748 lines
28 KiB
C#
748 lines
28 KiB
C#
using AntdUI;
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using AntdUI.Svg;
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using DH.Devices.Camera;
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using DH.Devices.PLC;
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using DH.Devices.Vision;
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using DHSoftware.Languages;
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using DHSoftware.Models;
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using DHSoftware.Utils;
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using DVPCameraType;
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using Microsoft.Win32;
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using OpenCvSharp;
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using System;
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using System.CodeDom;
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using System.Collections.Concurrent;
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using System.Collections.Generic;
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using System.Drawing;
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using System.Linq;
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using System.Runtime.InteropServices;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using static AntdUI.Math3D;
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using Camera = DHSoftware.Models.Camera;
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namespace DHSoftware
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{
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public partial class MainWindow : AntdUI.Window
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{
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private UserControl currControl;
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private bool isUpdatingTabs = false;//用于阻止Tabs更新
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private bool isLight = true;
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// 定义一个语言切换事件
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public event EventHandler LanguageChanged;
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private System.Windows.Forms.Timer refreshTimer;
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private int testCounter = 1;
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Dictionary<string, List<string>> _cameraRelatedDetectionDict = null;
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public MainWindow()
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{
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InitializeComponent();
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refreshTimer = new System.Windows.Forms.Timer();
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refreshTimer.Interval = 1000; // 1秒间隔
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refreshTimer.Tick += RefreshTimer_Tick;
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//refreshTimer.Start();
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//初始化数据
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InitData();
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//绑定事件
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BindEventHandler();
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tabImgDisplay.Pages.Clear();
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List<Camera> Cameras = new List<Camera>
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{
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new Camera
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{
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DeviceName = "Cam1",
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Alias = "相机1",
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ImagePath = @"D:\1.jpeg"
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},
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new Camera
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{
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DeviceName = "Cam2",
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Alias = "相机2",
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ImagePath = @"D:\2.jpeg"
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},
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new Camera
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{
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DeviceName = "Cam3",
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Alias = "相机3",
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ImagePath = @"D:\3.jpeg"
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},
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new Camera
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{
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DeviceName = "Cam4",
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Alias = "相机4",
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ImagePath = @"D:\4.jpeg"
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},
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new Camera
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{
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DeviceName = "Cam5",
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Alias = "相机5",
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ImagePath = @"D:\5.jpeg"
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}
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};
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if (Cameras.Count > 0)
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{
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tabImgDisplay.Controls.Clear();
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foreach (var cam in Cameras)
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{
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AntdUI.TabPage tabPage = new AntdUI.TabPage();
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tabPage.Name = $"tab{cam.DeviceName}";
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tabPage.Text = cam.Alias;
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//ImgDisplayControl imgDisplayControl = new ImgDisplayControl();
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//imgDisplayControl.Name = $"img{cam.DeviceName}";
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//imgDisplayControl.Dock = DockStyle.Fill;
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//tabPage.Controls.Add(imgDisplayControl);
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PictureBox pictureBox = new PictureBox();
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pictureBox.Name = $"pic{cam.DeviceName}";
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pictureBox.Dock = DockStyle.Fill;
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pictureBox.SizeMode = PictureBoxSizeMode.Zoom;
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tabPage.Controls.Add(pictureBox);
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tabImgDisplay.Pages.Add(tabPage);
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}
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}
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}
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private void RefreshTimer_Tick(object sender, EventArgs e)
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{
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// 获取相机1的控件（通过控件名称查找）
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var targetControl = FindControlRecursive(tabImgDisplay, "picCam1") as PictureBox;
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if (targetControl != null)
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{
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// 生成测试路径（示例路径）
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string testPath = $@"D:\{testCounter}.png"; // 循环1-5的图片
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testCounter++;
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// 加载并显示图片
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targetControl.Image = Image.FromFile(testPath);
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if (testCounter == 5)
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{
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testCounter = 1;
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}
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targetControl.Parent.Invalidate();
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}
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}
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// 递归查找控件的方法
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private Control FindControlRecursive(Control parent, string name)
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{
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if (parent.Name == name) return parent;
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foreach (Control child in parent.Controls)
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{
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var found = FindControlRecursive(child, name);
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if (found != null) return found;
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}
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return null;
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}
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// 触发事件
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protected virtual void OnLanguageChanged(EventArgs e)
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{
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LanguageChanged?.Invoke(this, e);
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}
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private void InitData()
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{
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//根据系统亮暗初始化一次
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isLight = ThemeHelper.IsLightMode();
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button_color.Toggle = !isLight;
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ThemeHelper.SetColorMode(this, isLight);
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//初始化消息弹出位置
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Config.ShowInWindow = true;
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}
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private void BindEventHandler()
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{
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buttonSZ.Click += ButtonSZ_Click;
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button_color.Click += Button_color_Click;
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//监听系统深浅色变化
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SystemEvents.UserPreferenceChanged += SystemEvents_UserPreferenceChanged;
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}
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private void SystemEvents_UserPreferenceChanged(object sender, UserPreferenceChangedEventArgs e)
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{
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if (e.Category == UserPreferenceCategory.General)
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{
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isLight = ThemeHelper.IsLightMode();
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button_color.Toggle = !isLight;
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ThemeHelper.SetColorMode(this, isLight);
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}
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}
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private void Button_color_Click(object sender, EventArgs e)
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{
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isLight = !isLight;
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//这里使用了Toggle属性切换图标
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button_color.Toggle = !isLight;
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ThemeHelper.SetColorMode(this, isLight);
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}
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private void ButtonSZ_Click(object sender, EventArgs e)
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{
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}
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public List<Do3ThinkCamera> Cameras { get; } = new List<Do3ThinkCamera>();
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public Dictionary<string, SimboObjectDetection> Dectection { get; } = new Dictionary<string, SimboObjectDetection>();
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public XinJEPLCTcpNet PLC { get; } = new XinJEPLCTcpNet();
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private void MainWindow_Load(object sender, EventArgs e)
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{
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}
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private void MainWindow_FormClosed(object sender, FormClosedEventArgs e)
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{
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foreach (var camera in Cameras)
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{
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camera.CameraDisConnect();
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}
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PLC.PLCDisConnect();
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}
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private void segmented1_SelectIndexChanged(object sender, EventArgs e)
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{
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// Get the index of the selected item
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int selectedIndex = segmented1.SelectIndex;
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// Handle each button based on its index
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switch (selectedIndex)
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{
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case 0: // "启动" (Start)
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HandleStartButton();
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break;
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case 1: // "停止" (Stop)
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HandleStopButton();
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break;
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case 2: // "复位" (Reset)
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HandleResetButton();
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break;
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case 3: // "设置" (Settings)
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HandleSettingsButton();
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break;
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case 4: // "登录" (Login)
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HandleLoginButton();
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break;
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default:
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break;
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}
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}
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public bool CurrentMachine = false;
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public volatile int ProductNum_Total = 0;
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public volatile int ProductNum_OK = 0;
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private readonly object _cameraSummaryLock = new object();
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public DateTime sraerttime;
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private void HandleStartButton()
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{
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CurrentMachine = true;
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List<VisionEngine> detectionList = new List<VisionEngine>();
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detectionList.Add(new VisionEngine("相机1", MLModelType.ObjectDetection, @"D:\DHSoftware\DHSoftware\Models\yolov3.cfg", false, "Cam1"));
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detectionList.Add(new VisionEngine("相机2", MLModelType.ObjectDetection, @"D:\DHSoftware\DHSoftware\Models\yolov3.cfg", false, "Cam2"));
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detectionList.Add(new VisionEngine("相机3", MLModelType.ObjectDetection, @"D:\DHSoftware\DHSoftware\Models\yolov3.cfg", false, "Cam3"));
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detectionList.Add(new VisionEngine("相机4", MLModelType.ObjectDetection, @"D:\DHSoftware\DHSoftware\Models\yolov3.cfg", false, "Cam4"));
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_cameraRelatedDetectionDict = new();
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detectionList.ForEach(detection =>
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{
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// detection.CameraCollects.ForEach(cam =>
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{
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List<string> Dets = new List<string>
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{
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detection.Id
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};
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if (!_cameraRelatedDetectionDict.ContainsKey(detection.CameraSourceId))
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{
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_cameraRelatedDetectionDict.Add(detection.CameraSourceId, Dets);
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}
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else
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{
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_cameraRelatedDetectionDict[detection.CameraSourceId].Add(detection.Id);
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}
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}
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//);
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});
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//Add the code for the "启动" button click here
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Do3ThinkCamera do3ThinkCamera1 = new Do3ThinkCamera();
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do3ThinkCamera1.dvpStreamFormat = dvpStreamFormat.S_MONO8;
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do3ThinkCamera1.CameraName = "Cam1";
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Do3ThinkCamera do3ThinkCamera2 = new Do3ThinkCamera();
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do3ThinkCamera2.dvpStreamFormat = dvpStreamFormat.S_RGB24;
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do3ThinkCamera2.CameraName = "Cam2";
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Cameras.Add(do3ThinkCamera1);
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Cameras.Add(do3ThinkCamera2);
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do3ThinkCamera1.CameraConnect();
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do3ThinkCamera2.CameraConnect();
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do3ThinkCamera1.OnHImageOutput += OnCameraHImageOutput;
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do3ThinkCamera2.OnHImageOutput += OnCameraHImageOutput;
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var simbo1 = new SimboObjectDetection
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{
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};
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MLInit mLInit;
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string inferenceDevice = "CPU";
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mLInit = new MLInit($"D:\\PROJECTS\\MaodingTest1\\Vision\\cam1.onnx", "images", inferenceDevice, 640, 640);
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simbo1.Load(mLInit);
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Dectection.Add(do3ThinkCamera1.CameraName, simbo1);
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var simbo2 = new SimboObjectDetection
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{
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};
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MLInit mLInit2;
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string inferenceDevice2 = "CPU";
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mLInit2 = new MLInit($"D:\\PROJECTS\\MaodingTest1\\Vision\\cam2.onnx", "images", inferenceDevice2, 640, 640);
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simbo2.Load(mLInit2);
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Dectection.Add(do3ThinkCamera2.CameraName, simbo2);
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PLC.IP = "192.168.6.6";
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PLC.Port = 502;
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PLC.PLCConnect();
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PLC.OnNewPieces -= MainMotion_NewPieces;
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PLC.OnNewPieces += MainMotion_NewPieces;
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ProductBaseCount = 2;
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for (int i = 0; i < ProductBaseCount * ProductListMulti; i++)
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{
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ConcurrentDictionary<uint, ProductData> products = new ConcurrentDictionary<uint, ProductData>();
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_productLists.Add(products);
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}
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sraerttime=DateTime.Now;
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}
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private uint PieceCount = 0;
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private List<ConcurrentDictionary<uint, ProductData>> _productLists = new List<ConcurrentDictionary<uint, ProductData>>();
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private int ProductListMulti = 2;
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private int ProductBaseCount = 0;
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private int PieceNumberToIndex(uint pn)
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{
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// 物料编号，取余 集合数量
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//int multiple = (int)(pn / ProductBaseCount) % 2;
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//int offset = (int)(pn % ProductBaseCount);
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//int ret = (ProductBaseCount * multiple) + offset;
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//int ret = (int)(pn % ProductBaseCount);
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int ret = (int)(pn % (ProductBaseCount * ProductListMulti));
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return ret;
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}
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DateTime _ctTime = DateTime.Now;
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public async void MainMotion_NewPieces(int axisIndex, uint pieceNumber)
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{
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//if (MachineState != MachineState.Running && MachineState != MachineState.Warning)
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//{
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// return;
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//}
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PieceCount++;
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Task.Run(() => {
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this.BeginInvoke(new MethodInvoker(delegate () { richTextBox1.AppendText("入料成功" + PieceCount); }));
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});
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int index = PieceNumberToIndex(pieceNumber);
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// productDatas.Add(pData);
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//转盘2 的物料是不是重新覆盖之前的pDta
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if (axisIndex == 1)
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{
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ProductData pData = new ProductData("", pieceNumber, ProductBaseCount);
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_productLists[index][pieceNumber] = pData;
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}
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DateTime dtNow = DateTime.Now;
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UpdateCT(null, (float)(dtNow - _ctTime).TotalSeconds);
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_ctTime = dtNow;
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}
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public async Task UpdateCT(object objData, float ctTime)
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{
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await Task.Run(() =>
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{
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//OnUpdateCT?.Invoke(objData, ctTime);
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});
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}
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private void OnCameraHImageOutput(DateTime dt, CameraBase camera, Mat imageSet)
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{
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// 获取该相机的拍照计数
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uint productNumber = (uint)camera.SnapshotCount;
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Task.Run(async () =>
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{
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// 拍照计数与物件编号一致，查找对应的产品
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ProductData product = null;
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//内外壁模组多个相机的处理方法
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//计算队列的方法不变
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int index = PieceNumberToIndex(productNumber);
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// 找到产品存放在哪个队列里
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ConcurrentDictionary<uint, ProductData> tmpDic = _productLists[index];
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try
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{
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int retryTimes = 100;
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while (product == null && retryTimes > 0)
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{
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if (tmpDic.ContainsKey(productNumber))
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{
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product = tmpDic[productNumber];
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}
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else
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{
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Thread.Sleep(20);
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}
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retryTimes--;
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}
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// 如果产品为空，则销毁图片，提示错误
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if (null == product)
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{
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List<uint> pnList = tmpDic.Keys.ToList();
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string pnStr = "";
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if (pnList != null && pnList.Count > 0)
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{
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pnStr = string.Join(",", pnList);
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}
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//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}");
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imageSet.Dispose();
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return;
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}
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// LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 找到产品{productNumber}，队列{index}数量：{tmpDic.Count}");
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if (!_cameraRelatedDetectionDict.ContainsKey(camera.CameraName))
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{
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if (imageSet != null)
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{
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imageSet?.Dispose();
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imageSet = null;
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}
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imageSet.Dispose();
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// LogAsync(DateTime.Now, LogLevel.Warning, $"{camera.Name} 找到产品{productNumber}，但是没有推理1");
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return;
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}
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double totalTime = 0.0;
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List<ResultState> resultStates = new List<ResultState>();
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List<string>? detectionDict = _cameraRelatedDetectionDict[camera.CameraName];
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if (detectionDict.Count == 0)
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{
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//LogAsync(DateTime.Now, LogLevel.Warning, $"{camera.Name} 找到产品{productNumber}，但是没有推理3");
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}
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for (int i = 0; i < detectionDict.Count; i++)
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{
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string d = detectionDict[i];
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try
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{
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// LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 推理进度1.3，产品{productNumber}");
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var req = new MLRequest();
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req.mImage = imageSet.Clone();
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req.ResizeWidth = 640;
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req.ResizeHeight = 640;
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req.confThreshold = 0.5f;
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req.iouThreshold = 0.3f;
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req.out_node_name = "output0";
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req.in_lable_path = "D:\\PROJECTS\\MaodingTest1\\Vision\\cam1.txt";
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//req.LabelNames = dc.GetLabelNames();
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req.Score = 0.5f;
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//HOperatorSet.WriteImage(req.HImage, "png", 0, @"D:\\666.png");
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var result = Dectection[camera.CameraName].RunInference(req);
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this.BeginInvoke(new MethodInvoker(delegate () {
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pictureBox1.Image = result.ResultMap; richTextBox1.AppendText("推理成功" + productNumber+ result.IsSuccess+ "\n"); }));
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//DetectStationResult temp;
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////LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 推理进度1.4，产品{productNumber}");
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//// 检测结果
|
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//if (temp != null)
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//{
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// // LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 推理进度1.5，产品{productNumber}");
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// //var totalElapsed = (temp.EndTime - temp.VisionImageSet.ImageTime).TotalMilliseconds;
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// //totalTime += totalElapsed;
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// resultStates.Add(temp.ResultState);
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// product.ResultCollection.Add(temp);
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// // LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 推理进度1.6，产品{productNumber}");
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//}
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//else
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//{
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// //LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 检测失败，物料编号：{productNumber}，检测项：{d}");
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//}
|
||
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imageSet.Dispose();
|
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}
|
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catch (Exception ex)
|
||
{
|
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// LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 推理异常，物料编号：{productNumber}，检测项：{d}, {ex.GetExceptionMessage}");
|
||
}
|
||
}
|
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|
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//detectionDict.ForEach(d =>
|
||
//{
|
||
|
||
//});
|
||
|
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// LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 推理进度2，产品{productNumber}");
|
||
|
||
|
||
imageSet.Dispose();
|
||
product.InferenceOne(() =>
|
||
{
|
||
;
|
||
}, () =>
|
||
{
|
||
;
|
||
});
|
||
|
||
// LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 推理完成，产品{productNumber}");
|
||
|
||
if (!product.InferenceFinished())
|
||
{
|
||
//if (!(camera.Name == "Cam8"))
|
||
//{
|
||
// return;
|
||
//}
|
||
return;
|
||
}
|
||
ProductNum_Total++;
|
||
CalculateOEE();
|
||
this.BeginInvoke(new MethodInvoker(delegate () {
|
||
|
||
int currentScrollPosition = richTextBox1.GetPositionFromCharIndex(richTextBox1.TextLength).Y;
|
||
|
||
richTextBox1.AppendText($"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();
|
||
}));
|
||
|
||
//LogAsync(DateTime.Now, LogLevel.Information, $"推理完成，产品{product.PieceNumber}获取结果");
|
||
|
||
// 统计产品结果
|
||
//Task resultTask = product.SetProductResult(_totalDetectionNum, X017Config.IsTBDPriority, labelCategoryLists);
|
||
|
||
//await resultTask.ContinueWith(t =>
|
||
//{
|
||
// try
|
||
// {
|
||
// UpdateTriggerCount(DateTime.Now, "获取结果");
|
||
// UpdateResult(DateTime.Now, camera, product.ProductResult.GetEnumDescription());
|
||
// UpdateResultNew(DateTime.Now, camera, "合计");
|
||
// LogAsync(DateTime.Now, LogLevel.Information, $"产品{product.PieceNumber}获取结果：{product.ProductResult} {(product.IsA2B ? "产品IsA2B" : "")}");
|
||
|
||
// }
|
||
// catch (Exception ex)
|
||
// {
|
||
// LogAsync(DateTime.Now, LogLevel.Information, $"产品{product.PieceNumber}获取结果异常：{product.ProductResult} {(product.IsA2B ? "产品IsA2B" : "")}，" +
|
||
// $"异常信息：{ex.GetExceptionMessage}");
|
||
|
||
// }
|
||
|
||
// // 吹气
|
||
// DateTime dtNow = DateTime.Now;
|
||
// product.BlowOutTime = dtNow;
|
||
|
||
|
||
// var setting = X017Config.ProductBlowSettings.FirstOrDefault(s => product.ProductResult.Equals(s.ProductResult));
|
||
|
||
// if (setting != null)
|
||
// {
|
||
// uint NGNumC = 0;
|
||
// uint OKNumC = 0;
|
||
|
||
// CMCDLL_NET.MCF_Sorting_Get_Lose_Blow_NG_Count_Net(ref NGNumC, 0);
|
||
// CMCDLL_NET.MCF_Sorting_Get_Lose_Blow_OK_Count_Net(ref OKNumC, 0);
|
||
// _mainMotion.Blow(product.PieceNumber, setting.BindBlow);
|
||
// LogAsync(DateTime.Now, LogLevel.Action, $"产品{product.PieceNumber}吹气{NGNumC}+ {OKNumC}");
|
||
// //if (product.ProductResult == ResultState.OK)
|
||
// //{
|
||
// // //OKProcessNum++;
|
||
// // OKNum++;
|
||
// //}
|
||
// }
|
||
|
||
// //判断超时出队
|
||
// foreach (var kvp in tmpDic)
|
||
// {
|
||
// try
|
||
// {
|
||
// ProductData dataN = kvp.Value;
|
||
// TimeSpan timeDifference = DateTime.Now - dataN.CreateTime;
|
||
// if (timeDifference.TotalMinutes >= 1)
|
||
// {
|
||
|
||
// //出队
|
||
// bool isremoved = tmpDic.TryRemove(kvp.Key, out _);
|
||
// if (isremoved)
|
||
// {
|
||
// LogAsync(DateTime.Now, LogLevel.Error, $"====产品{kvp.Key}超时出列成功" +
|
||
// $"产品结果：{dataN.ProductResult.GetEnumDescription()} {dataN.ProductResult}，" +
|
||
// $"当前队列产品数量：{tmpDic.Count}====");
|
||
|
||
// try
|
||
// {
|
||
// //重新生成实例 销毁之前的实例
|
||
// var saveData = dataN.GetProductData();
|
||
// var productDefects = dataN.GetDetectDetailData();
|
||
// SaveProductDataAsync(saveData, productDefects);
|
||
// dataN = null;
|
||
// }
|
||
// catch (Exception) { }
|
||
|
||
// dataN?.Dispose();
|
||
// }
|
||
// else
|
||
// {
|
||
// LogAsync(DateTime.Now, LogLevel.Error, $"=====产品{kvp.Key}超时出列失败" +
|
||
// $"当前队列产品数量：{tmpDic.Count}=====");
|
||
// }
|
||
// }
|
||
// }
|
||
// catch (Exception ex)
|
||
// {
|
||
// LogAsync(DateTime.Now, LogLevel.Error, $"=====产品{kvp.Key}超时出列失败" +
|
||
// $"当前队列产品数量：{tmpDic.Count}====={ex.GetExceptionMessage}");
|
||
// }
|
||
// }
|
||
|
||
|
||
|
||
// 出列
|
||
ProductData temp = null;
|
||
|
||
int tryTimes = 5;
|
||
while (temp == null && tryTimes > 0)
|
||
{
|
||
var isSuccess = tmpDic.Remove(productNumber, out temp);
|
||
|
||
if (isSuccess)
|
||
{
|
||
// LogAsync(DateTime.Now, LogLevel.Assist, $"产品{productNumber}出列成功：{isSuccess}，" +
|
||
//$"产品结果：{temp.ProductResult.GetEnumDescription()}，" +
|
||
//$"当前队列产品数量：{tmpDic.Count}");
|
||
}
|
||
tryTimes--;
|
||
Thread.Sleep(1);
|
||
}
|
||
if (temp == null)
|
||
{
|
||
//LogAsync(DateTime.Now, LogLevel.Assist, $"产品{productNumber}出列失败，" +
|
||
// $"当前队列产品数量：{tmpDic.Count}");
|
||
}
|
||
else
|
||
{
|
||
try
|
||
{
|
||
//重新生成实例 销毁之前的实例
|
||
var saveData = temp.GetProductData();
|
||
|
||
|
||
}
|
||
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();
|
||
}
|
||
});
|
||
}
|
||
private void HandleStopButton()
|
||
{
|
||
Cameras.Clear();
|
||
Dectection.Clear();
|
||
// Add the code for the "停止" button click here
|
||
PLC.TurntableStop();
|
||
CurrentMachine = true;
|
||
}
|
||
public int UPH=0;
|
||
public void CalculateOEE()
|
||
{
|
||
TimeSpan timeSpan = DateTime.Now - sraerttime;
|
||
|
||
UPH = (int)(ProductNum_Total / timeSpan.TotalHours) + 100;
|
||
//UPM = (int)UPH / 60;
|
||
this.BeginInvoke(new MethodInvoker(delegate () {
|
||
label1.Text = UPH.ToString();
|
||
}));
|
||
|
||
|
||
|
||
}
|
||
private void HandleResetButton()
|
||
{
|
||
// Add the code for the "复位" button click here
|
||
MessageBox.Show("复位按钮按下");
|
||
}
|
||
|
||
private void HandleSettingsButton()
|
||
{
|
||
// Add the code for the "设置" button click here
|
||
MessageBox.Show("设置按钮按下");
|
||
}
|
||
|
||
private void HandleLoginButton()
|
||
{
|
||
// Add the code for the "登录" button click here
|
||
MessageBox.Show("登录按钮按下");
|
||
}
|
||
|
||
}
|
||
}
|