From b8c83e459dbdd8fe589130417c481bb75068f89f Mon Sep 17 00:00:00 2001 From: JKJ Date: Wed, 12 Mar 2025 09:21:06 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E6=9D=BF=E5=8D=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DH.Commons/DH.Commons.csproj | 20 + DH.Commons/GlobalVar.cs | 39 + DH.Commons/Helper/HDevEngineTool.cs | 677 +++++++++++++ DH.Commons/Helper/OpenCVEngineTool.cs | 724 ++++++++++++++ DH.Devices.Motion/MCDLL_NET_Code.cs | 2 +- DH.Devices.Motion/MotionBase.cs | 30 +- DH.Devices.Motion/SLDMotion.cs | 65 +- DH.Devices.Vision/DH.Devices.Vision.csproj | 1 + DH.Devices.Vision/DetectionConfig.cs | 23 + DH.Devices.Vision/SimboVisionMLBase.cs | 25 + DH.Devices.Vision/SimboVisionModel.cs | 35 + DHSoftware/DHSoftware.csproj | 7 + DHSoftware/MainWindow.cs | 1039 +++++++++++++++----- 13 files changed, 2394 insertions(+), 293 deletions(-) create mode 100644 DH.Commons/GlobalVar.cs create mode 100644 DH.Commons/Helper/HDevEngineTool.cs create mode 100644 DH.Commons/Helper/OpenCVEngineTool.cs create mode 100644 DH.Devices.Vision/SimboVisionModel.cs diff --git a/DH.Commons/DH.Commons.csproj b/DH.Commons/DH.Commons.csproj index 1c2b199..1920bc2 100644 --- a/DH.Commons/DH.Commons.csproj +++ b/DH.Commons/DH.Commons.csproj @@ -5,6 +5,26 @@ enable enable AnyCPU;X64 + True + + + + + + + + + + + + + ..\x64\Debug\halcondotnet.dll + + + ..\x64\Debug\hdevenginedotnet.dll + + + diff --git a/DH.Commons/GlobalVar.cs b/DH.Commons/GlobalVar.cs new file mode 100644 index 0000000..ce615fc --- /dev/null +++ b/DH.Commons/GlobalVar.cs @@ -0,0 +1,39 @@ + + +namespace XKRS.Common.Model +{ + public static class GlobalVar + { + + //public const string SEPERATOR = "|"; + + //public static ContainerBuilder Builder { get; set; } = new ContainerBuilder(); + + //private static object containerLock = new object(); + + //private static IContainer container = null; + //public static IContainer Container + //{ + // get + // { + // if (container == null) + // { + // lock (containerLock) + // { + // if (container == null) + // { + // container = Builder.Build(); + // } + // } + // } + + // return container; + // } + //} + + //public static void InitialAutoFac() + //{ + // Container = Builder.Build(); + //} + } +} diff --git a/DH.Commons/Helper/HDevEngineTool.cs b/DH.Commons/Helper/HDevEngineTool.cs new file mode 100644 index 0000000..bd6f51e --- /dev/null +++ b/DH.Commons/Helper/HDevEngineTool.cs @@ -0,0 +1,677 @@ +using HalconDotNet; +using System.Diagnostics; +using System.Drawing; +using System.Drawing.Imaging; +using System.Runtime.ExceptionServices; +using System.Runtime.InteropServices; + +namespace XKRS.Common.Model +{ + public class HDevEngineTool : IDisposable + { + #region 常量 + + // path of external procedures + readonly string ProcedurePath = Environment.CurrentDirectory + "\\Vision\\"; + + #endregion + + #region 成员变量 + + /// + /// 处理过程名 + /// + public string ProcedureName; + + /// + /// hdev程序启动引擎 + /// + private readonly HDevEngine myEngine; + + /// + /// 过程载入工具 .hdvp + /// + private HDevProcedureCall procedureCall; + + /// + /// 程序运行是否成功 + /// + public bool IsSuccessful { get; set; } = false; + + /// + /// 控制参数字典 + /// + public Dictionary InputTupleDic { get; set; } + + /// + /// 图形参数字典 + /// + public Dictionary InputImageDic { get; set; } + + #endregion + + #region 初始化 + /// + /// 实例化 默认搜索路径为: 启动路径//Vision// + /// + public HDevEngineTool() + { + ProcedureName = ""; + myEngine = new HDevEngine(); + myEngine.SetProcedurePath(ProcedurePath); + + InputImageDic = new Dictionary(); + InputTupleDic = new Dictionary(); + } + + /// + /// 实例化 + /// + /// 外部函数搜索路径 + public HDevEngineTool(string path) + { + myEngine = new HDevEngine(); + myEngine.SetProcedurePath(path); + + InputImageDic = new Dictionary(); + InputTupleDic = new Dictionary(); + } + #endregion + + + + /// + /// 设置函数运行所需参数 + /// + /// 控制参数 + /// 图形参数 + public void SetDictionary(Dictionary _tupleDictionary, Dictionary _imageDictionary) + { + InputTupleDic = _tupleDictionary; + InputImageDic = _imageDictionary; + } + + + + /// + /// 载入过程 .hdvp + /// + /// 过程名 + public void LoadProcedure(string procedureName) + { + ProcedureName = procedureName; + try + { + HDevProcedure procedure = new HDevProcedure(procedureName); + procedureCall = new HDevProcedureCall(procedure); + } + catch (HDevEngineException Ex) + { + Trace.TraceInformation("HDevProgram {0} Load fail ,Error Line : {1}, Line number: {2}, Halcon error number : {3}", Ex.ProcedureName, Ex.LineText, Ex.LineNumber, Ex.HalconError); + return; + } + } + + + + /// + /// 执行过程 + /// + [HandleProcessCorruptedStateExceptions] + public bool RunProcedure(out string errorMsg, out int timeElasped) + { + //lock (_runLock) + { + errorMsg = ""; + Stopwatch sw = new Stopwatch(); + sw.Start(); + try + { + foreach (KeyValuePair pair in InputTupleDic) + { + procedureCall.SetInputCtrlParamTuple(pair.Key, pair.Value); + } + + foreach (KeyValuePair pair in InputImageDic) + { + procedureCall.SetInputIconicParamObject(pair.Key, pair.Value); + } + + procedureCall.Execute(); + + IsSuccessful = true; + } + catch (HDevEngineException ex) + { + IsSuccessful = false; + errorMsg = $"HDevProgram {ex.ProcedureName} Run fail , Line number: {ex.LineNumber}, Halcon error number : {ex.HalconError},ex:{ex.Message}"; + } + finally + { + sw.Stop(); + timeElasped = (int)sw.ElapsedMilliseconds; + } + return IsSuccessful; + } + } + + object _runLock = new object(); + /// + /// 执行过程 + /// + public Tuple, Dictionary, string, int> RunProcedure(Dictionary inputHTupleDict, Dictionary inputImgDict, List outputHTuples = null, List outputObjs = null) + { + lock (_runLock) + { + string errorMsg = ""; + int timeElasped = 0; + bool result = false; + Dictionary outputHTupleDict = new Dictionary(); + Dictionary outputObjDict = new Dictionary(); + + Stopwatch sw = new Stopwatch(); + sw.Start(); + try + { + if (inputHTupleDict != null && inputHTupleDict.Count > 0) + { + foreach (KeyValuePair pair in inputHTupleDict) + { + procedureCall.SetInputCtrlParamTuple(pair.Key, pair.Value); + } + } + + if (InputImageDic != null && inputImgDict.Count > 0) + { + foreach (KeyValuePair pair in inputImgDict) + { + procedureCall.SetInputIconicParamObject(pair.Key, pair.Value); + } + } + + procedureCall.Execute(); + + result = true; + } + catch (HDevEngineException ex) + { + result = false; + errorMsg += $"HDevProgram {ex.ProcedureName} Run fail , Line number: {ex.LineNumber}, Halcon error number : {ex.HalconError},ex:{ex.Message}"; + } + finally + { + sw.Stop(); + timeElasped = (int)sw.ElapsedMilliseconds; + } + + if (result) + { + if (outputHTuples != null && outputHTuples.Count > 0) + { + outputHTuples.ForEach(t => + { + try + { + outputHTupleDict[t] = procedureCall.GetOutputCtrlParamTuple(t); + } + catch (Exception ex) + { + result = false; + errorMsg += $"\r\n获取{t}结果异常：{ex.Message}"; + + outputHTupleDict[t] = null; + } + }); + } + + if (outputObjs != null && outputObjs.Count > 0) + { + outputObjs.ForEach(t => + { + try + { + outputObjDict[t] = procedureCall.GetOutputIconicParamObject(t); + } + catch (Exception ex) + { + result = false; + errorMsg += $"\r\n获取{t}结果异常：{ex.Message}"; + + outputObjDict[t] = null; + } + }); + } + } + Tuple, Dictionary, string, int> ret = new Tuple, Dictionary, string, int>(result, outputHTupleDict, outputObjDict, errorMsg, timeElasped); + return ret; + } + } + + public HTuple GetResultTuple(string key) + { + try + { + if (IsSuccessful) + { + return procedureCall.GetOutputCtrlParamTuple(key); + } + else + { + return new HTuple(); + } + } + catch (Exception ex) + { + return new HTuple(); + } + + } + + public HObject GetResultObject(string key, bool ignoreError = false) + { + try + { + if (ignoreError || IsSuccessful) + { + return procedureCall.GetOutputIconicParamObject(key); + } + else + { + return new HObject(); + } + } + catch (Exception ex) + { + return new HObject(); + } + } + + public void Dispose() + { + procedureCall?.Dispose(); + myEngine?.Dispose(); + } + } + + public static class HalconHelper + { + [DllImport("kernel32.dll", EntryPoint = "CopyMemory", SetLastError = false)] + public static extern void CopyMemory(IntPtr dest, IntPtr src, uint count); + + public static HImage Convert8GrayBitmapToHImage(this Bitmap bmp) + { + HImage himage = new HImage(); + try + { + //判断输入图像不为null + if (bmp == null) + { + return null; + } + + { + //重绘himage + //HImage curImage = new HImage(); + BitmapData bmpData = bmp.LockBits(new Rectangle(0, 0, bmp.Width, bmp.Height), ImageLockMode.ReadOnly, PixelFormat.Format8bppIndexed); + himage.GenImage1("byte", bmp.Width, bmp.Height, bmpData.Scan0); + bmp.UnlockBits(bmpData); + //himage = curImage; + } + return himage; + } + catch (Exception e) + { + return null; + } + } + + public static Bitmap ConvertHImageToBitmap(this HObject hImage) + { + HOperatorSet.CountChannels(hImage, out HTuple chanels); + if (chanels.I == 1) + { + return hImage.ConvertHImageTo8GrayBitmap(); + } + else + { + return hImage.ConvertHImageToRGBBitmap(); + //return hImage.HObject2BitmapRGB(); + } + } + + public static Bitmap HObject2BitmapRGB(this HObject hObject) + { + ////获取图像尺寸 + HTuple width0, height0, type, width, height; + //获取图像尺寸 + HOperatorSet.GetImageSize(hObject, out width0, out height0); + // 创建交错格式图像 + HOperatorSet.InterleaveChannels(hObject, out HObject InterImage, "argb", "match", 255); //"rgb", 4 * width0, 0 "argb", "match", 255 + + //获取交错格式图像指针 + HOperatorSet.GetImagePointer1(InterImage, out HTuple Pointer, out type, out width, out height); + IntPtr ptr = Pointer; + //构建新Bitmap图像 + Bitmap res32 = new Bitmap(width / 4, height, width, PixelFormat.Format32bppArgb, ptr); // Format32bppArgb Format24bppRgb + + //32位Bitmap转24位 + var res24 = new Bitmap(res32.Width, res32.Height, PixelFormat.Format24bppRgb); + Graphics graphics = Graphics.FromImage(res24); + graphics.DrawImage(res32, new Rectangle(0, 0, res32.Width, res32.Height)); + + return res24; + } + + public static Bitmap ConvertHImageTo8GrayBitmap(this HObject hImage) + { + try + { + HTuple type, width, height, pointer; + HOperatorSet.GetImagePointer1(hImage, out pointer, out type, out width, out height); + + Bitmap bmp = new Bitmap(width.I, height.I, PixelFormat.Format8bppIndexed); + ColorPalette pal = bmp.Palette; + for (int i = 0; i <= 255; i++) + { + pal.Entries[i] = Color.FromArgb(255, i, i, i); + } + bmp.Palette = pal; + + BitmapData bitmapData = bmp.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.WriteOnly, PixelFormat.Format8bppIndexed); + + if (width % 4 == 0) + { + CopyMemory(bitmapData.Scan0, (IntPtr)pointer.D, (uint)(bitmapData.Stride * height.I)); + } + else + { + Parallel.For(0, height.I, h => + { + CopyMemory(bitmapData.Scan0 + h * bitmapData.Stride, (IntPtr)(pointer.D + h * width.I), (uint)width.I); + }); + } + + bmp.UnlockBits(bitmapData); + return bmp; + } + catch (Exception ex) + { + return null; + } + } + + public static Bitmap ConvertHImageToRGBBitmap(this HObject hImage) + { + try + { + HOperatorSet.GetImagePointer3(hImage, out HTuple pointRed, out HTuple pointGreen, out HTuple pointBlue, out HTuple type, out HTuple width, out HTuple height); + Bitmap image = new Bitmap(width.I, height.I, PixelFormat.Format24bppRgb); + BitmapData imageData = image.LockBits(new Rectangle(0, 0, width.I, height.I), ImageLockMode.ReadWrite, image.PixelFormat); + IntPtr pR = (IntPtr)pointRed.D; + IntPtr pG = (IntPtr)pointGreen.D; + IntPtr pB = (IntPtr)pointBlue.D; + Parallel.For(0, imageData.Height, h => + { + Parallel.For(0, imageData.Width, w => + { + int dest = h * imageData.Stride + w * 3; + int source = h * imageData.Width + w; + + Marshal.WriteByte(imageData.Scan0, dest, Marshal.ReadByte(pB, source)); + Marshal.WriteByte(imageData.Scan0, dest + 1, Marshal.ReadByte(pG, source)); + Marshal.WriteByte(imageData.Scan0, dest + 2, Marshal.ReadByte(pR, source)); + }); + }); + + image.UnlockBits(imageData); + return image; + } + catch (Exception exc) + { + return null; + } + } + + public static Bitmap ConvertHImageTo16GrayBitmap(this HImage originHImage) + { + //IntPtr pointer = hImage.GetImagePointer1(out string type, out int width, out int height); + + //int widthIn4 = (int)Math.Ceiling(width / 4.0) * 4; + + ////Bitmap bmp = new Bitmap(widthIn4, height, PixelFormat.Format48bppRgb); + //Bitmap showImage = new Bitmap(widthIn4, height, PixelFormat.Format48bppRgb); + + //Rectangle rect = new Rectangle(0, 0, widthIn4, height); + ////BitmapData bitmapData = bmp.LockBits(rect, ImageLockMode.WriteOnly, PixelFormat.Format48bppRgb); + //BitmapData showImageData = showImage.LockBits(rect, ImageLockMode.WriteOnly, PixelFormat.Format48bppRgb); + //unsafe + //{ + // byte* data = (byte*)pointer; + // //byte* bitmapBuffer = (byte*)bitmapData.Scan0; + // byte* showBitmapBuffer = (byte*)showImageData.Scan0; + + // Parallel.For(0, width * height, i => + // { + // int index = (i + 1) % width + widthIn4 * ((int)Math.Floor((double)(i + 1) / width)) - 1; + + // //showBitmapBuffer[index * 6] = bitmapBuffer[index * 6] = data[i * 2]; + // //showBitmapBuffer[index * 6 + 1] = bitmapBuffer[index * 6 + 1] = data[i * 2 + 1]; + // showBitmapBuffer[index * 6] = data[i * 2]; + // showBitmapBuffer[index * 6 + 1] = data[i * 2 + 1]; + // }); + //} + + ////bmp.UnlockBits(bitmapData); + //showImage.UnlockBits(showImageData); + + //return showImage; + + // dev_set_draw('margin') + //read_image(Image, '0.tif') + + HImage hImage = originHImage.Clone(); + + //* 如果16位图像非常暗的话，建议在这一步进行提亮，因为后面8位图像大幅度提亮易造成色阶断裂，出现不连续的像素块 + // * scale_image(Image, Image, 25, 0) + //hImage = hImage.ScaleImage(25.0, 0.0); + + //get_domain(Image, rectangle) + //* 获取全图中像素灰度值的最大和最小值 + //min_max_gray(rectangle, Image, 0, Min, Max, range) + hImage.MinMaxGray(hImage.GetDomain(), 0, out double min, out double max, out double range); + + //* 将16位图的灰度值映射到0 - 255上 + double mult = 255.0 / (max - min); + double add = -mult * min; + hImage = hImage.ScaleImage(mult, add); + + //* 转换为'byte'类型 + //convert_image_type(Image_scaled, ImageConverted, 'byte') + hImage = hImage.ConvertImageType("byte"); + + Bitmap showImage = hImage.ConvertHImageTo8GrayBitmap(); + + hImage.Dispose(); + + return showImage; + + //* 如果转换以后图像整体对比度太低的话，可以提高对比度（这里是对8位图像处理） + //Min:= 20 + //Max:= 160 + //Mult:= 255.0 / (Max - Min) + //Add:= -Mult * Min + //scale_image(ImageConverted, ImageConverted_scaled, Mult, Add) + } + + public static List HTupleToDouble(this HTuple tuple) + { + List list = new List(); + + for (int i = 0; i < tuple.Length; i++) + { + list.Add(tuple[i].D); + } + + return list; + } + + + + + public static HImage ConvertHObjectToHImage(this HObject obj) + { + HOperatorSet.CountChannels(obj, out HTuple channels); + + HImage img = new HImage(); + if (channels.I == 1) + { + HTuple pointer, type, width, height; + HOperatorSet.GetImagePointer1(obj, out pointer, out type, out width, out height); + + img.GenImage1(type, width, height, pointer); + } + else + { + HTuple pRed, pGreen, pBlue, type, width, height; + HOperatorSet.GetImagePointer3(obj, out pRed, out pGreen, out pBlue, out type, out width, out height); + + img.GenImage3(type, width, height, pRed, pGreen, pBlue); + } + + return img; + } + + #region 灰度图转换为伪彩图 + public static Bitmap ConvertGrayImageToPesudoColorfulImage(this HImage hImage, double max = 0, double min = 0, double zoom = 1, bool isShowHeightTip = false, int zResolution = 100000) + { + hImage.GetImageSize(out int width, out int height); + hImage.MinMaxGray(new HRegion(0.0, 0.0, width, height), 3, out HTuple roiMin, out HTuple roiMax, out _); + + if (max == 0) + { + max = roiMax; + } + + if (min == 0) + { + min = roiMin; + } + + double mult = 235 / (zoom * (max - min)); + double add = (0 - mult) * min * zoom + 10; + HOperatorSet.ScaleImage(hImage, out HObject imageScaled, mult, add); + HOperatorSet.ConvertImageType(imageScaled, out imageScaled, "byte"); + Stopwatch sw = new Stopwatch(); + sw.Start(); + + HOperatorSet.GetImagePointer1(imageScaled, out HTuple pointer, out HTuple type, out _, out _); + Bitmap bitmap = new Bitmap(width, height, PixelFormat.Format24bppRgb); + BitmapData bitmapData = bitmap.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.ReadWrite, bitmap.PixelFormat); + + unsafe + { + byte* data = (byte*)(IntPtr)pointer; + byte* bitmapDataBuff = (byte*)bitmapData.Scan0; + + if (width % 4 != 0) + { + Parallel.For(0, height, h => + { + Parallel.For(0, width, w => + { + byte gray = data[h * width + w]; + byte[] convertBytes = ConvertByteToColorfulArray(gray); + + Marshal.Copy(convertBytes, 0, (IntPtr)(bitmapDataBuff + h * bitmapData.Stride + w * 3), 3); + }); + }); + } + else + { + Parallel.For(0, width * height, i => + { + byte gray = data[i]; + byte[] convertBytes = ConvertByteToColorfulArray(gray); + + Marshal.Copy(convertBytes, 0, (IntPtr)(bitmapDataBuff + i * 3), 3); + }); + } + } + bitmap.UnlockBits(bitmapData); + + if (isShowHeightTip) + { + List lableList = new List() { 5, 30, 60, 90, 120, 150, 180, 210, 240, 255 }; + Dictionary lableColorDict = lableList.ToDictionary( + u => (u - add) / (mult * zResolution), + u => + { + byte[] colorBytes = ConvertByteToColorfulArray(u); + return Color.FromArgb(colorBytes[2], colorBytes[1], colorBytes[0]); + }); + + using (Graphics g = Graphics.FromImage(bitmap)) + { + int rectHeight = (int)(bitmap.Height / (5.0 * lableColorDict.Count)); + Font font = new Font("宋体", (int)(rectHeight * 0.75), GraphicsUnit.Pixel); + + string lable = lableColorDict.ElementAt(0).Key.ToString("f3"); + SizeF lableSize = g.MeasureString(lable, font); + int rectWidth = (int)(lableSize.Width * 1.5); + + int startX = 0; + int startY = 0; + foreach (KeyValuePair pair in lableColorDict) + { + g.FillRectangle(new SolidBrush(pair.Value), startX, startY, rectWidth, rectHeight); + g.DrawString(pair.Key.ToString("f3"), font, new SolidBrush(Color.White), (float)(startX + (rectWidth - lableSize.Width) / 2.0), (float)(startY + (rectHeight - lableSize.Height) / 2.0)); + + startY += rectHeight; + } + } + } + + sw.Stop(); + //LogAsync(DateTime.Now, EnumHelper.LogLevel.Information, $"转换耗时{sw.ElapsedMilliseconds}ms"); + return bitmap; + } + + private static byte[] ConvertByteToColorfulArray(byte gray) + { + byte[] bytes = new byte[3]; + if (gray == 0) + { + bytes[2] = 255; + bytes[1] = 255; + bytes[0] = 255; + } + if (gray > 0 && gray <= 63) + { + bytes[2] = 0; + bytes[+1] = (byte)(254 - 4 * gray); + bytes[0] = 255; + } + if (gray >= 64 && gray <= 127) + { + bytes[2] = 0; + bytes[1] = (byte)(4 * gray - 254); + bytes[0] = (byte)(510 - 4 * gray); + } + if (gray >= 128 && gray <= 191) + { + bytes[2] = (byte)(4 * gray - 510); + bytes[1] = 255; + bytes[0] = 0; + } + if (gray >= 192 && gray <= 255) + { + bytes[2] = 255; + bytes[1] = (byte)(1022 - 4 * gray); + bytes[0] = 0; + } + + return bytes; + } + #endregion + } +} diff --git a/DH.Commons/Helper/OpenCVEngineTool.cs b/DH.Commons/Helper/OpenCVEngineTool.cs new file mode 100644 index 0000000..86e5aff --- /dev/null +++ b/DH.Commons/Helper/OpenCVEngineTool.cs @@ -0,0 +1,724 @@ +using HalconDotNet; +using OpenCvSharp; +using OpenCvSharp.Extensions; +using System; +using System.Drawing; +using System.Drawing.Imaging; +using System.IO; +using System.Linq; +using System.Runtime.InteropServices; +using System.Threading.Tasks; + +namespace XKRS.Common.Model +{ + public class OpenCVEngineTool : IDisposable + { + public void Dispose() + { + throw new NotImplementedException(); + } + + + } + + + public static class OpenCVHelper + { + [DllImport("kernel32.dll", EntryPoint = "RtlMoveMemory", SetLastError = false)] + public static extern void CopyMemory(IntPtr dest, IntPtr src, uint count); + + + public static byte[] MatToBytes(this Mat image) + { + if (image != null && image.Data != IntPtr.Zero) + { + int size = (int)(image.Total() * image.ElemSize()); + byte[] bytes = new byte[size]; + Marshal.Copy(image.Data, bytes, 0, size); + return bytes; + } + else + { + return null; + } + } + + /// + /// 获取水平拼接图片 + /// + /// + /// + /// + public static Bitmap GetHConcatImage(Bitmap map1, Bitmap map2) + { + var mat1 = map1.ToMat(); + var mat2 = map2.ToMat(); + //var maxChannel = Math.Max(mat1.Channels(), mat2.Channels()); + //var maxType = Math.Max(mat1.Type(), mat2.Type()); + + //转通道数 + mat1 = mat1.CvtColor(ColorConversionCodes.GRAY2BGRA); + //转位深 + mat1.ConvertTo(mat1, mat2.Type()); + Mat resMat = new Mat(mat1.Height, mat1.Width, mat2.Type(), new Scalar(0)); + Cv2.HConcat(mat1, mat2, resMat); + mat1.Dispose(); + mat2.Dispose(); + return resMat.ToBitmap(); + } + + public static Mat To3Channels(this Mat img) + { + if (img == null) + return null; + Mat resMat = new Mat(img.Rows, img.Cols, MatType.CV_8UC3); + Mat[] channels = new Mat[3]; ; + for (int i = 0; i < 3; i++) + { + channels[i] = img; + } + Cv2.Merge(channels, resMat); + img.Dispose(); + img = null; + return resMat; + } + /// + /// 把OpenCV图像转换到Halcon图像 + /// + /// OpenCV图像_Mat + /// Halcon图像_HObject + public static HObject MatToHImage(Mat mImage) + { + try + { + HObject hImage; + int matChannels = 0; // 通道数 + Type matType = null; + uint width, height; // 宽，高 + width = height = 0; // 宽，高初始化 + + // 获取通道数 + matChannels = mImage.Channels(); + if (matChannels == 0) + { + return null; + } + if (matChannels == 1) // 单通道 + //if (true) // 单通道 + { + IntPtr ptr; // 灰度图通道 + Mat[] mats = mImage.Split(); + + // 改自：Mat.GetImagePointer1(mImage, out ptr, out matType, out width, out height); // ptr=2157902018096 cType=byte width=830 height=822 + ptr = mats[0].Data; // 取灰度图值 + matType = mImage.GetType(); // byte + height = (uint)mImage.Rows; // 高 + width = (uint)mImage.Cols; // 宽 + + // 改自：hImage = new HObject(new OpenCvSharp.Size(width, height), MatType.CV_8UC1, newScalar(0)); + byte[] dataGrayScaleImage = new byte[width * height]; //Mat dataGrayScaleImage = new Mat(new OpenCvSharp.Size(width, height), MatType.CV_8UC1); + + unsafe + { + fixed (byte* ptrdata = dataGrayScaleImage) + { + + #region 按行复制 + //for (int i = 0; i < height; i++) + //{ + // CopyMemory((IntPtr)(ptrdata + width * i), new IntPtr((long)ptr + width *i), width); + //} + + #endregion + + CopyMemory((IntPtr)ptrdata, new IntPtr((long)ptr), width * height); + HOperatorSet.GenImage1(out hImage, "byte", width, height, (IntPtr)ptrdata); + + } + } + return hImage; + } + else if (matChannels == 3) // 三通道 + { + IntPtr ptrRed; // R通道图 + IntPtr ptrGreen; // G通道图 + IntPtr ptrBlue; // B通道图 + Mat[] mats = mImage.Split(); + + ptrRed = mats[0].Data; // 取R通道值 + ptrGreen = mats[1].Data; // 取G通道值 + ptrBlue = mats[2].Data; // 取B通道值 + matType = mImage.GetType(); // 类型 + height = (uint)mImage.Rows; // 高 + width = (uint)mImage.Cols; // 宽 + + // 改自：hImage = new HObject(new OpenCvSharp.Size(width, height), MatType.CV_8UC1, new Scalar(0)); + byte[] dataRed = new byte[width * height]; //Mat dataGrayScaleImage = new Mat(new OpenCvSharp.Size(width, height), MatType.CV_8UC1); + byte[] dataGreen = new byte[width * height]; + byte[] dataBlue = new byte[width * height]; + + unsafe + { + fixed (byte* ptrdataRed = dataRed, ptrdataGreen = dataGreen, ptrdataBlue = dataBlue) + { + + #region 按行复制 + //HImage himg = new HImage("byte", width, height, (IntPtr)ptrdataRed); + //for (int i = 0; i < height; i++) + //{ + // CopyMemory((IntPtr)(ptrdataRed + width * i), new IntPtr((long)ptrRed +width * i), width); + // CopyMemory((IntPtr)(ptrdataGreen + width * i), new IntPtr((long)ptrGreen+ width * i), width); + // CopyMemory((IntPtr)(ptrdataBlue + width * i), new IntPtr((long)ptrBlue +width * i), width); + //} + + #endregion + + CopyMemory((IntPtr)ptrdataRed, new IntPtr((long)ptrRed), width* height); // 复制R通道 + CopyMemory((IntPtr)ptrdataGreen, new IntPtr((long)ptrGreen), width * height); // 复制G通道 + CopyMemory((IntPtr)ptrdataBlue, new IntPtr((long)ptrBlue), width * height); // 复制B通道 + HOperatorSet.GenImage3(out hImage, "byte", width, height, (IntPtr)ptrdataRed, (IntPtr)ptrdataGreen, (IntPtr)ptrdataBlue); // 合成 + } + } + return hImage; + } + else + { + return null; + } + } + catch (Exception ex) + { + throw ex; + } + + } + + + + + + public static Mat HImageToMat(this HObject hobj) + { + try + { + Mat mImage; + HTuple htChannels; + HTuple cType = null; + HTuple width, height; + width = height = 0; + + HOperatorSet.CountChannels(hobj, out htChannels); + + if (htChannels.Length == 0) + { + return null; + } + if (htChannels[0].I == 1) + { + HTuple ptr; + HOperatorSet.GetImagePointer1(hobj, out ptr, out cType, out width, out height); + mImage = new Mat(height, width, MatType.CV_8UC1, new Scalar(0)); + + unsafe + { + CopyMemory(mImage.Data, new IntPtr((byte*)ptr.IP), (uint)(width * height));// CopyMemory（要复制到的地址，复制源的地址，复制的长度） + } + + return mImage; + } + else if (htChannels[0].I == 3) + { + HTuple ptrRed; + HTuple ptrGreen; + HTuple ptrBlue; + + HOperatorSet.GetImagePointer3(hobj, out ptrRed, out ptrGreen, out ptrBlue, out cType, out width, out height); + Mat pImageRed = new Mat(new OpenCvSharp.Size(width, height), MatType.CV_8UC1); + Mat pImageGreen = new Mat(new OpenCvSharp.Size(width, height), MatType.CV_8UC1); + Mat pImageBlue = new Mat(new OpenCvSharp.Size(width, height), MatType.CV_8UC1); + mImage = new Mat(new OpenCvSharp.Size(width, height), MatType.CV_8UC3, new Scalar(0, 0, 0)); + unsafe + { + CopyMemory(pImageRed.Data, new IntPtr((byte*)ptrRed.IP), (uint)(width * height)); // CopyMemory（要复制到的地址，复制源的地址，复制的长度）_Red + CopyMemory(pImageGreen.Data, new IntPtr((byte*)ptrGreen.IP), (uint)(width * height)); // CopyMemory（要复制到的地址，复制源的地址，复制的长度）_Green + CopyMemory(pImageBlue.Data, new IntPtr((byte*)ptrBlue.IP), (uint)(width * height)); // CopyMemory（要复制到的地址，复制源的地址，复制的长度）_Blue + + } + Mat[] multi = new Mat[] { pImageBlue, pImageGreen, pImageRed }; + Cv2.Merge(multi, mImage); + pImageRed.Dispose(); + pImageRed = null; + pImageGreen.Dispose(); + pImageGreen = null; + pImageBlue.Dispose(); + pImageBlue = null; + return mImage; + } + else + { + return null; + } + } + catch (Exception ex) + { + throw ex; + } + } + + /// + /// 从内存流中指定位置，读取数据 + /// + /// + /// + /// + /// + public static int ReadData(MemoryStream curStream, int startPosition, int length) + { + int result = -1; + + byte[] tempData = new byte[length]; + curStream.Position = startPosition; + curStream.Read(tempData, 0, length); + result = BitConverter.ToInt32(tempData, 0); + + return result; + } + + /// + /// 使用byte[]数据，生成三通道 BMP 位图 + /// + /// + /// + /// + /// + public static Bitmap CreateColorBitmap(byte[] originalImageData, int originalWidth, int originalHeight, byte[] color_map) + { + // 指定8位格式，即256色 + Bitmap resultBitmap = new Bitmap(originalWidth, originalHeight, System.Drawing.Imaging.PixelFormat.Format8bppIndexed); + + // 将该位图存入内存中 + MemoryStream curImageStream = new MemoryStream(); + resultBitmap.Save(curImageStream, System.Drawing.Imaging.ImageFormat.Bmp); + curImageStream.Flush(); + + // 由于位图数据需要DWORD对齐（4byte倍数），计算需要补位的个数 + int curPadNum = ((originalWidth * 8 + 31) / 32 * 4) - originalWidth; + + // 最终生成的位图数据大小 + int bitmapDataSize = ((originalWidth * 8 + 31) / 32 * 4) * originalHeight; + + // 数据部分相对文件开始偏移，具体可以参考位图文件格式 + int dataOffset = ReadData(curImageStream, 10, 4); + + + // 改变调色板，因为默认的调色板是32位彩色的，需要修改为256色的调色板 + int paletteStart = 54; + int paletteEnd = dataOffset; + int color = 0; + + for (int i = paletteStart; i < paletteEnd; i += 4) + { + byte[] tempColor = new byte[4]; + tempColor[0] = (byte)color; + tempColor[1] = (byte)color; + tempColor[2] = (byte)color; + tempColor[3] = (byte)0; + color++; + + curImageStream.Position = i; + curImageStream.Write(tempColor, 0, 4); + } + + // 最终生成的位图数据，以及大小，高度没有变，宽度需要调整 + byte[] destImageData = new byte[bitmapDataSize]; + int destWidth = originalWidth + curPadNum; + + // 生成最终的位图数据，注意的是，位图数据 从左到右，从下到上，所以需要颠倒 + for (int originalRowIndex = originalHeight - 1; originalRowIndex >= 0; originalRowIndex--) + { + int destRowIndex = originalHeight - originalRowIndex - 1; + + for (int dataIndex = 0; dataIndex < originalWidth; dataIndex++) + { + // 同时还要注意，新的位图数据的宽度已经变化destWidth，否则会产生错位 + destImageData[destRowIndex * destWidth + dataIndex] = originalImageData[originalRowIndex * originalWidth + dataIndex]; + } + } + + // 将流的Position移到数据段 + curImageStream.Position = dataOffset; + + // 将新位图数据写入内存中 + curImageStream.Write(destImageData, 0, bitmapDataSize); + + curImageStream.Flush(); + + // 将内存中的位图写入Bitmap对象 + resultBitmap = new Bitmap(curImageStream); + + resultBitmap = Convert8to24(resultBitmap, color_map); // 转为3通道图像 + + return resultBitmap; + } + + // 实现单通道到多通道 + public static Bitmap Convert8to24(this Bitmap bmp, byte[] color_map) + { + + Rectangle rect = new System.Drawing.Rectangle(0, 0, bmp.Width, bmp.Height); + BitmapData bitmapData = bmp.LockBits(rect, ImageLockMode.ReadOnly, bmp.PixelFormat); + + //计算实际8位图容量 + int size8 = bitmapData.Stride * bmp.Height; + byte[] grayValues = new byte[size8]; + + //// 申请目标位图的变量，并将其内存区域锁定 + Bitmap TempBmp = new Bitmap(bmp.Width, bmp.Height, PixelFormat.Format24bppRgb); + BitmapData TempBmpData = TempBmp.LockBits(new Rectangle(0, 0, bmp.Width, bmp.Height), ImageLockMode.WriteOnly, PixelFormat.Format24bppRgb); + + + //// 获取图像参数以及设置24位图信息 + int stride = TempBmpData.Stride; // 扫描线的宽度 + int offset = stride - TempBmp.Width; // 显示宽度与扫描线宽度的间隙 + IntPtr iptr = TempBmpData.Scan0; // 获取bmpData的内存起始位置 + int scanBytes = stride * TempBmp.Height;// 用stride宽度，表示这是内存区域的大小 + + // 下面把原始的显示大小字节数组转换为内存中实际存放的字节数组 + byte[] pixelValues = new byte[scanBytes]; //为目标数组分配内存 + System.Runtime.InteropServices.Marshal.Copy(bitmapData.Scan0, grayValues, 0, size8); + + for (int i = 0; i < bmp.Height; i++) + { + + for (int j = 0; j < bitmapData.Stride; j++) + { + + if (j >= bmp.Width) + continue; + + int indexSrc = i * bitmapData.Stride + j; + int realIndex = i * TempBmpData.Stride + j * 3; + + // color_id：就是预测出来的结果 + int color_id = (int)grayValues[indexSrc] % 256; + + if (color_id == 0) // 分割中类别1对应值1，而背景往往为0，因此这里就将背景置为[0, 0, 0] + { + // 空白 + pixelValues[realIndex] = 0; + pixelValues[realIndex + 1] = 0; + pixelValues[realIndex + 2] = 0; + } + else + { + // 替换为color_map中的颜色值 + pixelValues[realIndex] = color_map[color_id * 3]; + pixelValues[realIndex + 1] = color_map[color_id * 3 + 1]; + pixelValues[realIndex + 2] = color_map[color_id * 3 + 2]; + } + } + } + + //Parallel.For(0, width * height, i => + // { + // int index = (i + 1) % width + widthIn4 * ((i + 1) / width) - 1; + + // showBitmapBuffer[index * 6] = bitmapBuffer[index * 6] = data[i * 2]; + // showBitmapBuffer[index * 6 + 1] = bitmapBuffer[index * 6 + 1] = data[i * 2 + 1]; + // }); + + // 用Marshal的Copy方法，将刚才得到的内存字节数组复制到BitmapData中 + Marshal.Copy(pixelValues, 0, iptr, scanBytes); + TempBmp.UnlockBits(TempBmpData); // 解锁内存区域 + bmp.UnlockBits(bitmapData); + return TempBmp; + } + + + // 获取伪彩色图的RGB值 -- 同时也是适用于检测框分类颜色 + public static byte[] GetColorMap(int num_classes = 256) + { + num_classes += 1; + byte[] color_map = new byte[num_classes * 3]; + for (int i = 0; i < num_classes; i++) + { + int j = 0; + int lab = i; + while (lab != 0) + { + color_map[i * 3] |= (byte)(((lab >> 0) & 1) << (7 - j)); + color_map[i * 3 + 1] |= (byte)(((lab >> 1) & 1) << (7 - j)); + color_map[i * 3 + 2] |= (byte)(((lab >> 2) & 1) << (7 - j)); + + j += 1; + lab >>= 3; + } + } + + // 去掉底色 + color_map = color_map.Skip(3).ToArray(); + return color_map; + } + + // GetGrayMap + public static byte[] GetGrayMap(int num_classes = 256) + { + byte[] color_map = new byte[num_classes]; + for (int i = 0; i < num_classes; i++) + { + if (i <= 100) + color_map[i] = 0; + if (i > 100 && i <= 200) + color_map[i] = 100; + if (i > 200) + color_map[i] = 255; + + } + return color_map; + } + /// + /// 像素点阵转换为bitmap 二值化图 + /// + /// byte[]数组 + /// 图片的宽度 + /// 图片的高度 + /// bitmap图片 + public static Bitmap CreateBinaryBitmap(byte[] rawValues, int width, int height) + { + Bitmap bmp = new Bitmap(width, height, System.Drawing.Imaging.PixelFormat.Format8bppIndexed); + BitmapData bmpData = bmp.LockBits(new System.Drawing.Rectangle(0, 0, width, height), ImageLockMode.WriteOnly, System.Drawing.Imaging.PixelFormat.Format8bppIndexed); + //获取图像参数 + int stride = bmpData.Stride; // 扫描线的宽度 + int offset = stride - width; // 显示宽度与扫描线宽度的间隙 + IntPtr iptr = bmpData.Scan0; // 获取bmpData的内存起始位置 + int scanBytes = stride * height;// 用stride宽度，表示这是内存区域的大小 + //下面把原始的显示大小字节数组转换为内存中实际存放的字节数组 + int posScan = 0, posReal = 0;// 分别设置两个位置指针，指向源数组和目标数组 + byte[] pixelValues = new byte[scanBytes]; //为目标数组分配内存 + for (int x = 0; x < height; x++) + { + //下面的循环节是模拟行扫描 + for (int y = 0; y < width; y++) + { + pixelValues[posScan++] = rawValues[posReal++] == 0 ? (byte)0 : (byte)255; + } + posScan += offset; //行扫描结束，要将目标位置指针移过那段“间隙” + } + //用Marshal的Copy方法，将刚才得到的内存字节数组复制到BitmapData中 + Marshal.Copy(pixelValues, 0, iptr, scanBytes); + bmp.UnlockBits(bmpData); // 解锁内存区域 + //下面的代码是为了修改生成位图的索引表，从伪彩修改为灰度 + ColorPalette tempPalette; + using (Bitmap tempBmp = new Bitmap(1, 1, System.Drawing.Imaging.PixelFormat.Format8bppIndexed)) + { + tempPalette = tempBmp.Palette; + } + for (int i = 0; i < 256; i++) + { + tempPalette.Entries[i] = System.Drawing.Color.FromArgb(i, i, i); + } + + bmp.Palette = tempPalette; + + return bmp; + } + + /// + /// 像素点阵转换为bitmap灰度图 + /// + /// byte[]数组 + /// 图片的宽度 + /// 图片的高度 + /// bitmap图片 + public static Bitmap CreateGrayBitmap(byte[] rawValues, int width, int height) + { + Bitmap bmp = new Bitmap(width, height, System.Drawing.Imaging.PixelFormat.Format8bppIndexed); + BitmapData bmpData = bmp.LockBits(new System.Drawing.Rectangle(0, 0, width, height), ImageLockMode.WriteOnly, System.Drawing.Imaging.PixelFormat.Format8bppIndexed); + //获取图像参数 + int stride = bmpData.Stride; // 扫描线的宽度 + int offset = stride - width; // 显示宽度与扫描线宽度的间隙 + IntPtr iptr = bmpData.Scan0; // 获取bmpData的内存起始位置 + int scanBytes = stride * height;// 用stride宽度，表示这是内存区域的大小 + //下面把原始的显示大小字节数组转换为内存中实际存放的字节数组 + int posScan = 0, posReal = 0;// 分别设置两个位置指针，指向源数组和目标数组 + byte[] pixelValues = new byte[scanBytes]; //为目标数组分配内存 + for (int x = 0; x < height; x++) + { + //下面的循环节是模拟行扫描 + for (int y = 0; y < width; y++) + { + pixelValues[posScan++] = rawValues[posReal++]; + } + posScan += offset; //行扫描结束，要将目标位置指针移过那段“间隙” + } + //用Marshal的Copy方法，将刚才得到的内存字节数组复制到BitmapData中 + Marshal.Copy(pixelValues, 0, iptr, scanBytes); + bmp.UnlockBits(bmpData); // 解锁内存区域 + //下面的代码是为了修改生成位图的索引表，从伪彩修改为灰度 + ColorPalette tempPalette; + using (Bitmap tempBmp = new Bitmap(1, 1, System.Drawing.Imaging.PixelFormat.Format8bppIndexed)) + { + tempPalette = tempBmp.Palette; + } + for (int i = 0; i < 256; i++) + { + tempPalette.Entries[i] = System.Drawing.Color.FromArgb(i, i, i); + } + + bmp.Palette = tempPalette; + + return bmp; + } + + + //分别基于像素（GetPixel和SetPixel）、基于内存、基于指针这三种方法增强图片对比度。 + // 第一种方法：像素提取法。速度慢 基于像素：400-600ms + public static Bitmap MethodBaseOnPixel(Bitmap bitmap, int degree) + { + Color curColor; + int grayR, grayG, grayB; + + double Deg = (100.0 + degree) / 100.0; + for (int i = 0; i < bitmap.Width; i++) + { + for (int j = 0; j < bitmap.Height; j++) + { + curColor = bitmap.GetPixel(i, j); + grayR = Convert.ToInt32((((curColor.R / 255.0 - 0.5) * Deg + 0.5)) * 255); + grayG = Convert.ToInt32((((curColor.G / 255.0 - 0.5) * Deg + 0.5)) * 255); + grayB = Convert.ToInt32((((curColor.B / 255.0 - 0.5) * Deg + 0.5)) * 255); + if (grayR < 0) + grayR = 0; + else if (grayR > 255) + grayR = 255; + + if (grayB < 0) + grayB = 0; + else if (grayB > 255) + grayB = 255; + + if (grayG < 0) + grayG = 0; + else if (grayG > 255) + grayG = 255; + + bitmap.SetPixel(i, j, Color.FromArgb(grayR, grayG, grayB)); + } + } + + return bitmap; + } + + // 第二种方法：基于内存 17-18ms + public static unsafe Bitmap MethodBaseOnMemory(Bitmap bitmap, int degree) + { + if (bitmap == null) + { + return null; + } + double Deg = (100.0 + degree) / 100.0; + + int width = bitmap.Width; + int height = bitmap.Height; + + int length = height * 3 * width; + byte[] RGB = new byte[length]; + + BitmapData data = bitmap.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.ReadWrite, PixelFormat.Format24bppRgb); + + System.IntPtr Scan0 = data.Scan0; + System.Runtime.InteropServices.Marshal.Copy(Scan0, RGB, 0, length); + + double gray = 0; + for (int i = 0; i < RGB.Length; i += 3) + { + for (int j = 0; j < 3; j++) + { + gray = (((RGB[i + j] / 255.0 - 0.5) * Deg + 0.5)) * 255.0; + if (gray > 255) + gray = 255; + + if (gray < 0) + gray = 0; + RGB[i + j] = (byte)gray; + } + } + + System.Runtime.InteropServices.Marshal.Copy(RGB, 0, Scan0, length);// 此处Copy是之前Copy的逆操作 + bitmap.UnlockBits(data); + return bitmap; + } + + //第三种方法：基于指针 20-23ms + public static unsafe Bitmap MethodBaseOnPtr(Bitmap b, int degree) + { + if (b == null) + { + return null; + } + try + { + double num = 0.0; + double num2 = (100.0 + degree) / 100.0; + num2 *= num2; + int width = b.Width; + int height = b.Height; + BitmapData bitmapdata = b.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.ReadWrite, PixelFormat.Format24bppRgb); + byte* numPtr = (byte*)bitmapdata.Scan0; + + int offset = bitmapdata.Stride - (width * 3); + for (int i = 0; i < height; i++) + { + for (int j = 0; j < width; j++) + { + for (int k = 0; k < 3; k++) + { + num = ((((((double)numPtr[k]) / 255.0) - 0.5) * num2) + 0.5) * 255.0; + if (num < 0.0) + { + num = 0.0; + } + if (num > 255.0) + { + num = 255.0; + } + numPtr[k] = (byte)num; + } + numPtr += 3; + + } + numPtr += offset; + } + b.UnlockBits(bitmapdata); + return b; + } + catch + { + return b; + } + } + + public static double GetRoiArae(Mat src, Rect rect) + { + //初始面积为0 + double Area = 0; + //获取感兴趣区域 + src = src[rect]; + //转为单通道 + Mat gray = src.CvtColor(ColorConversionCodes.BGR2GRAY); + //二值化 + Mat binary = gray.Threshold(0, 255, ThresholdTypes.Otsu | ThresholdTypes.Binary); + + //求轮廓 不连通会有多个闭合区域 + OpenCvSharp.Point[][] contours; + HierarchyIndex[] hierarchy; + Cv2.FindContours(binary, out contours, out hierarchy, RetrievalModes.List, ContourApproximationModes.ApproxSimple); + for (int i = 0; i < contours.Count(); i++) + { + //所有面积相加 + Area += Cv2.ContourArea(contours[i], false); + } + return Area; + } + } +} diff --git a/DH.Devices.Motion/MCDLL_NET_Code.cs b/DH.Devices.Motion/MCDLL_NET_Code.cs index 080e5cb..67c8885 100644 --- a/DH.Devices.Motion/MCDLL_NET_Code.cs +++ b/DH.Devices.Motion/MCDLL_NET_Code.cs @@ -4,7 +4,7 @@ using System.Linq; using System.Text; using System.Threading.Tasks; -namespace XKRS.Device.SolidMotionCard +namespace DH.Devices.Motion { public enum FuncRet diff --git a/DH.Devices.Motion/MotionBase.cs b/DH.Devices.Motion/MotionBase.cs index 9540fe6..9e8810c 100644 --- a/DH.Devices.Motion/MotionBase.cs +++ b/DH.Devices.Motion/MotionBase.cs @@ -73,7 +73,7 @@ namespace DH.Devices.Motion [Category("机台配置")] [DisplayName("机台类型")] [Description("机台类型")] - public MachineDiskType MachineDiskType { get; set; } = MachineDiskType.DoubleDisk; + public MachineDiskType MachineDiskType { get; set; } = MachineDiskType.SingleDisk; @@ -111,12 +111,12 @@ namespace DH.Devices.Motion [DisplayName("输出IO总数")] public int OutputNums { get; set; } = 16; - //[Category("IO配置")] - //[DisplayName("IO定义集合")] - //[Description("IO定义集合")] + [Category("IO配置")] + [DisplayName("IO定义集合")] + [Description("IO定义集合")] //[TypeConverter(typeof(CollectionCountConvert))] - //[Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))] - //public List IODefinitionCollection { get; set; } = new List(); + // [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))] + public List IODefinitionCollection { get; set; } = new List(); [Category("IO配置")] [DisplayName("是否信号模式")] @@ -194,35 +194,35 @@ namespace DH.Devices.Motion public List BlowSettings { get; set; } = new List(); - //[Category("筛选配置")] - //[DisplayName("转盘运转方向")] - //[Description("转盘运转方向，顺时针或逆时针")] + [Category("筛选配置")] + [DisplayName("转盘运转方向")] + [Description("转盘运转方向，顺时针或逆时针")] //[TypeConverter(typeof(EnumDescriptionConverter))] - //public RotationDirectionEnum MotionDir { get; set; } = RotationDirectionEnum.Clockwise; + public RotationDirectionEnum MotionDir { get; set; } = RotationDirectionEnum.Clockwise; [Category("筛选配置")] [DisplayName("物料尺寸最大值")] [Description("物料尺寸最大值，单位：脉冲")] - public uint PieceMaxSize { get; set; } = 2000; + public uint PieceMaxSize { get; set; } = 20000; [Category("筛选配置")] [DisplayName("物料尺寸最小值")] [Description("物料尺寸最小值，单位：脉冲")] - public uint PieceMinSize { get; set; } = 1500; + public uint PieceMinSize { get; set; } = 10; [Category("筛选配置")] [DisplayName("物料最小间隔")] [Description("物料最小间隔，单位：脉冲")] - public uint MinDistance { get; set; } = 2000; + public uint MinDistance { get; set; } = 10; [Category("筛选配置")] [DisplayName("两个物料之间触发最小间隔时间")] [Description("两个物料之间触发最小间隔时间，单位：ms")] - public uint MinTimeInterval { get; set; } = 10; + public uint MinTimeInterval { get; set; } = 1; @@ -550,7 +550,7 @@ namespace DH.Devices.Motion [Category("回原点参数")] [DisplayName("回原点方式")] [Description("HomeMode：回原点方式")] - public GoHomeMode HomeMode { get; set; } = GoHomeMode.Negative_Ne_Center_H_Positive_N_Stop_HNeO_Offset_Po; + public GoHomeMode HomeMode { get; set; } = GoHomeMode.Negative_Ne_Center_H_Positive_N_Index_HPoO_Offset_Po; [Category("回原点参数")] diff --git a/DH.Devices.Motion/SLDMotion.cs b/DH.Devices.Motion/SLDMotion.cs index 5b20630..bc504fd 100644 --- a/DH.Devices.Motion/SLDMotion.cs +++ b/DH.Devices.Motion/SLDMotion.cs @@ -2,9 +2,10 @@ using DH.Devices.Motion; using MCDLL_NET; using System.Diagnostics; +using static System.Collections.Specialized.BitVector32; -namespace XKRS.Device.SolidMotionCard +namespace DH.Devices.Motion { @@ -150,22 +151,32 @@ namespace XKRS.Device.SolidMotionCard .ToDictionary(a => a.AxisIndex, a => new ManualResetEvent(true)); // 初始化时关闭所有轴，停止筛选 begin ======= - AllMoveStop(); - AllAxisOff(); + //AllMoveStop(); + + // CMCDLL_NET.MCF_Axis_Stop_Net(0, AxisStopMode.AxisStopIMD, 0); + + //CMCDLL_NET.MCF_Set_Axis_Stop_Profile_Net(0, 50000, 0, 0, 0); + // CMCDLL_NET.MCF_Axis_Stop_Net(0, AxisStopMode.AxisStopDEC, 0); + AxisStop(); + //AllAxisOff(); + var ret = CMCDLL_NET.MCF_Set_Servo_Enable_Net(0, (ushort)ServoLogic.Servo_Open, 0); StopSorting(); // 初始化时关闭所有轴，停止筛选 end ======= - AllAxisOn(); + //AllAxisOn(); Start(); MonitorPosition(); MonitorAxisStatus(); - MonitorPieces(); + CustomStart(); + + + MonitorPieces(); isconnected = true; - + } catch { @@ -409,8 +420,10 @@ namespace XKRS.Device.SolidMotionCard public override void Stop() { //base.Stop(); - AllMoveStop(); - AllAxisOff(); + AxisStop(); + int ret = CMCDLL_NET.MCF_Set_Servo_Enable_Net(0, (ushort)ServoLogic.Servo_Open, 0); + + // AllAxisOff(); for (ushort station = 0; station < BoardCount; station++) { @@ -849,7 +862,14 @@ namespace XKRS.Device.SolidMotionCard return ret == (short)FuncRet.Function_Success; }); } - + //方案2：不使用外部文本框输入参数，直接写入参数 + + public void JOGRun(double MaxV,double MaxA) + { + int ret = CMCDLL_NET.MCF_Set_Pulse_Mode_Net(0, (ushort)PulseMode.Pulse_Dir_H, 0); + ret = CMCDLL_NET.MCF_Set_Servo_Enable_Net(0, (ushort)ServoLogic.Servo_Close, 0); + ret=CMCDLL_NET.MCF_JOG_Net(0, MaxV, MaxA, 0); + } /// /// 点位到点位运动 /// @@ -1381,13 +1401,38 @@ namespace XKRS.Device.SolidMotionCard } } + + + public void AxisStop() + { + short rtn; + ushort StationNumber = 0; + for (ushort a = 0; a < 4; a++) + { + rtn = CMCDLL_NET.MCF_Set_Axis_Stop_Profile_Net(a, 10000, 100000, 1, StationNumber);//设置轴S型停止曲线参数 + rtn = CMCDLL_NET.MCF_Axis_Stop_Net(a, 1, StationNumber);//设置轴为平滑停止模式 + } + } + public bool CArdReset() + { + + // ConvertFromAxis(startAxisIndex, out ushort station, out ushort axis); + + var ret = CMCDLL_NET.MCF_Set_Position_Net(0, 0, 0); + var ret2 = CMCDLL_NET.MCF_Set_Encoder_Net(0, 0, 0); + + return ret2 == 0 ? true : false; + + } + + /// /// 某个轴运动停止 /// /// axisNo /// 0表示平滑停止，1表示紧急停止 /// - public async Task MoveStop(int axisNum, int option) + public async Task MoveStop(int axisNum, int option) { return await _taskFactory.StartNew(() => { diff --git a/DH.Devices.Vision/DH.Devices.Vision.csproj b/DH.Devices.Vision/DH.Devices.Vision.csproj index 9ff2894..6ca65e5 100644 --- a/DH.Devices.Vision/DH.Devices.Vision.csproj +++ b/DH.Devices.Vision/DH.Devices.Vision.csproj @@ -14,6 +14,7 @@ + diff --git a/DH.Devices.Vision/DetectionConfig.cs b/DH.Devices.Vision/DetectionConfig.cs index 9cea844..90afdb6 100644 --- a/DH.Devices.Vision/DetectionConfig.cs +++ b/DH.Devices.Vision/DetectionConfig.cs @@ -324,6 +324,29 @@ namespace DH.Devices.Vision [Description("是否加入检测工位")] public bool IsAddStation { get; set; } = true; + [Category("1.预处理（视觉算子）")] + [DisplayName("预处理-算法文件路径")] + // [Description("预处理算法文件路径配置")][Editor(typeof(FileDialogEditor), typeof(UITypeEditor))] + public string HalconAlgorithemPath_Pre { get; set; } + + // [Category("1.预处理（视觉算子）")] + //[DisplayName("预处理-输出结果的SPEC标准")] + //[Description("预处理输出结果的SPEC标准配置")] + + // public List OutputSpec_Pre { get; set; } = new List(); + + [Category("1.预处理（视觉算子）")] + [DisplayName("预处理-参数列表")] + [Description("预处理-参数列表")] + + public List PreTreatParams { get; set; } = new List(); + + [Category("1.预处理（视觉算子）")] + [DisplayName("预处理-输出参数列表")] + [Description("预处理-输出参数列表")] + + public List OUTPreTreatParams { get; set; } = new List(); + [Category("2.中检测（深度学习）")] [DisplayName("中检测-模型类型")] [Description("模型类型：ImageClassification-图片分类；ObjectDetection：目标检测；Segmentation-图像分割")] diff --git a/DH.Devices.Vision/SimboVisionMLBase.cs b/DH.Devices.Vision/SimboVisionMLBase.cs index 0164094..485093e 100644 --- a/DH.Devices.Vision/SimboVisionMLBase.cs +++ b/DH.Devices.Vision/SimboVisionMLBase.cs @@ -2,6 +2,7 @@ using OpenCvSharp; using System; using System.Collections.Generic; +using System.ComponentModel; using System.Drawing; using System.Runtime.InteropServices; @@ -85,6 +86,30 @@ namespace DH.Devices.Vision } + } + public class PreTreatParam + { + + /// + /// 参数名称 + /// + /// + [Category("预处理参数")] + [DisplayName("参数名称")] + [Description("参数名称")] + public string Name { get; set; } + + + /// + /// 参数值 + /// + /// + [Category("预处理参数")] + [DisplayName("参数值")] + [Description("参数值")] + public string Value { get; set; } + + } public static class MLGPUEngine { diff --git a/DH.Devices.Vision/SimboVisionModel.cs b/DH.Devices.Vision/SimboVisionModel.cs new file mode 100644 index 0000000..b07f3e6 --- /dev/null +++ b/DH.Devices.Vision/SimboVisionModel.cs @@ -0,0 +1,35 @@ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace DH.Devices.Vision +{ + //工站 模型检测引擎 + public class SimboStationMLEngineSet + { + public bool IsUseGPU { get; set; } + /// + /// GPU设备号 + /// + public int GPUNo { get; set; } + /// + /// CPU线程号 + /// + public int CPUNo { get; set; } + /// + /// 检测配置ID + /// + public string DetectionId { get; set; } + + public string DetectionName { get; set; } + + /// + /// 深度学习模型 + /// + public SimboVisionMLBase StationMLEngine { get; set; } + + } +} diff --git a/DHSoftware/DHSoftware.csproj b/DHSoftware/DHSoftware.csproj index dbb3345..56e99eb 100644 --- a/DHSoftware/DHSoftware.csproj +++ b/DHSoftware/DHSoftware.csproj @@ -19,6 +19,7 @@ + @@ -27,6 +28,12 @@ ..\x64\Debug\DVPCameraCS64.dll + + ..\x64\Debug\halcondotnet.dll + + + ..\x64\Debug\hdevenginedotnet.dll + \ No newline at end of file diff --git a/DHSoftware/MainWindow.cs b/DHSoftware/MainWindow.cs index 90b5eba..ddf998d 100644 --- a/DHSoftware/MainWindow.cs +++ b/DHSoftware/MainWindow.cs @@ -1,12 +1,15 @@ using AntdUI; using AntdUI.Svg; +using DH.Commons.Enums; using DH.Devices.Camera; +using DH.Devices.Motion; using DH.Devices.PLC; using DH.Devices.Vision; using DHSoftware.Languages; using DHSoftware.Models; using DHSoftware.Utils; using DVPCameraType; +using HalconDotNet; using Microsoft.Win32; using OpenCvSharp; using System; @@ -21,6 +24,7 @@ using System.Text; using System.Threading; using System.Threading.Tasks; using System.Windows.Forms; +using XKRS.Common.Model; using static AntdUI.Math3D; using Camera = DHSoftware.Models.Camera; @@ -215,6 +219,7 @@ namespace DHSoftware public List Cameras { get; } = new List(); public Dictionary Dectection { get; } = new Dictionary(); public XinJEPLCTcpNet PLC { get; } = new XinJEPLCTcpNet(); + SLDMotion sLDMotion = new SLDMotion(); private void MainWindow_Load(object sender, EventArgs e) { @@ -264,9 +269,11 @@ namespace DHSoftware public volatile int ProductNum_Total = 0; public volatile int ProductNum_OK = 0; private readonly object _cameraSummaryLock = new object(); - List detectionList = new List(); + List DetectionConfigs = new List(); + List SimboStationMLEngineList = new List(); + Dictionary HalconToolDict = new Dictionary(); public List RecongnitionLabelList { get; set; } = new List(); - public DateTime sraerttime; + public DateTime startTime; private void HandleStartButton() { CurrentMachine = true; @@ -299,10 +306,14 @@ namespace DHSoftware - var det1 = new DetectionConfig("相机1", MLModelType.ObjectDetection, @"D:\DHSoftware\DHSoftware\Models\yolov3.cfg", false, "Cam1"); - var det2 = new DetectionConfig("相机2", MLModelType.ObjectDetection, @"D:\DHSoftware\DHSoftware\Models\yolov3.cfg", false, "Cam2"); - var det3 = new DetectionConfig("相机3", MLModelType.ObjectDetection, @"D:\DHSoftware\DHSoftware\Models\yolov3.cfg", false, "Cam3"); - var det4 = new DetectionConfig("相机4", MLModelType.ObjectDetection, @"D:\DHSoftware\DHSoftware\Models\yolov3.cfg", false, "Cam4"); + var det1 = new DetectionConfig("相机1", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam1.onnx", false, "Cam1"); + var det2 = new DetectionConfig("相机2", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam2.onnx", false, "Cam2"); + var det3 = new DetectionConfig("相机3", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam3.onnx", false, "Cam3"); + var det4 = new DetectionConfig("相机4", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam4.onnx", false, "Cam4"); + var det5 = new DetectionConfig("相机5", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam5.onnx", false, "Cam5"); + var det6 = new DetectionConfig("相机6", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam6.onnx", false, "Cam6"); + var det7 = new DetectionConfig("相机7", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam7.onnx", false, "Cam7"); + var det8 = new DetectionConfig("相机8", MLModelType.ObjectDetection, @"D:\PROJECTS\X015\Vision\Cam8.onnx", false, "Cam8"); List CameraCollects=new List(); CameraCollects.Add(new RelatedCamera("Cam1")); List CameraCollects2 = new List(); @@ -313,43 +324,125 @@ namespace DHSoftware CameraCollects4.Add(new RelatedCamera("Cam4")); List CameraCollects5 = new List(); CameraCollects5.Add(new RelatedCamera("Cam5")); + List CameraCollects6 = new List(); + CameraCollects6.Add(new RelatedCamera("Cam6")); + List CameraCollects7 = new List(); + CameraCollects7.Add(new RelatedCamera("Cam7")); + List CameraCollects8 = new List(); + CameraCollects8.Add(new RelatedCamera("Cam8")); + float Conf = 0.5f; + + det1.CameraCollects = CameraCollects; det1.ModelconfThreshold = Conf; det1.ModelWidth = 640; det1.ModelHeight = 640; - det1.in_lable_path = " D:\\PROJECTS\\MaodingTest1\\Vision\\cam1.txt"; - + det1.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam1.txt"; + det1.IsEnabled = true; det2.CameraCollects = CameraCollects2; det2.ModelconfThreshold = Conf; det2.ModelWidth = 640; det2.ModelHeight = 640; - det2.in_lable_path = " D:\\PROJECTS\\MaodingTest1\\Vision\\cam2.txt"; + det2.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam2.txt"; + det2.IsEnabled = true; det3.CameraCollects = CameraCollects3; det3.ModelconfThreshold = Conf; det3.ModelWidth = 640; det3.ModelHeight = 640; - det3.in_lable_path = " D:\\PROJECTS\\MaodingTest1\\Vision\\cam3.txt"; + det3.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam3.txt"; + det3.IsEnabled = true; det4.CameraCollects = CameraCollects4; det4.ModelconfThreshold = Conf; det4.ModelWidth = 640; det4.ModelHeight = 640; - det4.in_lable_path = " D:\\PROJECTS\\MaodingTest1\\Vision\\cam4.txt"; + det4.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam4.txt"; + det4.IsEnabled = true; + + + + det5.CameraCollects = CameraCollects5; + det5.ModelconfThreshold = Conf; + det5.ModelWidth = 640; + det5.ModelHeight = 640; + det5.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam5.txt"; + det5.IsEnabled = true; + + det6.CameraCollects = CameraCollects6; + det6.ModelconfThreshold = Conf; + det6.ModelWidth = 640; + det6.ModelHeight = 640; + det6.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam6.txt"; + det6.IsEnabled = true; + + det7.CameraCollects = CameraCollects7; + det7.ModelconfThreshold = Conf; + det7.ModelWidth = 640; + det7.ModelHeight = 640; + det7.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam7.txt"; + det7.IsEnabled = true; + + det8.CameraCollects = CameraCollects8; + det8.ModelconfThreshold = Conf; + det8.ModelWidth = 640; + det8.ModelHeight = 640; + det8.in_lable_path = "D:\\PROJECTS\\X015\\Vision\\Cam8.txt"; + det8.IsEnabled = true; + + DetectionConfigs.Add(det1); + DetectionConfigs.Add(det2); + DetectionConfigs.Add(det3); + DetectionConfigs.Add(det4); + DetectionConfigs.Add(det5); + DetectionConfigs.Add(det6); + DetectionConfigs.Add(det7); + DetectionConfigs.Add(det8); - detectionList.Add(det1); - detectionList.Add(det2); - detectionList.Add(det3); - detectionList.Add(det4); Cameras.Clear(); HKCameras.Clear(); Dectection.Clear(); _cameraRelatedDetectionDict = new(); + +#if false + for (int i = 1; i <= 8; i++) + { + HikVisionCamera camera = new HikVisionCamera(); + camera.CameraName = $"Cam{i}"; + camera.CameraIP = $"192.168.{i}.1"; + camera.ComputerIP = $"192.168.{i}.1"; + camera.CameraConnect(); + camera.OnHImageOutput += OnCameraHImageOutput; + HKCameras.Add(camera); + + + } +#else + Do3ThinkCamera do3ThinkCamera1 = new Do3ThinkCamera(); + + do3ThinkCamera1.dvpStreamFormat = dvpStreamFormat.S_RAW8; + do3ThinkCamera1.CameraName = "Cam1"; + do3ThinkCamera1.CameraConnect(); + do3ThinkCamera1.OnHImageOutput += OnCameraHImageOutput; + Cameras.Add(do3ThinkCamera1); + for (int i=2;i<=8;i++) + { + + Do3ThinkCamera do3ThinkCamera2 = new Do3ThinkCamera(); + do3ThinkCamera2.dvpStreamFormat = dvpStreamFormat.S_RGB24; + do3ThinkCamera2.CameraName = $"Cam{i}"; + Cameras.Add(do3ThinkCamera2); + do3ThinkCamera2.CameraConnect(); + do3ThinkCamera2.OnHImageOutput += OnCameraHImageOutput; + } - detectionList.ForEach(detection => +#endif + + + DetectionConfigs.ForEach(detection => { detection.CameraCollects.ForEach(cam => @@ -372,84 +465,117 @@ namespace DHSoftware ); }); string inferenceDevice = "CPU"; - //for (int i = 1; i <= 8; i++) - //{ - // HikVisionCamera camera = new HikVisionCamera(); - // camera.CameraName = $"Cam{i}"; - // camera.CameraIP = $"192.168.{i}.1"; - // camera.ComputerIP = $"192.168.{i}.1"; - // camera.CameraConnect(); - // camera.OnHImageOutput += OnCameraHImageOutput; - // HKCameras.Add(camera); - // var simbo_1 = new SimboObjectDetection - // { - - // }; - // MLInit mLInit_1; - - - // mLInit_1 = new MLInit($"D:\\PROJECTS\\MaodingTest1\\Vision\\cam{i}.onnx", "images", inferenceDevice, 640, 640); - - - // simbo_1.Load(mLInit_1); - // Dectection.Add(camera.CameraName, simbo_1); - //} //Add the code for the "启动" button click here - Do3ThinkCamera do3ThinkCamera1 = new Do3ThinkCamera(); - - do3ThinkCamera1.dvpStreamFormat = dvpStreamFormat.S_MONO8; - do3ThinkCamera1.CameraName = "Cam1"; - Do3ThinkCamera do3ThinkCamera2 = new Do3ThinkCamera(); - do3ThinkCamera2.dvpStreamFormat = dvpStreamFormat.S_RGB24; - do3ThinkCamera2.CameraName = "Cam2"; - Cameras.Add(do3ThinkCamera1); - Cameras.Add(do3ThinkCamera2); - do3ThinkCamera1.CameraConnect(); - do3ThinkCamera2.CameraConnect(); - do3ThinkCamera1.OnHImageOutput += OnCameraHImageOutput; - do3ThinkCamera2.OnHImageOutput += OnCameraHImageOutput; - var simbo1 = new SimboObjectDetection(); - MLInit mLInit; + //初始化Halcon工具 + InitialHalconTools(); - - mLInit = new MLInit($"D:\\PROJECTS\\MaodingTest1\\Vision\\cam1.onnx", "images", inferenceDevice, 640, 640); - - - simbo1.Load(mLInit); - - - Dectection.Add(det1.Id, simbo1); - - var simbo2 = new SimboObjectDetection(); - MLInit mLInit2; + //深度学习模型加载 + bool resultOK =InitialSimboMLEnginesAsync(); + if (resultOK) + { + //初始化失败 + // return; + } + //位置比较卡 - - mLInit2 = new MLInit($"D:\\PROJECTS\\MaodingTest1\\Vision\\cam2.onnx", "images", inferenceDevice, 640, 640); + sLDMotion.AxisSettings = new List(); + AxisSetting axis1=new AxisSetting(); + axis1.AxisIndex = 0; + axis1.AxisName = "转盘1"; + axis1.IsAxisEnabled = true; + //axis1.AlarmLogic = AxisDirection.Positive; + sLDMotion.IODefinitionCollection=new List(); + Motion(sLDMotion.IODefinitionCollection); - simbo2.Load(mLInit2); - - Dectection.Add(det2.Id, simbo2); - PLC.IP = "192.168.6.6"; - PLC.Port = 502; - PLC.PLCConnect(); - PLC.OnNewPieces -= MainMotion_NewPieces; - PLC.OnNewPieces += MainMotion_NewPieces; + sLDMotion.SnapshotSettings = new List(); + int[] cameraPositions = { 7613, 24161, 33608, 39702, 45701 }; + + for (int i = 0; i < 5; i++) + { + sLDMotion.SnapshotSettings.Add(new SnapshotSetting + { + IsEnabled = true, + CameraIO = sLDMotion.IODefinitionCollection.FirstOrDefault(t => t.IOType == IOType.OUTPUT && t.IOIndex == i), + CameraPosition = cameraPositions[i], + StationNumber = 0 + }); + } + + + + sLDMotion.BlowSettings = new List(); + int[] BlowPositions = { 61353, 68566 }; + + for (int i = 0; i < 2; i++) + { + sLDMotion.BlowSettings.Add(new BlowSetting + { + IsEnabled = true, + BlowIO = sLDMotion.IODefinitionCollection.FirstOrDefault(t => t.IOType == IOType.OUTPUT && t.IOIndex == i), + BlowPosition = BlowPositions[i], + StationNumber = 0 + }); + } + + //SnapshotSetting sna1 = new SnapshotSetting(); + //sna1.IsEnabled = true; + //sna1.CameraIO= sLDMotion.IODefinitionCollection.FirstOrDefault(t => t.IOType == IOType.OUTPUT && t.IOIndex == 0); + //sna1.CameraPosition = 17000; + //sna1.StationNumber = 0; + + + + // sLDMotion.SnapshotSettings.Add(sna1); + sLDMotion.AxisSettings.Add(axis1); + sLDMotion.Init(); + // sLDMotion.Start(); + + //PLC.IP = "192.168.6.6"; + //PLC.Port = 502; + //PLC.PLCConnect(); + //PLC.OnNewPieces -= MainMotion_NewPieces; + //PLC.OnNewPieces += MainMotion_NewPieces; ProductBaseCount = 2; for (int i = 0; i < ProductBaseCount * ProductListMulti; i++) { ConcurrentDictionary products = new ConcurrentDictionary(); _productLists.Add(products); } - sraerttime=DateTime.Now; + sLDMotion.AxisStop(); + bool e=sLDMotion.CArdReset(); + sLDMotion.JOGRun(10000, 100000); + startTime =DateTime.Now; } + public void Motion(List iODefinitions) + { + for (int i = 0; i < 16; i++) + { + iODefinitions.Add(new IODefinition + { + IOType = IOType.INPUT, + IOIndex = i, + IODesc = $"入料传感器{i + 1}" + }); + } + for (int i = 0; i < 16; i++) + { + iODefinitions.Add(new IODefinition + { + IOType = IOType.OUTPUT, + IOIndex = i, + IODesc = $"入料传感器{i + 1}" + }); + } + } + private uint PieceCount = 0; private List> _productLists = new List>(); private int ProductListMulti = 2; @@ -457,11 +583,7 @@ namespace DHSoftware private int PieceNumberToIndex(uint pn) { // 物料编号，取余 集合数量 - //int multiple = (int)(pn / ProductBaseCount) % 2; - //int offset = (int)(pn % ProductBaseCount); - //int ret = (ProductBaseCount * multiple) + offset; - - //int ret = (int)(pn % ProductBaseCount); + int ret = (int)(pn % (ProductBaseCount * ProductListMulti)); return ret; } @@ -503,6 +625,302 @@ namespace DHSoftware //OnUpdateCT?.Invoke(objData, ctTime); }); } + /// + /// 初始化深度学习工具 + /// + private bool InitialSimboMLEnginesAsync() + { + //深度学习 模型加载 + var resultOK = MLLoadModel(); + return resultOK; + } + /// + /// 深度学习 模型加载 + /// + /// + private bool MLLoadModel() + { + bool resultOK = false; + try + { + SimboStationMLEngineList = new List(); + // _cameraRelatedDetectionDict = IConfig.DetectionConfigs.Select(t => t.ModelPath).Distinct().ToList(); + DetectionConfigs.ForEach(dc => + //_cameraRelatedDetectionDict.ForEach(dc => + { + + if (dc.IsEnabled && !string.IsNullOrWhiteSpace(dc.ModelPath)) + { + if (dc.IsEnableGPU) + { + //if (IIConfig.IsLockGPU) + //{ + //foreach (var validGPU in ValidGPUList2) + //{ + // if (validGPU.DetectionIds.Contains(dc.Id)) + // { + var engine = SingleMLLoadModel(dc, true, 0); + SimboStationMLEngineList.Add(engine); + // } + //} + //} + //else + //{ + // foreach (var validGPU in ValidGPUList) + // { + // //var validGPU = ValidGPUList.FirstOrDefault(u => u.DetectionIds.Contains(dc.Id)); + // if (validGPU.DetectionId == dc.Id) + // { + // var engine = SingleMLLoadModel(dc, true, validGPU.GPUNo); + // SimboStationMLEngineList.Add(engine); + // } + // } + //} + + } + else + { + //for (int i = 0; i < IConfig.CPUNums; i++) + for (int i = 0; i <1; i++) + { + //var engine = SingleMLLoadModel(dc, false, i); + var engine = SingleMLLoadModel(dc, false, i); + SimboStationMLEngineList.Add(engine); + } + } + } + }); + resultOK = true; + } + catch (Exception ex) + { + // LogAsync(DateTime.Now, LogLevel.Exception, $"异常：模型并发加载异常:{ex.GetExceptionMessage()}"); + resultOK = false; + } + + return resultOK; + } + /// + /// 单个模型加载 + /// + /// + /// + /// + private SimboStationMLEngineSet SingleMLLoadModel(DetectionConfig dc, bool isGPU, int coreInx) + { + SimboStationMLEngineSet mLEngineSet = new SimboStationMLEngineSet(); + try + { + mLEngineSet.IsUseGPU = isGPU; + if (isGPU) + { + mLEngineSet.GPUNo = coreInx; + } + else + { + mLEngineSet.CPUNo = coreInx; + } + mLEngineSet.DetectionId = dc.Id; + mLEngineSet.DetectionName = dc.Name; + + if (!string.IsNullOrWhiteSpace(dc.ModelPath)) + { + // 根据算法类型创建不同的实例 + switch (dc.ModelType) + { + case MLModelType.ImageClassification: + break; + case MLModelType.ObjectDetection: + mLEngineSet.StationMLEngine = new SimboObjectDetection(); + break; + case MLModelType.SemanticSegmentation: + + break; + case MLModelType.InstanceSegmentation: + mLEngineSet.StationMLEngine = new SimboInstanceSegmentation(); + break; + case MLModelType.ObjectGPUDetection: + mLEngineSet.StationMLEngine = new SimboDetection(); + break; + default: + break; + } + MLInit mLInit; + string inferenceDevice = "CPU"; + if (dc.IsEnableGPU) + { + inferenceDevice = "GPU"; + mLInit = new MLInit(dc.ModelPath, isGPU, coreInx, dc.ModelconfThreshold); + } + else + { + mLInit = new MLInit(dc.ModelPath, "images", inferenceDevice, (int)dc.ModelWidth, (int)dc.ModelHeight); + + } + + bool isSuccess = mLEngineSet.StationMLEngine.Load(mLInit); + if (!isSuccess) + { + // throw new ProcessException("异常：模型加载异常", null); + } + //LogAsync(DateTime.Now, LogLevel.Information, $"模型加载成功；是否GPU:{isGPU} CoreInx:{coreInx} - {dc.Name}" + $" {dc.ModelType.GetEnumDescription()}:{dc.ModelPath}"); + } + } + catch (Exception ex) + { + //throw new ProcessException($"异常：是否GPU:{isGPU} CoreInx:{coreInx} - {dc.Name}模型加载异常：{ex.GetExceptionMessage()}"); + } + return mLEngineSet; + } + private void InitialHalconTools() + { + HOperatorSet.SetSystem("parallelize_operators", "true"); + HOperatorSet.SetSystem("reentrant", "true"); + HOperatorSet.SetSystem("global_mem_cache", "exclusive"); + + HalconToolDict = new Dictionary(); + + DetectionConfigs.ForEach(c => + { + if (!c.IsEnabled) + return; + + if(c.HalconAlgorithemPath_Pre!=null) + LoadHalconTool(c.HalconAlgorithemPath_Pre); + + }); + } + + private void LoadHalconTool(string path) + { + if (!HalconToolDict.ContainsKey(path)) + { + + + string algorithemPath = path; + + if (string.IsNullOrWhiteSpace(algorithemPath)) + return; + + string directoryPath = Path.GetDirectoryName(algorithemPath); + string fileName = Path.GetFileNameWithoutExtension(algorithemPath); + + HDevEngineTool tool = new HDevEngineTool(directoryPath); + tool.LoadProcedure(fileName); + + HalconToolDict[path] = tool; + } + } + + /// + /// 预处理 + /// + /// + /// + public void PreTreated(DetectionConfig detectConfig, DetectStationResult detectResult,Mat MhImage) + { + try + { + // detectResult.VisionImageSet.DetectionOriginImage = detectResult.VisionImageSet.HImage.ConvertHImageToBitmap(); + //detectResult.VisionImageSet.PreTreatedBitmap = detectResult.VisionImageSet.HImage.ConvertHImageToBitmap(); + //detectResult.VisionImageSet.DetectionResultImage = detectResult.VisionImageSet.PreTreatedBitmap?.CopyBitmap(); + if (!string.IsNullOrWhiteSpace(detectConfig.HalconAlgorithemPath_Pre)) + { + HObject obj = OpenCVHelper.MatToHImage(MhImage); + HImage hImage = HalconHelper.ConvertHObjectToHImage(obj); + string toolKey = detectConfig.HalconAlgorithemPath_Pre; + if (!HalconToolDict.ContainsKey(toolKey)) + { + // LogAsync(DateTime.Now, LogLevel.Exception, $"{detectConfig.Name}未获取预处理算法"); + return; + } + //Mean_Thre Deviation_Thre Mean_standard Deviation_standard + var tool = HalconToolDict[toolKey]; + + ////tool.InputTupleDic["Mean_Thre"] = 123; + for (int i = 0; i < detectConfig.PreTreatParams.Count; i++) + { + var param = detectConfig.PreTreatParams[i]; + tool.InputTupleDic[param.Name] = double.Parse(param.Value); + } + + // tool.InputTupleDic["fCricularity"] = 200; + + tool.InputImageDic["INPUT_Image"] = hImage; + + + if (!tool.RunProcedure(out string errorMsg, out _)) + { + // detectResult.PreTreatedFlag = false; + + detectResult.IsPreTreatDone = false; + + + return; + } + + var preTreatRet = tool.GetResultTuple("OUTPUT_Flag").I; + + //var fRCricularity = tool.GetResultTuple("fRCricularity"); + + + // detectResult.IsPreTreatDone = detectResult.VisionImageSet.PreTreatedFlag = preTreatRet == 1; + //detectResult.IsPreTreatDone = detectResult.VisionImageSet.PreTreatedFlag = true; + // detectResult.VisionImageSet.PreTreatedTime = DateTime.Now; + + for (int i = 0; i < detectConfig.OUTPreTreatParams.Count; i++) + { + var param = detectConfig.OUTPreTreatParams[i]; + tool.InputTupleDic[param.Name] = double.Parse(param.Value); + } + + + + + // 2023/10/16 新增预处理结果反馈，如果预处理结果为NG，直接返回 + if (preTreatRet != 0) + { + detectResult.ResultState = ResultState.DetectNG; + + detectResult.IsPreTreatNG = true; + + + + // if (detectResult.VisionImageSet.PreTreatedFlag) + { + //detectResult.VisionImageSet.MLImage = tool.GetResultObject("OUTPUT_PreTreatedImage"); + //DetectionResultImage + // detectResult.VisionImageSet.DetectionResultImage = detectResult.VisionImageSet.MLImage.ConvertHImageToBitmap(); + + } + + } + else + { + // detectResult.VisionImageSet.DetectionResultImage = detectResult.VisionImageSet.MLImage.ConvertHImageToBitmap(); + + } + } + } + catch (Exception ex) + { + + } + finally + { + //detectResult.VisionImageSet.HImage?.Dispose(); + //detectResult.VisionImageSet.HImage = null; + // MhImage?.Dispose(); + //MhImage = null; + } + + } + /// + /// 相机回调 + /// + /// + /// + /// private void OnCameraHImageOutput(DateTime dt, CameraBase camera, Mat imageSet) { // 获取该相机的拍照计数 @@ -521,127 +939,216 @@ namespace DHSoftware // 找到产品存放在哪个队列里 ConcurrentDictionary tmpDic = _productLists[index]; - try + try + { + int retryTimes = 100; + while (product == null && retryTimes > 0) { - int retryTimes = 100; - while (product == null && retryTimes > 0) + if (tmpDic.ContainsKey(productNumber)) { - if (tmpDic.ContainsKey(productNumber)) - { - product = tmpDic[productNumber]; - } - else - { - Thread.Sleep(20); - } - retryTimes--; + product = tmpDic[productNumber]; } - // 如果产品为空，则销毁图片，提示错误 - if (null == product) + else { - List pnList = tmpDic.Keys.ToList(); + Thread.Sleep(20); + } + retryTimes--; + } + // 如果产品为空，则销毁图片，提示错误 + if (null == product) + { + List pnList = tmpDic.Keys.ToList(); - string pnStr = ""; - if (pnList != null && pnList.Count > 0) - { - pnStr = string.Join(",", pnList); - } - - //LogAsync(DateTime.Now, LogLevel.Error, $"{camera.Name} 未找到产品，编号：{productNumber}，队列{index}数量：{tmpDic.Count}，列表：{pnStr}"); - localImageSet.Dispose(); - return; + string pnStr = ""; + if (pnList != null && pnList.Count > 0) + { + pnStr = string.Join(",", pnList); } - // LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 找到产品{productNumber}，队列{index}数量：{tmpDic.Count}"); + //LogAsync(DateTime.Now, LogLevel.Error, $"{camera.Name} 未找到产品，编号：{productNumber}，队列{index}数量：{tmpDic.Count}，列表：{pnStr}"); + localImageSet.Dispose(); + return; + } - if (!_cameraRelatedDetectionDict.ContainsKey(camera.CameraName)) - { + // LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 找到产品{productNumber}，队列{index}数量：{tmpDic.Count}"); - localImageSet.Dispose(); - // LogAsync(DateTime.Now, LogLevel.Warning, $"{camera.Name} 找到产品{productNumber}，但是没有推理1"); + if (!_cameraRelatedDetectionDict.ContainsKey(camera.CameraName)) + { - return; - } + localImageSet.Dispose(); + // LogAsync(DateTime.Now, LogLevel.Warning, $"{camera.Name} 找到产品{productNumber}，但是没有推理1"); + + return; + } - double totalTime = 0.0; - List resultStates = new List(); - List? detectionDict = _cameraRelatedDetectionDict[camera.CameraName]; - + double totalTime = 0.0; + List resultStates = new List(); + List? detectionDict = _cameraRelatedDetectionDict[camera.CameraName]; + for (int i = 0; i < detectionDict.Count; i++) { string detectionId = detectionDict[i]; - try + + DetectionConfig detectConfig = null; + //找到对应的配置 + if (!string.IsNullOrWhiteSpace(detectionId)) { - DetectionConfig detectConfig = null; - //找到对应的配置 - if (!string.IsNullOrWhiteSpace(detectionId)) + detectConfig = DetectionConfigs.FirstOrDefault(u => u.Id == detectionId); + } + else + { + detectConfig = DetectionConfigs.FirstOrDefault(u => u.CameraSourceId == camera.CameraName); + } + + if (detectConfig == null) + { + + //未能获得检测配置 + return; + } + + // 1. 预处理 + using (Mat inferenceImage = localImageSet.Clone()) // 仅在此处克隆，确保推理过程中 Mat 有独立副本 + { + DetectStationResult detectResult = new DetectStationResult(); + #region 1.预处理 + + using (Mat PreTMat = inferenceImage.Clone()) { - detectConfig = detectionList.FirstOrDefault(u => u.Id == detectionId); - } - else - { - detectConfig = detectionList.FirstOrDefault(u => u.CameraSourceId == camera.CameraName); + PreTreated(detectConfig, detectResult, PreTMat); } - if (detectConfig == null) - { - //未能获得检测配置 - return; + + #endregion + if (detectResult.IsPreTreatNG) + { + detectResult.ResultState = ResultState.DetectNG; + detectResult.IsPreTreatDone = true; + detectResult.IsMLDetectDone = false; + } - // 1. 预处理 - using (Mat inferenceImage = localImageSet.Clone()) // 仅在此处克隆，确保推理过程中 Mat 有独立副本 + + + if (!string.IsNullOrWhiteSpace(detectConfig.ModelPath) && detectConfig.IsEnabled) { - #region 1.预处理 - #endregion - #region 2.深度学习推理 - var req = new MLRequest(); - req.mImage = inferenceImage; - req.ResizeWidth = 640; - req.ResizeHeight = 640; - req.confThreshold = 0.5f; - req.iouThreshold = 0.3f; - req.out_node_name = "output0"; - req.in_lable_path = "D:\\PROJECTS\\MaodingTest1\\Vision\\cam1.txt"; - - Stopwatch sw = Stopwatch.StartNew(); - var result = Dectection[detectionId].RunInference(req); - sw.Stop(); - //LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 推理进度1.1，产品{productNumber}，耗时{sw.ElapsedMilliseconds}ms"); - #endregion - this.BeginInvoke(new MethodInvoker(delegate () - { - pictureBox1.Image?.Dispose(); // 释放旧图像 - pictureBox1.Image = result.ResultMap; - richTextBox1.AppendText($"推理成功 {productNumber}, {result.IsSuccess} 耗时 {sw.ElapsedMilliseconds}ms\n"); - })); - req.mImage.Dispose(); -#if true - - #region 3.后处理 - DetectStationResult detectResult = new DetectStationResult(); - if (result == null || (result != null && !result.IsSuccess)) + SimboStationMLEngineSet mlSet = null; + mlSet = SimboStationMLEngineList.FirstOrDefault(t => t.DetectionId == detectConfig.Id); + if (mlSet == null) { + // LogAsync(DateTime.Now, LogLevel.Exception, $"异常：{detectConfig.Name}未能获取对应配置的模型检测工具"); detectResult.IsMLDetectDone = false; + + //HandleDetectDone(detectResult, detectConfig); + return; } - if (result != null && result.IsSuccess) + + #region 2.深度学习推理 + //LogAsync(DateTime.Now, LogLevel.Information, $"{detectConfig.Name} 产品{detectResult.TempPid} 模型检测执行"); + + if (!string.IsNullOrWhiteSpace(detectConfig.ModelPath)) { - detectResult.DetectDetails = result.ResultDetails; - if (detectResult.DetectDetails != null) + Stopwatch mlWatch = new Stopwatch(); + var req = new MLRequest(); + //之前的检测图片都是相机存储成HImage + + + req.ResizeWidth = (int)detectConfig.ModelWidth; + req.ResizeHeight = (int)detectConfig.ModelHeight; + // req.LabelNames = detectConfig.GetLabelNames(); + // req.Score = IIConfig.Score; + + + req.in_lable_path = detectConfig.in_lable_path; + + req.confThreshold = detectConfig.ModelconfThreshold; + req.iouThreshold = 0.3f; + req.segmentWidth = 320; + + switch (detectConfig.ModelType) { + case MLModelType.ImageClassification: + break; + case MLModelType.ObjectDetection: + + break; + case MLModelType.SemanticSegmentation: + break; + case MLModelType.InstanceSegmentation: + break; + case MLModelType.ObjectGPUDetection: + + break; + default: + break; } - else + + // LogAsync(DateTime.Now, LogLevel.Information, $"{detectConfig.Name} 产品{detectResult.TempPid} RunInference BEGIN"); + mlWatch.Start(); + //20230802改成多线程推理 RunInferenceFixed + + var result = mlSet.StationMLEngine.RunInference(req); + // var result = mlSet.StationMLEngine.RunInferenceFixed(req); + mlWatch.Stop(); + // LogAsync(DateTime.Now, LogLevel.Information, $"{detectConfig.Name} 产品{detectResult.TempPid} RunInference END"); + + + + + + + // var req = new MLRequest(); + + //req.mImage = inferenceImage; + + //req.ResizeWidth = detectConfig.ModelWidth; + //req.ResizeHeight = detectConfig.ModelHeight; + //req.confThreshold = detectConfig.ModelconfThreshold; + //req.iouThreshold = 0.3f; + //req.out_node_name = "output0"; + //req.in_lable_path = detectConfig.in_lable_path; + + //Stopwatch sw = Stopwatch.StartNew(); + //var result = Dectection[detectionId].RunInference(req); + //sw.Stop(); + //LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 推理进度1.1，产品{productNumber}，耗时{sw.ElapsedMilliseconds}ms"); + + this.BeginInvoke(new MethodInvoker(delegate () + { + pictureBox1.Image?.Dispose(); // 释放旧图像 + pictureBox1.Image = result.ResultMap; + richTextBox1.AppendText($"推理成功 {productNumber}, {result.IsSuccess} 耗时 {mlWatch.ElapsedMilliseconds}ms\n"); + })); + req.mImage.Dispose(); + + + + + if (result == null || (result != null && !result.IsSuccess)) { detectResult.IsMLDetectDone = false; } + if (result != null && result.IsSuccess) + { + detectResult.DetectDetails = result.ResultDetails; + if (detectResult.DetectDetails != null) + { + } + else + { + detectResult.IsMLDetectDone = false; + } + } } - #endregion + + + #region 3.后处理 #endregion //根据那些得分大于阈值的推理结果，判断产品是否成功 @@ -721,109 +1228,86 @@ namespace DHSoftware .FirstOrDefault()?.Key ?? ResultState.OK; detectResult.ResultLabel = detectResult.ResultLabel; detectResult.ResultLabelCategoryId = detectResult.ResultLabel;//TODO:设置优先级 - #endregion + resultStates.Add(detectResult.ResultState); product.ResultCollection.Add(detectResult); -#endif + } - + + } - catch (Exception ex) + + + } + + product.InferenceOne(() => { - // LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 推理异常，物料编号：{productNumber}，检测项：{d}, {ex.GetExceptionMessage}"); - } - } - - - - - product.InferenceOne(() => - { - ; - }, () => - { - ; - }); - - // LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 推理完成，产品{productNumber}"); - - if (!product.InferenceFinished()) - { - - return; - } - ProductNum_Total++; - CalculateOEE(); - this.BeginInvoke(new MethodInvoker(delegate () - { - - int currentScrollPosition = richTextBox1.GetPositionFromCharIndex(richTextBox1.TextLength).Y; - - richTextBox1.AppendText($"统计结果成功，{productNumber}吹气！\n"); - - // 设置回原来的滚动位置 - richTextBox1.SelectionStart = richTextBox1.TextLength; - richTextBox1.ScrollToCaret(); - })); - #region 6. 统计产品结果 - product.ProductResult = product.ResultCollection.Any(u => u.ResultState != ResultState.OK) - ? ResultState.B_NG - : ResultState.OK; - product.ProductLabelCategory = product.ProductResult.GetEnumDescription(); - product.ProductLabel = product.ProductResult.GetEnumDescription(); - #endregion - #region 7.产品吹气 - - #endregion - - - - - - // 出列 - ProductData temp = null; - - int tryTimes = 10; - while (temp == null && tryTimes > 0) - { - if (tmpDic.TryRemove(productNumber, out temp)) + ; + }, () => { - break; + ; + }); + + // LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 推理完成，产品{productNumber}"); + + if (!product.InferenceFinished()) + { + + return; } - - tryTimes--; - Thread.Sleep(5); - } - if (temp == null) - { - string logStr = $"{DateTime.Now}产品{productNumber}出列失败：true，"+ - $"当前队列产品数量：{tmpDic.Count}"; + ProductNum_Total++; + CalculateOEE(); this.BeginInvoke(new MethodInvoker(delegate () { int currentScrollPosition = richTextBox1.GetPositionFromCharIndex(richTextBox1.TextLength).Y; - richTextBox1.AppendText(logStr); + richTextBox1.AppendText($"统计结果成功，{productNumber} 吹气！\n"); // 设置回原来的滚动位置 richTextBox1.SelectionStart = richTextBox1.TextLength; richTextBox1.ScrollToCaret(); })); - } - else - { - try + #region 6. 统计产品结果 + product.ProductResult = product.ResultCollection.Any(u => u.ResultState != ResultState.OK) + ? ResultState.B_NG + : ResultState.OK; + product.ProductLabelCategory = product.ProductResult.GetEnumDescription(); + product.ProductLabel = product.ProductResult.GetEnumDescription(); + #endregion + #region 7.产品吹气 + + #endregion + + + + + + // 出列 + ProductData temp = null; + + int tryTimes = 10; + while (temp == null && tryTimes > 0) { - string logStr = $"{DateTime.Now}产品{productNumber}出列成功：true，" + - $"产品结果：{temp.ProductResult.GetEnumDescription()}，" + - $"当前队列产品数量：{tmpDic.Count}"; + if (tmpDic.TryRemove(productNumber, out temp)) + { + break; + } + + tryTimes--; + Thread.Sleep(5); + } + if (temp == null) + { + string logStr = $"{DateTime.Now}产品{productNumber}出列失败：true，" + + $"当前队列产品数量：{tmpDic.Count}"; this.BeginInvoke(new MethodInvoker(delegate () { @@ -835,35 +1319,55 @@ namespace DHSoftware richTextBox1.SelectionStart = richTextBox1.TextLength; richTextBox1.ScrollToCaret(); })); - //重新生成实例 销毁之前的实例 - var saveData = temp.GetProductData(); - using(StreamWriter sw=new StreamWriter("D://123log.txt",true,Encoding.UTF8)) - { - sw.WriteLine(logStr); - } - } - catch (Exception) { } - finally + else { - // temp.Dispose(); - temp = null; + try + { + string logStr = $"{DateTime.Now}产品{productNumber}出列成功：true，" + + $"产品结果：{temp.ProductResult.GetEnumDescription()}，" + + $"当前队列产品数量：{tmpDic.Count}"; + this.BeginInvoke(new MethodInvoker(delegate () + { + + int currentScrollPosition = richTextBox1.GetPositionFromCharIndex(richTextBox1.TextLength).Y; + + richTextBox1.AppendText(logStr); + + // 设置回原来的滚动位置 + richTextBox1.SelectionStart = richTextBox1.TextLength; + richTextBox1.ScrollToCaret(); + })); + //重新生成实例 销毁之前的实例 + var saveData = temp.GetProductData(); + using (StreamWriter sw = new StreamWriter("D://123log.txt", true, Encoding.UTF8)) + { + sw.WriteLine(logStr); + } + + } + catch (Exception) { } + finally + { + // temp.Dispose(); + temp = null; + } } + + // UpdateCT((float)(dtNow - _ctTime).TotalSeconds); + //_ctTime = dtNow; + // }); + + + } + catch (Exception ex) + { + //LogAsync(DateTime.Now, LogLevel.Error, $"流程检测未捕获的异常：{ex.GetExceptionMessage()}"); + product?.Dispose(); } - - // UpdateCT((float)(dtNow - _ctTime).TotalSeconds); - //_ctTime = dtNow; - // }); - - } - catch (Exception ex) - { - //LogAsync(DateTime.Now, LogLevel.Error, $"流程检测未捕获的异常：{ex.GetExceptionMessage()}"); - product?.Dispose(); - } - } - }); + + }); } public void SetResult() { @@ -895,11 +1399,12 @@ namespace DHSoftware // Add the code for the "停止" button click here PLC.TurntableStop(); CurrentMachine = true; + sLDMotion.Stop(); } public int UPH=0; public void CalculateOEE() { - TimeSpan timeSpan = DateTime.Now - sraerttime; + TimeSpan timeSpan = DateTime.Now - startTime; UPH = (int)(ProductNum_Total / timeSpan.TotalHours) + 100; //UPM = (int)UPH / 60;