界面上
                }
                if (Address == 404)
                {
                    if (HspeedList.Count == newValues.Count)
                    {
                        var tempNew = new List<int>(newValues);
                        var tempOld = new List<int>(HspeedList);
                        //MonitorCheckAndInvoke(tempNew, tempOld);
                    }
                    HspeedList = new List<int>(newValues);
                    //HspeedList = MonitorValues;
                    //实时显示在界面上
                }
                sw.Stop();

                if (sw.ElapsedMilliseconds > 20)
                {
                    //LogAsync(DateTime.Now, LogLevel.Detail, $"{this.Name}轮询时间：{sw.ElapsedMilliseconds}");
                }
                Thread.Sleep(20);
            }
            catch (Exception ex)
            {

            }

            //    }
            //});
        }
        /// <summary>
        /// 监听洗衣机545是否触发后面对射传感器 相机
        /// </summary>
        public void TrigerCamera1()
        {
            //开启一个线程监听PLC得值
            Task.Run(() =>
            {
                int iNum1 = 0;
                int iNum0 = 0;
                while (true)
                {
                    // myResetEvent.Set();
                    PLC545 = true;
                    int m_iCureent545 = melsecPLCTCPDriver.ReadInt("545");
                    ////int m_iCureent545 = CMPLC.SLMPReadD(545);
                    if (m_iCureent545 != 1)
                    {
                        iNum0++;
                    }
                    else
                    {
                        iNum0 = 0;
                    }
                    if (iNum0 >= 5)
                    {
                        while (true)
                        {
                            m_iCureent545 = melsecPLCTCPDriver.ReadInt("545");
                            if (m_iCureent545 == 1)
                            {
                                iNum1++;
                            }
                            else
                            {
                                iNum1 = 0;
                            }
                            if (iNum1 >= 5)
                            {
                                //Console.WriteLine("第二次采集图像");
                                //Cam1.Snapshot();
                                //Cam2.Snapshot();
                                //IfCam1Triger = false;
                                //IfCam2Triger = false;

                                iNum0 = 0;
                                iNum1 = 0;
                                break;

                            }
                        }

                    }


                    Thread.Sleep(100);


                }
            });
        }
        /// <summary>
        /// 获取基恩士读码器的型号
        /// </summary>
        public void OnGetBar()
        {
            Task.Run(() =>
            {
                int iNum0 = 0;
                int iNum1 = 0;

                // const char pCR[4] = { 0x4C, 0x4F, 0x4E, 0x0D };开启
                //const char pOFF[5] = { 0x4C, 0x4F, 0x46, 0x46, 0x0D };关闭
                Thread.CurrentThread.Priority = ThreadPriority.Highest;
                while (true)
                {
                    //545触发时为0
                    // myResetEvent.Set();
                    PLC545 = true;
                    int m_iCureent545 = melsecPLCTCPDriver.ReadInt("545");

                    if (m_iCureent545 != 1)
                    {
                        iNum0++;
                    }
                    else
                    {
                        iNum0 = 0;
                    }
                    if (iNum0 >= 1)
                    {
                        //接受条码指令
                        while (true)
                        {
                            bTriger = false;
                            //读到544一直是1持续两s 拍照
                            m_iCureent545 = melsecPLCTCPDriver.ReadInt("545");
                            if (m_iCureent545 == 1)
                            {
                                iNum1++;
                            }
                            else
                            {
                                iNum1 = 0;
                            }
                            if (iNum1 >= 2)
                            {
                                if (bBar)
                                {
                                    bBarTriger = true;//修改成相机拍照获取型号
                                    Cam2.SnapshotCount = 0;
                                    Cam2.Snapshot();

                                    xKNow = GetModeFromBar("VWJ070633V0WW80F0120356");//从数据库中查询到这个条码的四轴的值
                                    //xKNow = GetModeFromBar(m_sKEYENCEBar);//从数据库中查询到这个条码的四轴的值
                                    if (Regex.IsMatch(xKNow.MoveX.ToString(), @"^[0-9]+$") && Regex.IsMatch(xKNow.MoveY.ToString(), @"^[0-9]+$") && Regex.IsMatch(xKNow.MoveZ.ToString(), @"^[0-9]+$"))
                                    {
                                        myLog("型号匹配成功" + m_sKEYENCEBar, DateTime.Now);
                                        bBarTriger = true;
                                        //MoveToP(xKNow.MoveX, xKNow.MoveY, xKNow.MoveZ);// PLC控制电机移动四轴
                                    }

                                    break;
                                }
                                Thread.Sleep(2);
                                bBar = false;

                            }
                        }
                    }





                }
                Thread.Sleep(10);


            });
        }
        /// <summary>
        /// 监听洗衣机544是否触发后面对射传感器 相机
        /// </summary>
        public void TriggerCameral2()
        {
            //开启一个线程监听PLC得值
            Task.Run(() =>
            {
                try
                {
                    int iNum1 = 0;
                    int iNum0 = 0;
                    Thread.CurrentThread.Priority = ThreadPriority.Highest;
                    while (true)
                    {
                        // myResetEvent.Set();
                        PLC548 = true;
                        int m_iCureent548 = melsecPLCTCPDriver.ReadInt("548");

                        if (m_iCureent548 != 0)
                        {
                            iNum0++;
                        }
                        else
                        {
                            iNum0 = 0;
                        }
                        if (iNum0 >= 1)
                        {
                            while (true)
                            {

                                bTriger = false;
                                //读到544一直是1持续两s 拍照
                                m_iCureent548 = melsecPLCTCPDriver.ReadInt("548");
                                if (m_iCureent548 == 0)
                                {
                                    iNum1++;
                                }
                                else
                                {
                                    iNum1 = 0;
                                }
                                if (iNum1 >= 2)
                                {
                                    //if (bBarTriger)
                                    {


                                        myLog("第一次采集图像", DateTime.Now);
                                        //移动模组 读三次测距的地址 看是否往前移动
                                        List<int> DisList = new List<int>();
                                        for (int i = 0; i < 5; i++)
                                        {
                                            int m600 = melsecPLCTCPDriver.ReadInt("600");
                                            DisList.Add(m600);
                                        }
                                        DisList.Remove(DisList.Max());
                                        DisList.Remove(DisList.Min());
                                        // 计算剩余值的平均数
                                        double average = DisList.Average();
                                        double disreal = average * (-0.54054) + 1324.3232;


                                        MoveToP(8974, 0, (int)(disreal));
                                        Thread.Sleep(500);
                                        Cam1.SnapshotCount = 0;
                                        Cam1.Snapshot();
                                        Cam2.SnapshotCount = 0;
                                        Cam2.Snapshot();
                                        // myLog("第二次采集图像", DateTime.Now);
                                        //if (xKNow != null)
                                        //{
                                        //    MoveToP(xKNow.MoveTwoX, xKNow.MoveTwoY, xKNow.MoveTwoZ);
                                        //}
                                        // currentXP = 54964;
                                        MoveToP(54964, 0, (int)(disreal));
                                        //Thread.Sleep(3000);
                                        Cam1.Snapshot();
                                        MoveToP(8974, 0, 0);
                                        //if (xKNow != null)
                                        //{
                                        //    MoveToP(xKNow.MoveX, xKNow.MoveY, xKNow.MoveZ);
                                        //}
                                        myLog("采集图像成功", DateTime.Now);
                                        //模组复位 

                                        bTriger = true;//可以进行检测识别了
                                        bBarTriger = false;//读码器可以不工作了
                                        iNum0 = 0;
                                        iNum1 = 0;
                                        break;
                                    }


                                }
                            }

                        }


                        Thread.Sleep(10);


                    }

                }
                catch (Exception e)
                {

                }

            });
        }
        /// <summary>
        /// PLC心跳监听
        /// </summary>
        /// <param name="ifPlcHeart"></param>
        public void PLcHeratAdress(int ifPlcHeart)
        {
            if (ifPlcHeart == 1)
            {
                myLog("PLC监听失败", DateTime.Now);

            }
            else
            {

            }
        }

        /// <summary>
        /// 机1软触发的回调
        /// </summary>
        /// <param name="dt"></param>
        /// <param name="cameraMat"></param>
        /// <param name="SnapshotCount"></param>
        public void OnCameraMatOutPut(DateTime dt, Mat cameraMat, int SnapshotCount)
        {
            string fitImageFolder = "D://cam1//";
            if (!Directory.Exists(fitImageFolder))
            {
                Directory.CreateDirectory(fitImageFolder);
            }

            //第一次拍照
            if (SnapshotCount == 1)
            {
                // Mat mat = Cv2.ImRead("F:\\海信洗衣机\\cam1\\2024517161641.jpg");
                Cam1ImgOne = cameraMat;
                IfCam2Triger = true;
                originMatShow.Image = cameraMat.ToBitmap();
                //pictureBox1.Image = cameraMat.ToBitmap();


            }
            //第二次拍照
            if (SnapshotCount == 2)
            {
                // Mat mat = Cv2.ImRead("F:\\海信洗衣机\\cam1\\2024517164541.jpg");
                Cam1ImgTwo = cameraMat;

                IfCam1TwoTriger = true;
                originMatShow2.Image = cameraMat.ToBitmap();
                //pictureBox1.Image = cameraMat.ToBitmap();
            }


            pictureBox1.Image = cameraMat.ToBitmap();
            cameraMat.ImWrite(fitImageFolder + dt.Year.ToString() + dt.Month.ToString() + dt.Day.ToString() + dt.Hour.ToString() + dt.Minute.ToString() + dt.Millisecond.ToString() + "1.jpg");

        }

        /// <summary>
        /// 相机2触发回调
        /// </summary>
        /// <param name="dt"></param>
        /// <param name="cameraMat"></param>
        /// <param name="SnapshotCount"></param>
        public void OnCameraMatOutPut2(DateTime dt, Mat cameraMat, int SnapshotCount)
        {
            string fitImageFolder = "D://cam2//";
            if (!Directory.Exists(fitImageFolder))
            {
                Directory.CreateDirectory(fitImageFolder);
            }
            //第一次拍照
            if (SnapshotCount == 1)
            {
                // Mat mat = Cv2.ImRead("F:\\海信洗衣机\\cam1\\2024517161641.jpg");
                Cam2ImgShowBar = cameraMat;
                IfCam2Triger = true;
                originMat2Show.Image = cameraMat.ToBitmap();
                //pictureBox1.Image = cameraMat.ToBitmap();


            }


            pictureBox2.Image = cameraMat.ToBitmap();
            cameraMat.ImWrite(fitImageFolder + dt.Year.ToString() + dt.Month.ToString() + dt.Day.ToString() + dt.Hour.ToString() + dt.Minute.ToString() + dt.Millisecond.ToString() + "1.jpg");

        }
        public volatile int AllDsums = 0;
        public volatile int NGDsums = 0;
        public volatile int OKDsums = 0;
        /// <summary>
        /// 开始识别
        /// </summary>
        public void ReadyDetect()
        {
            Task.Run(() =>
            {
                Thread.CurrentThread.Priority = ThreadPriority.Highest;
                while (true)
                {
                    try
                    {
                        //相机2第一次拍照
                        if (IfCam2Triger)
                        {

                            //OCR识别
                            MLRequest req = new MLRequest();
                            req.currentMat = Cam2ImgShowBar;
                            //req.currentMat = Cv2.ImRead("D:\\Hisence\\202452414231.jpg");
                            MLResultModel mL = paddleOcrModelCountry.RunInferenceFixed(req);
                            //数据库比对
                            xKNow = GetModeFromBar(mL.WashMachineBar);//从数据库中查询到这个条码的四轴的值
                            if (xKNow.OcrBar == null)
                            {
                                myLog("未匹配成功" + IfChangeLanguage, DateTime.Now);
                                break;
                            }
                            if (xKNow.OcrText != "" && xKNow.Detect != "")
                            {
                                //此时运行的洗衣机是和之前一个语言模型
                                if (IfChangeLanguage == mL.WashMachineBar)
                                {

                                }
                                else
                                {
                                    //本地存在这个OCR.josn参数
                                    if (File.Exists(xKNow.OcrParm))
                                    {
                                        paddleOcrModel.Load(xKNow.OcrParm, "CPU");

                                        IfChangeLanguage = mL.WashMachineBar;
                                    }

                                }
                                myLog("型号匹配成功" + IfChangeLanguage, DateTime.Now);
                                bBarTriger = true;
                            }


                            //从数据库中匹配完才可以进行模组移动
                            //如果这次型号和上次的型号一样 就不用换识别模型ll

                            IfCam2Triger = false;

                        }
                        //相机1第二次拍照
                        if (IfCam1TwoTriger && bBarTriger)
                        {
                            AllDsums++;
                            //进行推理
                            MLRequest req = new MLRequest();
                            req.currentMat = Cam1ImgOne;
                            req.ResizeWidth = 640;
                            req.ResizeHeight = 640;
                            req.Score = 0.3f;
                            req.in_lable_path = "D:\\Hisence\\ClassName.txt";//标签路径
                            req.confThreshold = 0.3f;//模型置信度
                            req.iouThreshold = 0.4f;//检测IOU
                            req.out_node_name = "output";
                            MLResult mL = simboObjectDetection.RunInferenceFixed(req);
                            DateTime dt = DateTime.Now;
                            //将所有的块裁剪 识别字符对比字符串
                            List<string> strMatListListOne = new List<string>();
                            Mat mResultCut = req.currentMat.Clone();

                            InsertSqlRunData(ref mResultCut, mL, ref strMatListListOne, ref paddleOcrModel);


                            mL.ResultMap.Save("D://cam1//" + dt.Year.ToString() + dt.Month.ToString() + dt.Day.ToString() + dt.Hour.ToString() + dt.Minute.ToString() + dt.Millisecond.ToString() + "1result.jpg");
                            ResultMatShow.Image = mL.ResultMap;
                            //进行推理
                            MLRequest req2 = new MLRequest();
                            req2.currentMat = Cam1ImgTwo;
                            req2.ResizeWidth = 640;
                            req2.ResizeHeight = 640;
                            req2.Score = 0.3f;
                            req2.in_lable_path = "D:\\Hisence\\ClassName.txt";//标签路径
                            req2.confThreshold = 0.3f;//模型置信度
                            req2.iouThreshold = 0.4f;//检测IOU
                            req2.out_node_name = "output";
                            MLResult mL2 = simboObjectDetection.RunInferenceFixed(req2);
                            List<string> strMatListListTwo = new List<string>();
                            Mat mResultCut2 = req2.currentMat.Clone();

                            InsertSqlRunData(ref mResultCut2, mL2, ref strMatListListTwo, ref paddleOcrModel);
                            mL2.ResultMap.Save("D://cam1//" + dt.Year.ToString() + dt.Month.ToString() + dt.Day.ToString() + dt.Hour.ToString() + dt.Minute.ToString() + dt.Millisecond.ToString() + "2result.jpg");
                            ResultMatShow2.Image = mL2.ResultMap;

                            //执行比对 这个模型2和3一样
                            string[] listLabels = xKNow.Detect.Split(",");

                            MLResult MLsum = mL;
                            for (int i = 0; i < mL2.ResultDetails.Count; i++)
                            {
                                MLsum.ResultDetails.Add(mL2.ResultDetails[i]);
                            }
                            string[] RealLabels = new string[MLsum.ResultDetails.Count];
                            string detstr = "";
                            for (int i = 0; i < MLsum.ResultDetails.Count; i++)
                            {
                                RealLabels[i] = MLsum.ResultDetails[i].LabelName;
                                if (i < MLsum.ResultDetails.Count - 1)
                                {
                                    detstr += RealLabels[i] + ",";
                                }
                                else
                                {
                                    detstr += RealLabels[i];
                                }

                            }
                            IfCam1TwoTriger = false;
                            bBarTriger = false;
                            bool isMatch = false;
                            string OcrTextinsert = "";
                            List<string> bingji = strMatListListOne.Union(strMatListListTwo).ToList();//并（全）集
                            for (int j = 0; j < bingji.Count; j++)
                            {
                                string jdetial = bingji[j];
                                OcrTextinsert += jdetial + "##";
                            }

                            bool ismatch = IsMatchOcrText(xKNow.OcrBar, bingji);

                            // 求差集
                            //var except = listLabels.Except(RealLabels);
                            //Console.WriteLine("数组的差集:");
                            //if (except.Count() == 0)
                            //{
                            //   // isMatch = true;
                            //}
                            //foreach (var num in except)
                            //{
                            //    if ((num == "2" || num == "3") && except.Count() == 1)
                            //    {
                            //       // isMatch = true;
                            //        break;
                            //    }
                            //    else
                            //    {
                            //      //  isMatch = false;
                            //        break;
                            //    }
                            //}
                            if (isMatch)
                            {
                                OKDsums++;
                                myLog("匹配成功", DateTime.Now);
                                //界面显示
                                string sql = "insert into XK_HisenceDet VALUES('" + xKNow.Type + "','" + xKNow.OcrBar + "'," + xKNow.MoveX + "," + xKNow.MoveY + "," +
                                 xKNow.MoveZ + ",'" + detstr + "','" + OcrTextinsert + "'," + xKNow.MoveTwoX + "," + xKNow.MoveTwoY + "," + xKNow.MoveTwoZ + ", '" + DateTime.Now + "'," + 1 + ")";
                                SQLiteHelper.ExecuteSql(sql);
                                OKOrNGShow.Image = OKbitmap;
                            }
                            else
                            {
                                NGDsums++;
                                myLog("匹配失败", DateTime.Now);
                                //界面显示
                                string sql = "insert into XK_HisenceDet VALUES('" + xKNow.Type + "','" + xKNow.OcrBar + "'," + xKNow.MoveX + "," + xKNow.MoveY + "," +
                               xKNow.MoveZ + ",'" + detstr + "','" + OcrTextinsert + "'," + xKNow.MoveTwoX + "," + xKNow.MoveTwoY + "," + xKNow.MoveTwoZ + ", '" + DateTime.Now + "'," + 0 + ")";
                                SQLiteHelper.ExecuteSql(sql);
                                OKOrNGShow.Image = NGbitmap;
                            }

                        }

                    }
                    catch (Exception e)
                    {

                    }
                    finally
                    {

                    }




                    Thread.Sleep(10);
                }

            });

        }
        /// <summary>
        /// 根据条码从数据库中获取型号
        /// </summary>
        /// <param name="SkBar"></param>
        /// <returns></returns>
        public XKHisence GetModeFromBar(string SkBar)
        {
            //从模板库里读

            DataSet ds = SQLiteHelper.Query($"select * from XK_Hisence where OCRBar='{SkBar}' ");
            XKHisence XK_hisence = new XKHisence();

            //cbx.DataSource = ds;
            DataTableReader rdr = ds.CreateDataReader();
            //cbx.Rows.Clear();
            while (rdr.Read())//读取表中数据

            {

                // xKOCROfficeWord.ID = (int)rdr["ID"];
                XK_hisence.Type = (string)rdr["Type"];
                XK_hisence.OcrBar = (string)rdr["OcrBar"];
                XK_hisence.MoveX = (int)rdr["MoveX"];
                XK_hisence.MoveY = (int)rdr["MoveY"];
                XK_hisence.MoveZ = (int)rdr["MoveZ"];
                XK_hisence.Detect = (string)rdr["Detect"];
                XK_hisence.OcrText = (string)rdr["OcrText"];
                XK_hisence.MoveTwoX = (int)rdr["MoveTwoX"];
                XK_hisence.MoveTwoY = (int)rdr["MoveTwoY"];
                XK_hisence.MoveTwoZ = (int)rdr["MoveTwoZ"];
                XK_hisence.OcrParm = (string)rdr["OcrParm"];
                XK_hisence.Language = (string)rdr["Language"];
                //xKHisences.Add(XK_hisence);
                return XK_hisence;
                //additem(XK_hisence);


            }
            return XK_hisence;


        }
        /// <summary>
        /// 接受条码的回调函数
        /// </summary>
        /// <param name="data"></param>
        public void OnDataReceived(byte[] data)
        {
            //
            if (data.Length > 10)
            {
                m_sKEYENCEBar = System.Text.Encoding.UTF8.GetString(data);
                // myLog("型号Ocr" + m_sKEYENCEBar, DateTime.Now);

                bBar = true;
            }

        }
        /// <summary>
        /// PLC的初始化
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button4_Click(object sender, EventArgs e)
        {
            melsecPLCTCPDriver.Start();
            myLog("连接PLC成功", DateTime.Now);
        }
        /// <summary>
        /// 日志
        /// </summary>
        /// <param name="txt"></param>
        /// <param name="date"></param>
        private void myLog(string txt, DateTime date)
        {
            Logtxt = txt + "    时间：" + date.ToString() + "\n";
            this.Invoke(myLogDelegateUI); //richTextBox1.AppendText("TEST line \r");
            Application.DoEvents();
        }
        private void readAdress_Click(object sender, EventArgs e)
        {
            if (Regex.IsMatch(readPLc.Text.ToString(), @"^[0-9]+$"))
            {
                int m_iCureent545 = melsecPLCTCPDriver.ReadInt(readPLc.Text.ToString());
                showPLC.Text = m_iCureent545.ToString();
                myLog("读取" + readPLc.Text.ToString() + "完成", DateTime.Now);
            }

        }

        private void wirteAdress_Click(object sender, EventArgs e)
        {
            try
            {
                if (Regex.IsMatch(WriteAdress.Text.ToString(), @"^[0-9]+$") && Regex.IsMatch(PLCValue.Text.ToString(), @"^[0-9]+$"))
                {
                    melsecPLCTCPDriver.WriteInt(WriteAdress.Text.ToString(), Convert.ToInt16(PLCValue.Text));
                    myLog("写" + WriteAdress.Text.ToString() + "完成", DateTime.Now);
                }


            }
            catch (Exception ex) { }

        }

        private void ScanDevList_Click(object sender, EventArgs e)
        {
            InitDevList();
        }


        private void PLCPowerON_Click(object sender, EventArgs e)
        {
            if (bOn == true)
            {
                melsecPLCTCPDriver.WriteInt("500", 0);
                // PLCcontrol->WritePlc(500, 0);
                bOn = false;
                PLCPowerON.Text = "使能On";
                myLog("使能On完成", DateTime.Now);
            }
            else
            {
                melsecPLCTCPDriver.WriteInt("500", 1);
                bOn = true;
                PLCPowerON.Text = "使能Off";
                myLog("使能Off", DateTime.Now);
            }
        }


        bool IfPLCDiskZero = false;
        bool IfPLCPostion = false;
        private void PLCDiskZero_Click(object sender, EventArgs e)
        {
            //if (!IfPLCDiskZero)
            //{
            melsecPLCTCPDriver.WriteInt("580", 0);
            //归零
            melsecPLCTCPDriver.WriteInt("580", 1);

            Thread.Sleep(200);
            melsecPLCTCPDriver.WriteInt("580", 0);
            IfPLCDiskZero = true;
            this.txtSetValue.Text = "1";
            myLog("580开始归零", DateTime.Now);
            //}
            //else
            //{
            //    melsecPLCTCPDriver.WriteInt("580", 0);
            //    IfPLCDiskZero = false;
            //    this.txtSetValue.Text = "0";
            //    myLog("580停止归零", DateTime.Now);
            //}
        }

        private void PLCPostion_Click(object sender, EventArgs e)
        {
            //if (!IfPLCPostion)
            //{



            try
            {
                if (Regex.IsMatch(lnEditmiXOP.Text.ToString(), @"^[0-9]+$") && Regex.IsMatch(lnEditmiYOP.Text.ToString(), @"^[0-9]+$") && Regex.IsMatch(lnEditmiZOP.Text.ToString(), @"^[0-9]+$"))
                {
                    if (lnEditmiXOP.Text != "" && lnEditmiYOP.Text != "" && lnEditmiZOP.Text != "")
                    {
                        //通过读取编辑栏的数值 作为目标位置
                        int iXTPosition = Convert.ToInt16(lnEditmiXOP.Text); //定位X轴位置
                        int iYTPosition = Convert.ToInt16(lnEditmiYOP.Text);
                        int iZTPosition = Convert.ToInt16(lnEditmiZOP.Text);

                        //把要定位的位置写入
                        melsecPLCTCPDriver.WriteInt("402", iXTPosition);
                        melsecPLCTCPDriver.WriteInt("412", iYTPosition);
                        melsecPLCTCPDriver.WriteInt("422", iZTPosition);

                        string logs = "写入定位位置 X" + iXTPosition + "Y:" + iYTPosition + "Z:" + iZTPosition + " ";
                        myLog(logs, DateTime.Now);
                    }
                }



                melsecPLCTCPDriver.WriteInt("581", 1);
                Thread.Sleep(1000);
                melsecPLCTCPDriver.WriteInt("581", 0);
                IfPLCPostion = true;
                this.txtSetValue.Text = "1";
                myLog("XYZ开始定位581", DateTime.Now);
            }
            catch (Exception ex)
            {

            }




            //}
            //else
            //{
            //    melsecPLCTCPDriver.WriteInt("581", 0);
            //    IfPLCPostion = false;
            //    this.txtSetValue.Text = "0";
            //    myLog("XYZ停止581", DateTime.Now);
            //}
        }



        private void StartDecBtn_Click(object sender, EventArgs e)
        {
            //OnGetBar();
            TriggerCameral2();
            ReadyDetect();
            myLog("开启流程成功", DateTime.Now);
        }

        private void InsertSqlBtn_Click(object sender, EventArgs e)
        {
            InsertSqlFrm insertSqlFrm = new InsertSqlFrm();
            //  insertSqlFrm.
            //insertSqlFrm.Parent = this;
            insertSqlFrm.ShowDialog();
        }

        private void RefeshData_Click(object sender, EventArgs e)
        {
            DataSet dataSet = SQLiteHelper.Query("select * from XK_HisenceDet");
            dataGridView1.DataSource = dataSet.Tables[0];
        }

        private void panel8_Paint(object sender, PaintEventArgs e)
        {

        }

        private void SetHandleSpeed_Click(object sender, EventArgs e)
        {
            if (Regex.IsMatch(lnEditmiXHS.Text.ToString(), @"^[0-9]+$") && Regex.IsMatch(lnEditmiYHS.Text.ToString(), @"^[0-9]+$") && Regex.IsMatch(lnEditmiZHS.Text.ToString(), @"^[0-9]+$"))
            {
                if (SetlnEditmiXH.Text != "" && SetlnEditmiYH.Text != "" && SetlnEditmiZH.Text != "")
                {
                    int XHspeed = Convert.ToInt32(SetlnEditmiXH.Text);  //X轴手动速度
                    int YHspeed = Convert.ToInt32(SetlnEditmiYH.Text);  //Y轴手动速度
                    int ZHspeed = Convert.ToInt32(SetlnEditmiZH.Text);  //Z轴手动速度

                    melsecPLCTCPDriver.WriteInt("406", XHspeed);  //写入手动速度
                    melsecPLCTCPDriver.WriteInt("416", YHspeed);
                    melsecPLCTCPDriver.WriteInt("426", ZHspeed);
                    string logs = "写入手动速度 X" + XHspeed + "Y:" + YHspeed + "Z:" + ZHspeed + " ";
                    myLog(logs, DateTime.Now);
                }


            }
        }

        private void SetAutoSpeed_Click(object sender, EventArgs e)
        {
            if (Regex.IsMatch(lnEditmiXS.Text.ToString(), @"^[0-9]+$") && Regex.IsMatch(lnEditmiYS.Text.ToString(), @"^[0-9]+$") && Regex.IsMatch(lnEditmiZS.Text.ToString(), @"^[0-9]+$"))
            {
                if (SetlnEditmiXOP.Text != "" && SetlnEditmiYOP.Text != "" && SetlnEditmiZOP.Text != "")
                {
                    int Xspeed = Convert.ToInt32(SetlnEditmiXOP.Text); //X轴定位速度
                    int Yspeed = Convert.ToInt32(SetlnEditmiYOP.Text);  //Y轴定位速度
                    int Zspeed = Convert.ToInt32(SetlnEditmiZOP.Text);   //Z轴定位速度

                    melsecPLCTCPDriver.WriteInt("404", Xspeed);   //写入定位速度
                    melsecPLCTCPDriver.WriteInt("414", Yspeed);
                    melsecPLCTCPDriver.WriteInt("424", Zspeed);

                    string logs = "写入定位速度 X" + Xspeed + "Y:" + Yspeed + "Z:" + Zspeed + " ";
                    myLog(logs, DateTime.Now);
                }
            }
        }
        //按下状态标识
        private bool m_btnState;
        private void radioButton1_Click(object sender, EventArgs e)
        {

            if (!ifXZeroValue)
            {
                this.XZerorbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("503", 1);
                ifXZeroValue = true;
                this.txtSetValue.Text = "1";
                myLog("X轴开始归零", DateTime.Now);
            }
            else
            {
                this.XZerorbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("503", 0);
                ifXZeroValue = false;
                this.txtSetValue.Text = "0";
                myLog("X轴停止归零", DateTime.Now);
            }
        }

        private void YZerorbx_Click(object sender, EventArgs e)
        {
            if (!ifYZeroValue)
            {
                this.YZerorbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("513", 1);
                ifYZeroValue = true;
                this.txtSetValue.Text = "1";
                myLog("Y轴开始归零", DateTime.Now);
            }
            else
            {
                this.YZerorbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("513", 0);
                ifYZeroValue = false;
                this.txtSetValue.Text = "0";
                myLog("Y轴停止归零", DateTime.Now);
            }
        }

        private void ZZerorbx_Click(object sender, EventArgs e)
        {
            if (!ifZZeroValue)
            {
                this.ZZerorbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("523", 1);
                ifZZeroValue = true;
                this.txtSetValue.Text = "1";
                myLog("Z轴开始归零", DateTime.Now);
            }
            else
            {
                this.ZZerorbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("523", 0);
                ifZZeroValue = false;
                this.txtSetValue.Text = "0";
                myLog("Z轴停止归零", DateTime.Now);
            }
        }

        private void XForwardrbx_Click(object sender, EventArgs e)
        {
            if (!ifXForward)
            {
                this.XForwardrbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("502", 1);
                ifXForward = true;
                this.txtSetValue.Text = "1";
                myLog("X轴开始正向", DateTime.Now);
            }
            else
            {
                this.XForwardrbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("502", 0);
                ifXForward = false;
                this.txtSetValue.Text = "0";
                myLog("X轴停止正向", DateTime.Now);
            }
        }

        private void YForwardrbx_Click(object sender, EventArgs e)
        {
            if (!ifYForward)
            {
                this.YForwardrbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("512", 1);
                ifYForward = true;
                this.txtSetValue.Text = "1";
                myLog("Y轴开始正向", DateTime.Now);
            }
            else
            {
                this.YForwardrbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("512", 0);
                ifYForward = false;
                this.txtSetValue.Text = "0";
                myLog("Y轴停止正向", DateTime.Now);
            }
        }

        private void ZForwardrbx_Click(object sender, EventArgs e)
        {
            if (!ifZForward)
            {
                this.ZForwardrbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("522", 1);
                ifZForward = true;
                this.txtSetValue.Text = "1";
                myLog("Z轴开始正向", DateTime.Now);
            }
            else
            {
                this.ZForwardrbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("522", 0);
                ifZForward = false;
                this.txtSetValue.Text = "0";
                myLog("Z轴停止正向", DateTime.Now);
            }
        }

        private void XBackwardrbx_Click(object sender, EventArgs e)
        {
            if (!ifXBackward)
            {
                this.XBackwardrbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("501", 1);
                ifXBackward = true;
                this.txtSetValue.Text = "1";
                myLog("X轴开始反向", DateTime.Now);
            }
            else
            {
                this.XBackwardrbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("501", 0);
                ifXBackward = false;
                this.txtSetValue.Text = "0";
                myLog("X轴停止反向", DateTime.Now);
            }
        }

        private void YBackwardrbx_Click(object sender, EventArgs e)
        {
            if (!ifYBackward)
            {
                this.YBackwardrbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("511", 1);
                ifYBackward = true;
                this.txtSetValue.Text = "1";
                myLog("Y轴开始反向", DateTime.Now);
            }
            else
            {
                this.YBackwardrbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("511", 0);
                ifYBackward = false;
                this.txtSetValue.Text = "0";
                myLog("Y轴停止反向", DateTime.Now);
            }
        }

        private void ZBackwardrbx_Click(object sender, EventArgs e)
        {
            if (!ifZBackward)
            {
                this.ZBackwardrbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("521", 1);
                ifZBackward = true;
                this.txtSetValue.Text = "1";
                myLog("Z轴开始反向", DateTime.Now);
            }
            else
            {
                this.ZBackwardrbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("521", 0);
                ifZBackward = false;
                this.txtSetValue.Text = "0";
                myLog("Z轴停止反向", DateTime.Now);
            }
        }

        private void button1_Click(object sender, EventArgs e)
        {
            string ss = "BB0VA5E0000BCQ5L0114";

        }

        private void Cam2OpenBtn_Click_1(object sender, EventArgs e)
        {

            Cam2.Start("Cam2");

            bnGetParam2.Enabled = true;
            //SetCtrlWhenOpen();
            Cam2OpenBtn.BackColor = Color.Green;
        }

        private void button4_Click_1(object sender, EventArgs e)
        {
            OpenFileDialog openFileDialog = new OpenFileDialog();
            openFileDialog.Title = "请打开图片";


            if (openFileDialog.ShowDialog() == DialogResult.OK)
            {
                string fName = openFileDialog.FileName;
                //File fileOpen = new File(fName);
                //isFileHaveName = true;
                //richTextBox1.Text = fileOpen.ReadFile();
                //richTextBox1.AppendText("");
                DetectBArMatbox.Text = fName;
                BarPath = fName;
            }
        }

        private void InsertBtn_Click(object sender, EventArgs e)
        {
            try
            {
                string type = TypeBox.Text;
                string OcrBar = OcrBarBox.Text;
                string moveX = moveXbox.Text;
                string moveY = moveYbox.Text;
                string moveZ = moveZbox.Text;
                string Detect = DetectBArMatbox.Text;
                string movetwoX = moveTwoXbox.Text;
                string movetwoY = moveTwoYbox.Text;
                string movetwoZ = moveTwoZbox.Text;

                if (!Regex.IsMatch(moveX, @"^[0-9]+$"))
                {
                    MessageBox.Show("第一次拍照移动的X只能是数字");
                    return;
                }
                if (!Regex.IsMatch(moveY, @"^[0-9]+$"))
                {
                    MessageBox.Show("第一次拍照移动的Y只能是数字");
                    return;
                }
                if (!Regex.IsMatch(moveZ, @"^[0-9]+$"))
                {
                    MessageBox.Show("第一次拍照移动的Z只能是数字");
                    return;
                }
                if (!Regex.IsMatch(movetwoX, @"^[0-9]+$"))
                {
                    MessageBox.Show("第二次拍照移动的X只能是数字");
                    return;
                }
                if (!Regex.IsMatch(movetwoY, @"^[0-9]+$"))
                {
                    MessageBox.Show("第二次拍照移动的Y只能是数字");
                    return;
                }
                if (!Regex.IsMatch(movetwoZ, @"^[0-9]+$"))
                {
                    MessageBox.Show("第二次拍照移动的Z只能是数字");
                    return;
                }

                if (OcrBar != "" && Detect != "" && BarPath != "" && Cam1OnePath != "" && Cam1TwoPath != "" && ModelChangePath != "")
                {
                    int HmoveX = (int)Convert.ToInt64(moveX);
                    int HmoveY = (int)Convert.ToInt64(moveY);
                    int HmoveZ = (int)Convert.ToInt64(moveZ);
                    int HmovetwoX = (int)Convert.ToInt64(movetwoX);
                    int HmovetwoY = (int)Convert.ToInt64(movetwoY);
                    int HmovetwoZ = (int)Convert.ToInt64(movetwoZ);
                    InsertXK_Hisence(HmoveX, HmoveY, HmoveZ, HmovetwoX, HmovetwoY, HmovetwoZ);


                }
                else
                {
                    MessageBox.Show("插入的数据不能为NULL");
                }

            }
            catch (Exception es)
            {
            }
        }
        public void InsertXK_Hisence(int MoveX, int MoveY, int MoveZ, int MoveTwoX, int MoveTwoY, int MoveTwoZ)
        {
            PaddleOcrModel IpaddleOcrModel = new PaddleOcrModel();
            IpaddleOcrModel.Load(ModelChangePath, "CPU");
            MLRequest OcrBari = new MLRequest();
            OcrBari.currentMat = Cv2.ImRead(BarPath);
            MLResultModel mL2 = IpaddleOcrModel.RunInferenceFixed(OcrBari);
            string IOcrBAr = "";
            for (int v = 0; v < mL2.ResultDetails.Count(); v++)
            {
                string iv = mL2.ResultDetails[v].LabelDisplay;
                IOcrBAr += iv;
            }
            using (StreamWriter sw = new StreamWriter("D://123.log", true))
            {
                sw.WriteLine("\n");
                sw.WriteLine(IOcrBAr);
                sw.Flush();
            }
            MLRequest CamOneI = new MLRequest();
            CamOneI.currentMat = Cv2.ImRead(Cam1OnePath);
            CamOneI.ResizeWidth = 640;
            CamOneI.ResizeHeight = 640;
            CamOneI.Score = 0.3f;
            CamOneI.in_lable_path = "D:\\Hisence\\ClassName.txt";//标签路径
            CamOneI.confThreshold = 0.3f;//模型置信度
            CamOneI.iouThreshold = 0.4f;//检测IOU
            CamOneI.out_node_name = "output";
            MLResult mL3 = simboObjectDetection.RunInferenceFixed(CamOneI);
            if (mL3.IsSuccess)
            {
                DateTime dt = DateTime.Now;
                mL3.ResultMap.Save("D:\\Hisence\\detImages\\" + dt.Year.ToString() + dt.Month.ToString() + dt.Day.ToString() + dt.Hour.ToString() + dt.Minute.ToString() + dt.Millisecond.ToString() + "1result.jpg");

            }
            List<string> strMatListListOne = new List<string>();
            Mat mResultCut = CamOneI.currentMat.Clone();

            InsertSqlRunData(ref mResultCut, mL3, ref strMatListListOne, ref IpaddleOcrModel);

            MLRequest CamTwoI = new MLRequest();
            CamTwoI.currentMat = Cv2.ImRead(Cam1TwoPath);
            CamTwoI.ResizeWidth = 640;
            CamTwoI.ResizeHeight = 640;
            CamTwoI.Score = 0.3f;
            CamTwoI.in_lable_path = "D:\\Hisence\\ClassName.txt";//标签路径
            CamTwoI.confThreshold = 0.3f;//模型置信度
            CamTwoI.iouThreshold = 0.4f;//检测IOU
            CamTwoI.out_node_name = "output";
            MLResult mL4 = simboObjectDetection.RunInferenceFixed(CamTwoI);
            if (mL4.IsSuccess)
            {
                DateTime dt = DateTime.Now;
                mL4.ResultMap.Save("D:\\Hisence\\detImages\\" + dt.Year.ToString() + dt.Month.ToString() + dt.Day.ToString() + dt.Hour.ToString() + dt.Minute.ToString() + dt.Millisecond.ToString() + "2result.jpg");

            }


            List<string> strMatListListTwo = new List<string>();
            Mat mResultCut2 = CamTwoI.currentMat.Clone();

            InsertSqlRunData(ref mResultCut2, mL4, ref strMatListListTwo, ref IpaddleOcrModel);
            //文本区域
            string OcrTextinsert = "";
            List<string> bingji = strMatListListOne.Union(strMatListListTwo).ToList();//并（全）集
            for (int j = 0; j < bingji.Count; j++)
            {
                string jdetial = bingji[j];
                OcrTextinsert += jdetial + "##";
            }
            string detstr = "";
            
                //找到识别区域
                MLResult MLsum = mL3;
            for (int v = 0; v < mL4.ResultDetails.Count; v++)
            {
                MLsum.ResultDetails.Add(mL4.ResultDetails[v]);
            }
            for (int v = 0; v < MLsum.ResultDetails.Count; v++)
            {

                if (v < MLsum.ResultDetails.Count - 1)
                {
                    detstr += MLsum.ResultDetails[v].LabelName + ",";
                }
                else
                {
                    detstr += MLsum.ResultDetails[v].LabelName ;

                }

            }


            XKHisence xK = new XKHisence("1", IOcrBAr, MoveX, MoveY, MoveZ, detstr, OcrTextinsert, MoveTwoX, MoveTwoY, MoveTwoZ, ModelChangePath, "");


            //IpaddleOcrModel.FreeModel();

            string sql = "insert into XK_Hisence VALUES('" + xK.Type + "','" + xK.OcrBar + "'," + xK.MoveX + "," + xK.MoveY + "," + xK.MoveZ + ",'" + xK.Detect + "','" + xK.OcrText + "'," + xK.MoveTwoX + "," + xK.MoveTwoY + "," + xK.MoveTwoZ + ",'" + xK.OcrParm + "','" + xK.Language + "')";
            int i = SQLiteHelper.ExecuteSql(sql);
            if (i == 1)
            {
                MessageBox.Show("插入一条数据");
            }
            //bool ismatch = IsMatchOcrText("WF3S7021BB", strMatListListOne);
            //相机回调
        }
        private void queryALLBtn_Click(object sender, EventArgs e)
        {
            try
            {
                DataSet dataSet = SQLiteHelper.Query("select * from XK_Hisence");
                InsertDataDgv.DataSource = dataSet.Tables[0];


            }
            catch (Exception es)
            {
            }
        }

        private void QueryoneBtn_Click(object sender, EventArgs e)
        {
            try
            {
                string type = TypeBox.Text;
                string OcrBar = OcrBarBox.Text;
                string moveX = moveXbox.Text;
                string moveY = moveYbox.Text;
                string moveZ = moveZbox.Text;
                string Detect = DetectBArMatbox.Text;
                string movetwoX = moveTwoXbox.Text;
                string movetwoY = moveTwoYbox.Text;
                string movetwoZ = moveTwoZbox.Text;


                string sql = "select * from XK_Hisence where type='" + type + "' or OcrBar='" + OcrBar + "'";
                DataSet dataSet = SQLiteHelper.Query(sql);
                InsertDataDgv.DataSource = dataSet.Tables[0];

            }
            catch (Exception es)
            {
            }
        }

        private void OpenDirBtn_Click(object sender, EventArgs e)
        {
            OpenFileDialog openFileDialog = new OpenFileDialog();
            openFileDialog.Title = "请打开图片";


            if (openFileDialog.ShowDialog() == DialogResult.OK)
            {
                string fName = openFileDialog.FileName;
                //File fileOpen = new File(fName);
                //isFileHaveName = true;
                //richTextBox1.Text = fileOpen.ReadFile();
                //richTextBox1.AppendText("");
                Cam1MatCbx.Text = fName;
                Cam1OnePath = fName;
            }
        }

        private void OpenTwoDirBtn_Click(object sender, EventArgs e)
        {
            OpenFileDialog openFileDialog = new OpenFileDialog();
            openFileDialog.Title = "请打开图片";


            if (openFileDialog.ShowDialog() == DialogResult.OK)
            {
                string fName = openFileDialog.FileName;
                //File fileOpen = new File(fName);
                //isFileHaveName = true;
                //richTextBox1.Text = fileOpen.ReadFile();
                //richTextBox1.AppendText("");
                Cam2MatCbx.Text = fName;
                Cam1TwoPath = fName;
            }
        }

        private void openModelBtn_Click(object sender, EventArgs e)
        {
            OpenFileDialog openFileDialog = new OpenFileDialog();
            openFileDialog.Title = "请打开json";


            if (openFileDialog.ShowDialog() == DialogResult.OK)
            {
                string fName = openFileDialog.FileName;
                //File fileOpen = new File(fName);
                //isFileHaveName = true;
                //richTextBox1.Text = fileOpen.ReadFile();
                //richTextBox1.AppendText("");
                modelChangeCbx.Text = fName;
                ModelChangePath = fName;
            }
        }

        private void SnapshotCam2_Click_1(object sender, EventArgs e)
        {
            Cam2.Snapshot();
        }

        private void bnGetParam2_Click_1(object sender, EventArgs e)
        {
            tbExposure2.Text = Cam2.dvpGetExposure().ToString();
            tbGain2.Text = Cam2.dvpGetAnalogGain().ToString();
        }
    }
}