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.M071.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.Drawing;
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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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using static Bro.Common.Helper.EnumHelper;
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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 OnClearBarcode;
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public event Action<IShapeElement> OnElementUpdated;
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public event Action<MachineState> OnMachineStateChanged;
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public event Action OnFullResetDone;
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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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SwitchBeep(false);
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SwitchLightGreen(false);
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SwitchLightRed(false);
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SwitchLightYellow(false);
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Reset(null, null, null);
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FullReset(null);
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}
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private void InitialSetting()
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{
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//数据库迁移检查
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DatabaseInitialize.Initialize();
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MotionCardSettingCheck();
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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.KeyResultId == "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.KeyResultId] = null;
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}
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});
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});
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}
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#region 流程中抛出异常
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public override void ExceptionRaisedInMonitor(Exception ex)
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{
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if (ex is ProcessException pEx)
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{
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if (pEx.Level >= ExceptionLevel.Fatal)
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{
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RaisedAlarm(pEx.Message);
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MachineState = MachineState.Alarm;
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}
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}
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else
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{
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RaisedAlarm(ex.Message);
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MachineState = MachineState.Alarm;
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}
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}
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#endregion
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public string BarCode { get; set; }
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List<ProductionMeasurement> productionList = new List<ProductionMeasurement>();
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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 (MachineState != MachineState.Ready)
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throw new ProcessException("机台未就绪，请勿开始测量", null, ExceptionLevel.Fatal);
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if (string.IsNullOrWhiteSpace(BarCode))
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{
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OnClearBarcode?.Invoke();
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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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MachineState = MachineState.Running;
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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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StartTime = DateTime.Now,
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};
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var existedProduction = productionList.FirstOrDefault(u => u.Barcode == pMeasure.Barcode);
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if (existedProduction != null)
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{
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productionList.Remove(existedProduction);
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existedProduction.Dispose();
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existedProduction = null;
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}
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productionList.Add(pMeasure);
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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.MotionOp.Device);
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if (device == null)
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throw new ProcessException($"{s.Name}拍照点位未设置运动设备");
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IMotionCard motionDevice = device as IMotionCard;
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if (motionDevice == null)
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throw new ProcessException($"{s.Name}拍照点位设置{device.Name}不是运动设备");
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var response = motionDevice.Run(s.MotionOp.OpConfig);
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if (!response.Result)
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{
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throw new ProcessException($"{device.Name}异常，{response.Message}", null, ExceptionLevel.Fatal);
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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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string imgSetId = "";
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HImage hImage = null;
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try
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{
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hImage = CollectHImage(camera, s.CameraOp.OpConfig, out imgSetId);
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}
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catch (ProcessException pEx)
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{
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pEx.Level = ExceptionLevel.Fatal;
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throw pEx;
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}
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if (string.IsNullOrWhiteSpace(imgSetId))
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{
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return;
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}
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RunImageHandle(camera, s.CameraOp.OpConfig, hImage, s.Id, s.Name, pMeasure.Measurements);
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});
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BarCode = "";
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LogAsync(DateTime.Now, $"{pMeasure.Barcode}测量动作完成", "");
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return new ProcessResponse(true);
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}
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#region 双手启动
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bool isLeftStart = false;
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bool IsLeftStart
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{
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get => isLeftStart;
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set
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{
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isLeftStart = value;
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StartCheck();
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}
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}
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bool isRightStart = false;
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bool IsRightStart
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{
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get => isRightStart;
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set
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{
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isRightStart = value;
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StartCheck();
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}
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}
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private void StartCheck()
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{
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if (isRightStart && isLeftStart)
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{
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StartJob(null, null, null);
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}
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}
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[ProcessMethod("", "Start_Left", "左手启动", InvokeType.TestInvoke)]
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public ProcessResponse Start_Left(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
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{
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if (opConfig.InputPara != null && opConfig.InputPara.Count > 0)
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{
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IsLeftStart = opConfig.InputPara[0] == 1;
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}
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return new ProcessResponse();
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}
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[ProcessMethod("", "Start_Right", "右手启动", InvokeType.TestInvoke)]
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public ProcessResponse Start_Right(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
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{
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if (opConfig.InputPara != null && opConfig.InputPara.Count > 0)
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{
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IsRightStart = opConfig.InputPara[0] == 1;
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}
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return new ProcessResponse();
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}
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#endregion
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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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lock (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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LogAsync(DateTime.Now, $"{m.GetDisplayText()}检测结果", $"{((m.Spec.MeasureResult ?? false) ? "OK" : "NG")}");
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IShapeElement indicator = null;
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pMeasure.ElementList.Add(indicator);
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//输出图形基元到界面 todo
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OnElementUpdated?.BeginInvoke(indicator, null, null);
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SaveKeyImages(pMeasure.Barcode, m);
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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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}
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pMeasure.EndTime = DateTime.Now;
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bool pResult = pMeasure.Measurements.All(u => u.Spec.MeasureResult == true);
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OnUpdateResult?.Invoke(DateTime.Now, pResult ? 1 : 0);
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OnUpdateCT?.Invoke((float)(pMeasure.EndTime.Value - pMeasure.StartTime.Value).TotalSeconds);
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LogAsync(DateTime.Now, $"{pMeasure.Barcode} 检测完成，结果 {(pResult ? "OK" : "NG")}", "");
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if (MachineState == MachineState.Running)
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MachineState = MachineState.Ready;
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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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SaveWholeImage(pMeasure);
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productionList.RemoveAll(p => p.Barcode == pMeasure.Barcode);
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pMeasure.Dispose();
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}
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}
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#region 图像保存
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private void SaveWholeImage(ProductionMeasurement pMeasure)
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{
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try
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{
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Bitmap backImage = (Bitmap)Bitmap.FromFile(Config.BackgroundImagePath);
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Bitmap map = new Bitmap(backImage.Width, backImage.Height);
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using (Graphics g = Graphics.FromImage(map))
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{
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g.DrawImage(backImage, new PointF(0, 0));
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pMeasure.ElementList.ForEach(e =>
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{
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e.Draw(g);
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});
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}
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string dir = Path.Combine(Config.ImageSaveFolder, "TopView", DateTime.Now.ToString("yyyyMMdd"));
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if (!Directory.Exists(dir))
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{
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Directory.CreateDirectory(dir);
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}
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map.Save(Path.Combine(dir, $"{pMeasure.Barcode}_{DateTime.Now.ToString("HHmmss")}.bmp"));
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}
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catch (Exception ex)
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{
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LogAsync(DateTime.Now, "整体图片保存异常", ex.GetExceptionMessage());
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}
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}
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private void SaveKeyImages(string barCode, MeasurementUnit measureUnit)
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{
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string measureName = measureUnit.GetDisplayText();
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if (Config.ImageSaveOption.IsSaveOriginImage)
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{
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measureUnit.KeyUnitCollection.ForEach(u => u.ImageSaveStatus++);
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string dir = Path.Combine(Config.ImageSaveFolder, "Origin", DateTime.Now.ToString("yyyyMMdd"), barCode, measureUnit.MeasureType);
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if (!Directory.Exists(dir))
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{
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Directory.CreateDirectory(dir);
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}
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SaveKeyImages(measureUnit, measureName, dir);
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}
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string result = (measureUnit.Spec.MeasureResult ?? false) ? "OK" : "NG";
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if (Config.ImageSaveOption.AddtionalSaveType.ToUpper().Contains(result))
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{
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measureUnit.KeyUnitCollection.ForEach(u => u.ImageSaveStatus++);
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string dir = Path.Combine(Config.ImageSaveFolder, result, DateTime.Now.ToString("yyyyMMdd"), barCode, measureUnit.MeasureType);
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if (!Directory.Exists(dir))
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{
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Directory.CreateDirectory(dir);
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}
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SaveKeyImages(measureUnit, measureName, dir);
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}
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}
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private async void SaveKeyImages(MeasurementUnit measureUnit, string measureName, string dir)
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{
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await Task.Run(() =>
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{
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measureUnit.KeyUnitCollection.ForEach(u =>
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{
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int i = 0;
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u.KeyImages?.ForEach(image =>
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{
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string fileName = Path.Combine(dir, $"{measureName}_{u.Key}{(i == 0 ? "" : $"-{i}")}_{DateTime.Now.ToString("HHmmss")}.tiff");
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image.WriteImage("tiff", 0, fileName);
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i++;
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});
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u.ImageSaveStatus--;
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});
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});
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}
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#endregion
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private async void RunImageHandle(CameraBase camera, IOperationConfig opConfig, HImage hImage, string snapshotId, string snapshotName, List<MeasurementUnit> 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 = 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"] = 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 =>
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{
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kb.KeyImages.Add(image.Clone() as HImage);
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kb.FillKeyValues(resultDict);
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});
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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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{
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hImage?.Dispose();
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hImage = null;
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}
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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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