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 Bro.Process;
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using HalconDotNet;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.IO;
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using System.Linq;
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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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namespace Bro.M071.Process
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{
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[Process("M071", EnumHelper.DeviceAttributeType.Device)]
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public partial class M071Process : ProcessControl
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{
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#region 构造函数
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public M071Process() : base() { }
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public M071Process(string productionCode) : base(productionCode) { }
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#endregion
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#region 配置
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M071Config Config
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{
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get => IConfig as M071Config;
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}
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#endregion
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#region 事件
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public event Action OnMeasureStart;
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public event Action<string> OnBarcodeChanged;
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public event Action<IShapeElement> OnElementUpdated;
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#endregion
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public override void Open()
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{
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InitialSetting();
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base.Open();
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}
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private void InitialSetting()
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{
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Config.SnapshotPointCollection.ForEach(u =>
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{
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u.GetHalconToolPathList().ForEach(path =>
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{
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LoadHalconTool(path, u.Id);
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});
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});
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Config.KeyUnitCollection.ForEach(u =>
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{
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if (!u.IsEnabled)
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return;
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var snapshotPoint = Config.SnapshotPointCollection.FirstOrDefault(s => s.Id == u.SnapshotPointId && s.IsEnabled);
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if (snapshotPoint == null)
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throw new ProcessException($"{u.AlignName}未设置可用拍照点位");
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if (u.ImageSeq < 1)
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throw new ProcessException($"{u.AlignName}图片序号小于1");
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var algo = Config.KeyAlgorithemCollection.FirstOrDefault(a => a.Id == u.KeyAlgorithemId);
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if (algo == null)
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throw new ProcessException($"{u.AlignName}未设置检测算法");
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u.KeyAlgorithemPath = algo.AlgorithemPath;
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LoadHalconTool(u.KeyAlgorithemPath, u.AlignName);
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var resultSet = Config.KeyResultCollection.FirstOrDefault(r => r.Id == u.KeyResultId);
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if (resultSet == null)
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throw new ProcessException($"{u.AlignName}未设置检测结果配置");
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u.KeyResultList = new List<string>(resultSet.Results);
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});
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Config.MeasurementUnitCollection.ForEach(u =>
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{
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if (!u.IsEnabled)
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return;
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var spec = Config.MeasureTypeCollection.FirstOrDefault(s => s.Code == u.MeasureType);
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if (spec == null)
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throw new ProcessException($"{u.GetDisplayText()}未设置检测类型");
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u.Spec = new MeasureType();
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u.Spec.DataFrom(spec);
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LoadHalconTool(u.Spec.AlgorithemPath, u.Id);
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u.KeyUnitCollection.ForEach(b =>
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{
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var keyRespone = Config.KeyUnitCollection.Where(ku => ku.IsEnabled && ku.Key == b.Key).ToList();
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if (keyRespone.Count == 0)
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throw new ProcessException($"{u.GetDisplayText()}对应的单键不存在或不可用");
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if (b.KeyResult == "All")
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{
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keyRespone.SelectMany(kr => kr.KeyResultList).ToList().ForEach(r =>
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{
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b.MeasureValueDict[r] = null;
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});
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}
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else
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{
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b.MeasureValueDict[b.KeyResult] = null;
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}
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});
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});
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}
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#region InitialHalconTool
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//protected override void InitialHalconTool()
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//{
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// base.InitialHalconTool();
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// Config.SnapshotPointCollection.ForEach(u =>
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// {
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// u.GetHalconToolPathList().ForEach(path =>
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// {
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// if (!string.IsNullOrWhiteSpace(path))
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// {
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// string directoryPath = Path.GetDirectoryName(path);
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// string fileName = Path.GetFileNameWithoutExtension(path);
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// HDevEngineTool tool = new HDevEngineTool(directoryPath);
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// tool.LoadProcedure(fileName);
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// //使用“|”作为间隔符
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// _halconToolDict[u.Id + "|" + path] = tool;
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// }
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// });
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// });
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//}
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#endregion
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private string barCode = "";
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public string BarCode
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{
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get => barCode;
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set
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{
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if (barCode != value)
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{
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barCode = value;
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OnBarcodeChanged?.Invoke(value);
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}
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}
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}
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[ProcessMethod("", "StartJob", "开始扫描", InvokeType.TestInvoke)]
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public ProcessResponse StartJob(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
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{
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if (string.IsNullOrWhiteSpace(BarCode))
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{
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throw new ProcessException("未输入产品条码，请勿开始测量");
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}
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OnMeasureStart?.BeginInvoke(null, null);
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var measurements = Config.MeasurementUnitCollection.Where(u => u.IsEnabled).ToList().DeepSerializeClone();
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measurements.ForEach(m =>
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{
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m.InitialKeyUnitMeasureChanged();
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});
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var pMeasure = new ProductionMeasurement()
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{
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Barcode = BarCode,
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Measurements = measurements,
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};
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pMeasure.InitialMeasurementsPropertyChanged();
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pMeasure.PropertyChanged += MeasureProduction_PropertyChanged;
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Config.SnapshotPointCollection.Where(u => u.IsEnabled).ToList().ForEach(s =>
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{
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_pauseHandle.WaitHandle.WaitOne();
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IDevice device = DeviceCollection.FirstOrDefault(u => u.Id == s.MotionDevice);
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if (device == null)
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throw new ProcessException($"{s.Name}拍照点位未设置运动设备");
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IMotion motionDevice = device as IMotion;
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if (motionDevice == null)
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throw new ProcessException($"{s.Name}拍照点位设置{device.Name}不是运动设备");
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if (!motionDevice.MoveToPoint(null))
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{
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throw new ProcessException("运动中止", null, ExceptionLevel.Info);
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}
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CameraBase camera = DeviceCollection.FirstOrDefault(u => u.Id == s.CameraOp.Device) as CameraBase;
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if (camera == null)
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return;
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IImageSet imgSet = camera.Snapshot(s.CameraOp.OpConfig);
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if (imgSet == null)
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return;
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RunImageHandle(camera, s.CameraOp.OpConfig, imgSet, s.Id, s.Name, pMeasure.Measurements);
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});
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BarCode = "";
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return new ProcessResponse(true);
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}
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/// <summary>
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/// 暂停标志
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/// WaitHandle 暂停句柄 默认为非阻塞 可执行
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/// WaitResult 暂停标志 true 正常执行 false 暂停中
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/// </summary>
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ManualWaitConfirm _pauseHandle = new ManualWaitConfirm()
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{
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WaitHandle = new ManualResetEvent(true),
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WaitResult = true,
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};
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[ProcessMethod("", "PauseJob", "暂停流程", InvokeType.TestInvoke)]
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public ProcessResponse PauseJob(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
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{
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if (_pauseHandle.WaitResult)
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{
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#region 板卡暂停动作
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#endregion
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_pauseHandle.WaitHandle.Reset();
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}
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else
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{
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#region 板卡恢复动作
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#endregion
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_pauseHandle.WaitHandle.Set();
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}
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_pauseHandle.WaitResult = !_pauseHandle.WaitResult;
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return new ProcessResponse(_pauseHandle.WaitResult);
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}
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#region 私有方法
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private void MeasureProduction_PropertyChanged(object sender, PropertyChangedEventArgs e)
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{
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if (sender is ProductionMeasurement pMeasure)
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{
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//检查是否全部完成
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pMeasure.Measurements.ForEach(m =>
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{
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if (m.KeyUnitCollection.All(k => k.IsDone != null))
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{
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if (!m.IsUpdated)
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{
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if (m.KeyUnitCollection.Any(k => k.IsDone == false))
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{
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m.Spec.ActualValue = -999;
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}
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else
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{
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string toolKey = m.Id + "|" + m.Spec.AlgorithemPath;
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if (!_halconToolDict.ContainsKey(toolKey))
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{
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LogAsync(DateTime.Now, $"{m.GetDisplayText()}{m.Spec.Code}算法未初始化", "");
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m.Spec.ActualValue = -999;
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}
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else
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{
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var array = m.KeyUnitCollection.SelectMany(u => u.MeasureValueDict.Values.ToList().ConvertAll(v => v ?? -999)).ToArray();
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_halconToolDict[toolKey].InputTupleDic["INPUT_Params"] = new HTuple(array);
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if (!_halconToolDict[toolKey].RunProcedure(out string error))
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{
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LogAsync(DateTime.Now, $"{m.GetDisplayText()}{m.Spec.Code}算法异常,{error}", "");
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m.Spec.ActualValue = -999;
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}
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else
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{
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m.Spec.ActualValue = _halconToolDict[toolKey].GetResultTuple("OUTPUT_Result").D;
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LogAsync(DateTime.Now, $"{m.GetDisplayText()}数据{m.Spec.ActualValue}，结果{(m.Spec.MeasureResult == null ? "TBD" : (m.Spec.MeasureResult == true ? "OK" : "NG"))}", "");
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}
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}
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}
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//输出图形基元到界面 todo
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OnElementUpdated?.BeginInvoke(null, null, null);
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m.IsUpdated = true;
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}
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}
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});
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if (!pMeasure.Measurements.All(m => m.IsUpdated))
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{
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return;
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}
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//MES输出 todo
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//Excel报表输出 todo
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//数据库保存 todo
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//MeasureDict.Remove(pMeasure.Barcode);
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pMeasure.Dispose();
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}
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}
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private async void RunImageHandle(CameraBase camera, IOperationConfig opConfig, IImageSet imgSet, string snapshotId, string snapshotName, List<MeasurementUint> measureList)
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{
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await Task.Run(() =>
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{
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var keys = Config.KeyUnitCollection.Where(u => u.IsEnabled && u.SnapshotPointId == snapshotId);
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var keyBindCollection = measureList.SelectMany(u => u.KeyUnitCollection).Where(u => keys.Any(k => k.Key == u.Key)).ToList();
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string toolKey = (opConfig as CameraOprerationConfigBase).AlgorithemPath;
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HObject images = imgSet.HImage;
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if (!string.IsNullOrWhiteSpace(toolKey))
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{
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toolKey = snapshotId + "|" + toolKey;
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if (!_halconToolDict.ContainsKey(toolKey))
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{
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LogAsync(DateTime.Now, $"{snapshotName}未初始化取图算法配置", "");
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keyBindCollection.ForEach(k => k.FillKeyValues(null));
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return;
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}
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_halconToolDict[toolKey].InputImageDic["INPUT_Image"] = imgSet.HImage;
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if (!_halconToolDict[toolKey].RunProcedure(out string error))
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{
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LogAsync(DateTime.Now, $"{snapshotName}取图算法异常，{error}", "");
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keyBindCollection.ForEach(k => k.FillKeyValues(null));
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return;
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}
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images = _halconToolDict[toolKey].GetResultObject("OUTPUT_Images");
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}
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HOperatorSet.CountObj(images, out HTuple count);
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if (count == 0)
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{
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LogAsync(DateTime.Now, $"{snapshotName}取图算法未输出图像", "");
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keyBindCollection.ForEach(k => k.FillKeyValues(null));
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return;
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}
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var excludeKeys = keys.Where(u => u.ImageSeq > count).ToList();
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if (excludeKeys.Count > 0)
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{
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LogAsync(DateTime.Now, $"{string.Join(" ", excludeKeys.Select(u => u.AlignName))}未在图片获取序列中", "");
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keyBindCollection.Where(k => excludeKeys.Any(u => u.Key == k.Key)).ToList().ForEach(k =>
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{
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k.FillKeyValues(null);
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});
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}
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Parallel.For(1, count.I, (i) =>
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{
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HOperatorSet.SelectObj(images, out HObject image, i);
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keys.Where(u => u.ImageSeq == i).ToList().ForEach(k =>
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{
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Dictionary<string, double> resultDict = null;
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var keyBindList = keyBindCollection.Where(u => u.Key == k.Key).ToList();
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string keyToolKey = k.AlignName + "|" + k.KeyAlgorithemPath;
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if (!_halconToolDict.ContainsKey(keyToolKey))
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{
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LogAsync(DateTime.Now, $"{k.AlignName}检测算法未初始化", "");
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}
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else
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{
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_halconToolDict[keyToolKey].InputImageDic["INPUT_Image"] = image;
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if (!_halconToolDict[keyToolKey].RunProcedure(out string error))
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{
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LogAsync(DateTime.Now, $"{k.AlignName}检测算法异常，{error}", "");
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}
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else
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{
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var results = _halconToolDict[keyToolKey].GetResultTuple("OUTPUT_Results").HTupleToDouble();
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if (results.Count == 0 || results.Any(u => u < 0))
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{
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LogAsync(DateTime.Now, $"{k.AlignName}检测结果异常", "");
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}
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else
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{
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resultDict = k.KeyResultList.ToDictionary(u => u, u =>
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{
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int index = k.KeyResultList.IndexOf(u);
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return results[index];
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});
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}
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}
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}
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keyBindList.ForEach(kb => kb.FillKeyValues(resultDict));
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});
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image.Dispose();
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});
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if (count.I != 1)
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imgSet.HImage.Dispose();
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});
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}
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#endregion
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}
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}
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