using Bro.Common.Base;
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using Bro.Common.Helper;
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using Bro.Common.Interface;
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using Bro.Common.Model;
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using HalconDotNet;
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using Lmi3d.GoSdk;
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using Lmi3d.GoSdk.Messages;
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using Lmi3d.Zen;
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using Lmi3d.Zen.Io;
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using Newtonsoft.Json;
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using System;
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using System.Collections.Generic;
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using System.Drawing;
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using System.IO;
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using System.Linq;
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using System.Runtime.CompilerServices;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using static Bro.Common.Helper.EnumHelper;
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namespace Bro.Device.Gocator
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{
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[Device("Gocator", "Gocator激光扫描仪", EnumHelper.DeviceAttributeType.Device)]
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public class GocatorDriver : CameraBase
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{
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#region CameraBase
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public override IOperationConfig GetOperationConfigFromDevice()
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{
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var opConfig = new GocatorOperationConfig();
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GoSetup setup = sensor.Setup;
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opConfig.Exposure = (float)setup.GetExposure(GoRole.Main);
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opConfig.JobName = sensor.DefaultJob;
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return opConfig;
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}
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public override void Snapshot()
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{
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GoDataSet dataSet = null;
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if (IIConfig.IsAsyncMode)
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{
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if (!IIConfig.IsHardwareTrigger)
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{
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_snapFlag = true;
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if (!_snapHandle.WaitOne(IIConfig.SnapshotTimeout))
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{
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LogAsync(DateTime.Now, $"{Name}获取图像超时", "");
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return;
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}
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dataSet = _currentData;
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}
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}
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else
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{
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try
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{
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dataSet = system.ReceiveData(IIConfig.SnapshotTimeout);
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}
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catch (Exception ex)
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{
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LogAsync(DateTime.Now, $"{Name}获取图像异常", ex.GetExceptionMessage());
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return;
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}
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}
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HandleGoData(dataSet);
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dataSet.Dispose();
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}
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private void HandleGoData(GoDataSet dataSet, GoImageSet imgSet = null)
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{
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if (dataSet == null)
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{
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return;
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}
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for (UInt32 i = 0; i < dataSet.Count; i++)
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{
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GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i);
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switch (dataObj.MessageType)
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{
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case GoDataMessageType.Surface:
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{
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GoSurfaceMsg surfaceMsg = (GoSurfaceMsg)dataObj;
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long width = surfaceMsg.Width;
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long height = surfaceMsg.Length;
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long bufferSize = width * height;
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IntPtr bufferPointer = surfaceMsg.Data;
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float zoomFactor = (float)((double)surfaceMsg.YResolution / (double)surfaceMsg.XResolution);
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int zoomHeight = (int)(zoomFactor * height);
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//IntPtr zoomPtr = Marshal.AllocHGlobal(zoomHeight * (int)width * 2);
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//IntPtr zoomPtr = Marshal.AllocHGlobal(zoomHeight * (int)width * 4);
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IntPtr zoomPtr = Marshal.AllocHGlobal(zoomHeight * (int)width * (int)IIConfig.ByteNums);
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//没有插值，默认0
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//Parallel.For(0, height, h =>
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// {
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// CopyMemory((IntPtr)((long)zoomPtr + width * 2 * Math.Floor(h * zoomFactor)), (IntPtr)((long)bufferPointer + width * 2 * h), width * 2);
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// });
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if (IIConfig.ByteNums == GocatorDataByteNums.Byte2)
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{
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//使用上一行原有数据
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Parallel.For(0, zoomHeight, h =>
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{
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int originHeightIndex = (int)Math.Floor((double)height * h / (double)zoomHeight);
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CopyMemory((IntPtr)((long)zoomPtr + width * 2 * h), (IntPtr)((long)bufferPointer + width * 2 * originHeightIndex), width * 2);
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});
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}
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else
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{
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//使用上一行原有数据
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Parallel.For(0, zoomHeight, h =>
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{
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int originHeightIndex = (int)Math.Floor((double)height * h / (double)zoomHeight);
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byte[] rowBuffer = new byte[width * 4];
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Parallel.For(0, width, w =>
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{
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rowBuffer[w * 4 + 2] = Marshal.ReadByte(bufferPointer, (int)(width * 2 * originHeightIndex + w * 2));
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rowBuffer[w * 4 + 3] = Marshal.ReadByte(bufferPointer, (int)(width * 2 * originHeightIndex + w * 2 + 1));
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});
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Marshal.Copy(rowBuffer, 0, (IntPtr)((long)zoomPtr + width * 2 * h), rowBuffer.Length);
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});
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}
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if (imgSet != null)
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{
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imgSet.HImage = new HImage();
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//imgSet.HImage.GenImage1("uint2", (int)width, zoomHeight, zoomPtr);
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//imgSet.HImage.GenImage1("int4", (int)width, zoomHeight, zoomPtr);
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imgSet.HImage.GenImage1(IIConfig.ByteNums == GocatorDataByteNums.Byte2 ? "uint2" : "int4", (int)width, zoomHeight, zoomPtr);
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//imgSet.HImage_2 = imgSet.HImage.Clone();
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//imgSet.HImage_2.GenImage1("uint2", (int)width, zoomHeight, zoomPtr);
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//imgSet.HImage_2.GenImage1("int4", (int)width, zoomHeight, zoomPtr);
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imgSet.HImage_2 = new HImage();
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imgSet.HImage_2.GenImage1(IIConfig.ByteNums == GocatorDataByteNums.Byte2 ? "uint2" : "int4", (int)width, zoomHeight, zoomPtr);
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LaserScanParam para = new LaserScanParam()
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{
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Resolution_X = surfaceMsg.XResolution,
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Resolution_Y = surfaceMsg.YResolution,
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Resolution_Z = surfaceMsg.ZResolution,
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Offset_X = surfaceMsg.XOffset,
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Offset_Y = surfaceMsg.YOffset,
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Offset_Z = surfaceMsg.ZOffset,
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Angle_Z = surfaceMsg.ZAngle,
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};
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imgSet.ImageData = JsonConvert.SerializeObject(para);
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//imgSet.HImage_2 = imgSet.HImage_2.ZoomImageSize((int)width, zoomHeight, "constant");
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}
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Generate16GrayImageByPointer((int)width, zoomHeight, zoomPtr, imgSet?.Id).ContinueWith(t =>
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{
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Marshal.FreeHGlobal(zoomPtr);
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});
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//int zoomHeight = (int)(((double)surfaceMsg.YResolution / (double)surfaceMsg.XResolution) * (double)surfaceMsg.Length);
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//if (imgSet != null)
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//{
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// imgSet.HImage = new HImage();
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// imgSet.HImage.GenImage1("uint2", (int)width, (int)height, bufferPointer);
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// imgSet.HImage = imgSet.HImage.ZoomImageSize((int)width, zoomHeight, "constant");
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// imgSet.HImage_2 = new HImage();
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// imgSet.HImage_2.GenImage1("uint2", (int)width, (int)height, bufferPointer);
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// imgSet.HImage_2 = imgSet.HImage_2.ZoomImageSize((int)width, zoomHeight, "constant");
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//}
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//Generate16GrayImageByPointer((int)width, (int)height, bufferPointer, imgSet?.Id);
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}
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break;
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//case GoDataMessageType.SurfaceIntensity:
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// {
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// GoSurfaceIntensityMsg surfaceMsg = (GoSurfaceIntensityMsg)dataObj;
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// long width = surfaceMsg.Width;
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// long height = surfaceMsg.Length;
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// long bufferSize = width * height;
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// IntPtr bufferPointer = surfaceMsg.Data;
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// //int zoomHeight = (surfaceMsg.YResolution * (int)surfaceMsg.Length * 10) / surfaceMsg.XResolution;
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// int zoomHeight = (int)(((double)surfaceMsg.YResolution / (double)surfaceMsg.XResolution) * (double)surfaceMsg.Length);
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// if (imgSet != null)
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// {
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// imgSet.HImage = new HImage();
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// imgSet.HImage.GenImage1("uint2", (int)width, (int)height, bufferPointer);
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// imgSet.HImage = imgSet.HImage.ZoomImageSize((int)width, zoomHeight, "constant");
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// imgSet.HImage_2 = new HImage();
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// imgSet.HImage_2.GenImage1("uint2", (int)width, (int)height, bufferPointer);
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// imgSet.HImage_2 = imgSet.HImage_2.ZoomImageSize((int)width, zoomHeight, "constant");
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// }
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// Generate16GrayImageByPointer((int)width, (int)height, bufferPointer, imgSet?.Id);
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// }
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// break;
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}
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dataObj.Dispose();
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}
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}
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[MethodImpl(MethodImplOptions.Synchronized)]
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public override IImageSet Snapshot(IOperationConfig config)
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{
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GocatorOperationConfig opConfig = config as GocatorOperationConfig;
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if (!IIConfig.IsAsyncMode)
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{
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if (opConfig.IsOpenConnection)
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{
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while (sensor.State != GoState.Ready)
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{
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Thread.Sleep(10);
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}
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do
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{
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try
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{
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sensor.Start();
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LogAsync(DateTime.Now, $"传感器状态：{sensor.State.ToString()}", "");
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if (sensor.State != GoState.Running)
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{
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Thread.Sleep(100);
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}
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else
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{
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break;
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}
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}
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catch (Exception ex)
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{
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LogAsync(DateTime.Now, $"开启异常：{ex.GetExceptionMessage()}", "");
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Thread.Sleep(100);
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}
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} while (true);
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LogAsync(DateTime.Now, $"传感器启动成功", "");
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}
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if (!opConfig.IsSnapshotAction)
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{
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return null;
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}
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}
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GoImageSet imgSet = new GoImageSet();
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InitialImageSet(imgSet, (config as CameraOprerationConfigBase).ImageSaveOption);
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GoDataSet dataSet = null;
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if (IIConfig.IsAsyncMode)
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{
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if (opConfig.IsSnapshotAction)
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{
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if (!IIConfig.IsHardwareTrigger)
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{
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_snapFlag = true;
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if (!_snapHandle.WaitOne(IIConfig.SnapshotTimeout))
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{
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LogAsync(DateTime.Now, $"{Name}获取图像超时", "");
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return null;
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}
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dataSet = _currentData;
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}
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}
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else
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{
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imgSet = null;
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}
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}
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else
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{
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if (!opConfig.IsSnapshotAction)
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{
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return null;
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}
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int reTryTime = 3;
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do
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{
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try
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{
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dataSet = system.ReceiveData(IIConfig.SnapshotTimeout);
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reTryTime = 0;
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}
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catch (Exception ex)
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{
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reTryTime--;
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LogAsync(DateTime.Now, $"{Name}获取图像异常", ex.GetExceptionMessage());
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if (reTryTime <= 0)
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{
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imgSet.HImage = null;
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dataSet = null;
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system.ClearData();
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}
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}
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} while (reTryTime > 0);
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}
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if (!IIConfig.IsAsyncMode)
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{
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if (!opConfig.IsOpenConnection)
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{
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while (sensor.State == GoState.Busy)
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{
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Thread.Sleep(100);
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}
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do
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{
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try
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{
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sensor.Stop();
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LogAsync(DateTime.Now, $"传感器状态：{sensor.State.ToString()}", "");
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if (sensor.State != GoState.Ready)
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{
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Thread.Sleep(100);
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}
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else
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{
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break;
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}
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}
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catch (Exception ex)
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{
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LogAsync(DateTime.Now, $"关闭异常：{ex.GetExceptionMessage()}", "");
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Thread.Sleep(100);
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}
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} while (true);
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LogAsync(DateTime.Now, $"传感器关闭成功", "");
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}
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}
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sensor.Flush();
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if (dataSet != null)
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{
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HandleGoData(dataSet, imgSet);
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dataSet.Dispose();
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if (imgSet.HImage == null)
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{
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LogAsync(DateTime.Now, $"{Name}未能获取HImage图像", "");
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}
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}
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return imgSet;
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}
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float _currentExposure = 0;
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string _currentJob = "";
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public override void UploadOperationConfig(IOperationConfig config)
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{
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if (config is GocatorOperationConfig opConfig)
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{
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if (opConfig.Exposure > 0 && opConfig.Exposure != _currentExposure)
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{
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sensor.Setup.SetExposure(GoRole.Main, opConfig.Exposure);
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_currentExposure = opConfig.Exposure;
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}
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if (!string.IsNullOrWhiteSpace(opConfig.JobName) && _currentJob != opConfig.JobName)
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{
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LogAsync(DateTime.Now, $"{Name}切换当前任务为{opConfig.JobName}", "");
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sensor.CopyFile(_currentJob, "_live.job");
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bool isChanged = false;
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sensor.LoadedJob(ref _currentJob, ref isChanged);
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LogAsync(DateTime.Now, $"{Name}当前任务{_currentJob}", "");
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}
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sensor.Flush();
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}
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}
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protected override void Init()
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{
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KApiLib.Construct();
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GoSdkLib.Construct();
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system = new GoSystem();
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if (IIConfig.IsUseAccelerator)
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{
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accelerator = new GoAccelerator();
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}
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KIpAddress ip = KIpAddress.Parse(IConfig.CameraIP);
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if (IIConfig.IsUseAccelerator)
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{
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accelerator.Start();
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}
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sensor = system.FindSensorByIpAddress(ip);
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if (IIConfig.IsUseAccelerator)
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{
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accelerator.Attach(sensor);
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}
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sensor.Connect();
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if (IIConfig.IsUseAccelerator)
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{
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sensor.Flush();
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accelerator.Start();
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}
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sensor.Setup.ScanMode = GoMode.Surface;
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system.EnableData(true);
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if (IIConfig.IsAsyncMode)
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{
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system.SetDataHandler(onData);
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}
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_currentExposure = (float)sensor.Setup.GetExposure(GoRole.Main);
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if (IIConfig.DefaultExposure > 0 && _currentExposure != IIConfig.DefaultExposure)
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{
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sensor.Setup.SetExposure(GoRole.Main, IIConfig.DefaultExposure);
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_currentExposure = (float)sensor.Setup.GetExposure(GoRole.Main);
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}
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bool isChanged = false;
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sensor.LoadedJob(ref _currentJob, ref isChanged);
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LogAsync(DateTime.Now, $"{Name}当前任务{_currentJob}", "");
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if (!string.IsNullOrWhiteSpace(IIConfig.DefaultJob) && IIConfig.DefaultJob != _currentJob)
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{
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sensor.CopyFile(IIConfig.DefaultJob, "_live.job");
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//_currentJob = IIConfig.DefaultJob;
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sensor.LoadedJob(ref _currentJob, ref isChanged);
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LogAsync(DateTime.Now, $"{Name}当前任务{_currentJob}", "");
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}
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sensor.Flush();
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}
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protected override void Start()
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{
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base.Start();
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if (sensor.State != GoState.Ready)
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{
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system.Start();
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}
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if (IIConfig.IsAsyncMode)
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{
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sensor.Start();
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}
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else
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{
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//if (sensor.State == GoState.Ready)
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{
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sensor.Stop();
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}
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}
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}
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protected override void Stop()
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{
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base.Stop();
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if (IIConfig.IsAsyncMode)
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system.Stop();
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if (IIConfig.IsUseAccelerator)
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{
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accelerator.Stop();
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}
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sensor.Disconnect();
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}
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protected override void Pause()
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{
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}
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protected override void Resume()
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{
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}
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#endregion
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GoSystem system = null;
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GoAccelerator accelerator = null;
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GoSensor sensor = null;
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public GocatorInitialConfig IIConfig
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{
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get => InitialConfig as GocatorInitialConfig;
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}
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volatile bool _snapFlag = false;
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readonly ManualResetEvent _snapHandle = new ManualResetEvent(false);
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GoDataSet _currentData = null;
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/// <summary>
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/// 异步模式获取数据
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/// </summary>
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/// <param name="data"></param>
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private void onData(KObject data)
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{
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GoDataSet dataSet = (GoDataSet)data;
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if (IIConfig.IsHardwareTrigger)
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{
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GoImageSet imgSet = new GoImageSet();
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InitialImageSet(imgSet, IConfig.ImageSaveOption);
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HandleGoData(dataSet, imgSet);
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if (imgSet.HImage != null)
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{
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OnHImageOutput?.BeginInvoke(this, imgSet.HImage, imgSet.Id, null, null);
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}
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else
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{
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LogAsync(DateTime.Now, $"{Name}获取HImage失败", "");
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}
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}
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else
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{
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if (_snapFlag)
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{
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_snapFlag = false;
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_currentData = dataSet.Clone<GoDataSet>();
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_snapHandle.Set();
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}
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}
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dataSet.Dispose();
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}
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#region 重写图片保存操作
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public override async void SaveOriginImage(Bitmap map, Bitmap showImage, string imgSetId)
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{
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Task.Run(() =>
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{
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OnImageUpdated?.Invoke(this, showImage, imgSetId);
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});
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GoImageSet set = _imageSetList[imgSetId] as GoImageSet;
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if (set == null)
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return;
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set.Image = map;
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await Task.Run(() =>
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{
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lock (set.SaveLock)
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{
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if (set.ImageSaveOption.IsSaveOriginImage && !set.IsOriginSaved)
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{
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string imgDir = CheckImageDirectory(set.ImageSaveOption.ImageSaveSubDirectory, "Origin");
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try
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{
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//SaveImageByNameAndType(map, set.Id, set.ImageSaveOption.ImageFormat, imgDir);
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string filePath = Path.Combine(imgDir, $"{set.Id}.tif");
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set.HImage_2.WriteImage("tiff", 0, filePath);
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}
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catch (Exception ex)
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{
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LogAsync(DateTime.Now, $"{set.Id}原图保存失败", ex.GetExceptionMessage());
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}
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}
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set.IsOriginSaved = true;
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ClearImageSet(set);
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}
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});
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}
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/// <summary>
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/// 保存特定类型图片，例如NG图片
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/// </summary>
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/// <param name="prefix">图片类型说明 例如“NG”</param>
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/// <param name="imgSetId">图片ID</param>
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public override async void SaveSelectedImage(string prefix, string imgSetId)
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{
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await Task.Run(() =>
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{
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GoImageSet set = _imageSetList[imgSetId] as GoImageSet;
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if (set == null)
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return;
|
|
lock (set.SaveLock)
|
{
|
if (set.ImageSaveOption.AddtionalSaveType.Contains(prefix) && !set.IsAddtionalSaved)
|
{
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string imgDir = CheckImageDirectory(set.ImageSaveOption.ImageSaveSubDirectory, prefix);
|
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while (set.Image == null)
|
{
|
Thread.Sleep(50);
|
}
|
|
try
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{
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string filePath = Path.Combine(imgDir, $"{set.Id}.tif");
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set.HImage_2.WriteImage("tiff", 0, filePath);
|
}
|
catch (Exception ex)
|
{
|
LogAsync(DateTime.Now, $"{set.Id}{prefix}图片保存失败", ex.GetExceptionMessage());
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}
|
}
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set.IsAddtionalSaved = true;
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ClearImageSet(set);
|
}
|
});
|
}
|
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//public override void ClearImageSet(IImageSet set)
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//{
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// if (set.IsOriginSaved && set.IsFitSaved && set.IsAddtionalSaved)
|
// {
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// (set as GoImageSet).HImage_2?.Dispose();
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// (set as GoImageSet).HImage_2 = null;
|
// }
|
|
// base.ClearImageSet(set);
|
//}
|
#endregion
|
}
|
|
public class GoImageSet : ImageSet
|
{
|
public HImage HImage_2 { get; set; }
|
|
public override void Dispose()
|
{
|
base.Dispose();
|
|
HImage_2?.Dispose();
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HImage_2 = null;
|
}
|
}
|
}
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