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.Data;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using Bro.Common.Helper;
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using Bro.Common.Interface;
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using Bro.Common.Base;
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using Bro.Common.UI;
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using Bro.Common.PubSub;
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using static Bro.Common.Helper.EnumHelper;
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using Bro.Common.Model;
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using HalconDotNet;
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using System.Threading;
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using System.Collections.Specialized;
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namespace Bro.Common.Calibration
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{
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public partial class CalibrationDynamic9PointFrm : Form
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{
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//PubSubCenter PubSubCenter = PubSubCenter.GetInstance();
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AutoResetEvent _confirmHandle = new AutoResetEvent(false);
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public CalibrationDynamic9PointFrm()
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{
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InitializeComponent();
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}
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public CalibrationDynamic9PointFrm(CameraBase camera, PLCBase plc, CalibrationDynamic9PointConfig config)
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{
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InitializeComponent();
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Camera = camera;
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PLC = plc;
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Config = config as CalibrationDynamic9PointConfig;
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}
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public CalibrationDynamic9PointConfig Config { get; set; }
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public CameraBase Camera { get; set; }
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public PLCBase PLC { get; set; }
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public CalibrationDynamic9PointConfig GetConfig()
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{
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return null;
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}
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public void LoadConfig(CalibrationDynamic9PointConfig config)
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{
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FillResults();
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if (lvResults.Items.Count > 0)
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{
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lvResults.Items[0].Selected = true;
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}
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pgCameraConfig.SelectedObject = config.CameraOpConfig;
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}
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private void FillResults()
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{
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if (this.InvokeRequired)
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{
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this.Invoke(new Action(() => FillResults()));
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}
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else
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{
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lvResults.Items.Clear();
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for (int i = 0; i < Config.Results.Count; i++)
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{
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ListViewItem item = new ListViewItem(Config.Results[i].StepNum.ToString());
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item.SubItems.Add(Config.Results[i].GetDisplayText());
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item.Tag = Config.Results[i];
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item.BackColor = Config.Results[i].IsDone ? Color.GreenYellow : Color.Transparent;
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//if (Config.Results[i].Image != null)
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//{
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// item.BackColor = Color.GreenYellow;
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//}
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//else
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//{
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// item.BackColor = Color.Transparent;
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//}
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Config.Results[i].PropertyChanged -= CtrlCalib9PDynamic_PropertyChanged;
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Config.Results[i].PropertyChanged += CtrlCalib9PDynamic_PropertyChanged;
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lvResults.Items.Add(item);
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}
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}
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}
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private void CtrlCalib9PDynamic_PropertyChanged(object sender, PropertyChangedEventArgs e)
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{
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FillResults();
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}
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//private void OnCalibPropertyChanged()
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//{
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// if (this.InvokeRequired)
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// {
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// this.Invoke(new Action(() => OnCalibPropertyChanged()));
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// }
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// else
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// {
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// for (int i = 0; i < Config.Results.Count; i++)
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// {
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// if (Config.Results[i].Image != null)
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// {
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// lvResults.Items[i].BackColor = Color.GreenYellow;
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// }
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// else
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// {
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// lvResults.Items[i].BackColor = Color.Transparent;
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// }
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// }
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// }
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//}
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Canvas _canvas = new Canvas();
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private void CtrlCalib9PDynamic_Load(object sender, EventArgs e)
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{
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_canvas.IsShowElementList = true;
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_canvas.Dock = DockStyle.Fill;
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plImage.Controls.Add(_canvas);
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RemoveHandles();
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if (Camera != null)
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{
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Camera.OnImageUpdated -= Camera_UpdateShowImage;
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Camera.OnImageUpdated += Camera_UpdateShowImage;
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}
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Config.Results.OnItemChanged = OnResultsListChanged;
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LoadConfig(Config);
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}
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private void OnResultsListChanged(NotifyCollectionChangedAction obj)
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{
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if (this.InvokeRequired)
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{
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this.Invoke(new Action(() => FillResults()));
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}
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else
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{
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FillResults();
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}
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}
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public void RemoveHandles()
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{
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if (Camera != null)
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{
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Camera.OnImageUpdated -= Camera_UpdateShowImage;
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}
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//PubSubCenter.RemoveSubscriber(PubTag.CalibStepDone.ToString(), CalibStepDone);
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//PubSubCenter.RemoveSubscriber(PubTag.CalibAllDone.ToString(), CalibAllDone);
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chkContinueMode.Checked = false;
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}
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AutoResetEvent _imageShowedHandle = new AutoResetEvent(false);
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private void Camera_UpdateShowImage(CameraBase camera, Bitmap image)
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{
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if (this.InvokeRequired)
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{
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this.Invoke(new Action<CameraBase, Bitmap>(Camera_UpdateShowImage), camera, image);
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}
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else
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{
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_canvas.LoadImage(image);
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_imageShowedHandle.Set();
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}
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}
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//private object CalibAllDone(ISubscriber arg1, object arg2, object arg3)
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//{
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// string msg = arg3.ToString();
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// tsslInfo.Text = msg;
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// return null;
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//}
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//private object CalibStepDone(ISubscriber arg1, object arg2, object arg3)
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//{
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// int index = Convert.ToInt32(arg2);
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// _canvas.LoadImage(Config.Results[index].Image);
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// _canvas.Elements.Clear();
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// CrossHair ch = new CrossHair(Config.Results[index].PointResult);
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// _canvas.Elements.Add(ch);
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// tsslInfo.Text = $"步骤{index + 1}完成";
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// if (chkManualConfirm.Checked)
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// {
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// this.Invoke(new Action(() => btnContinueCalib.Visible = true)); ;
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// _confirmHandle.WaitOne();
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// }
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// return null;
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//}
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private void lvConfigs_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (lvResults.SelectedItems.Count <= 0)
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return;
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var result = lvResults.SelectedItems[0].Tag as CalibrationResult;
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tsslStepHint.Text = $"{(result.StepNum)}/{Config.TotalSteps}";
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if (result.Image != null)
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{
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_canvas.LoadImage(result.Image);
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_canvas.Elements.Clear();
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_canvas.Elements.Add(new CrossHair(result.PointResult));
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}
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}
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private void btnStartCalib_Click(object sender, EventArgs e)
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{
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if (OnStartCalibration == null)
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{
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throw new ProcessException("StartCalibration不能为空");
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}
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OnStartCalibration(PLC, Config.TriggerAddress);
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}
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private void btnStepRun_Click(object sender, EventArgs e)
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{
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int stepNum = 1;
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if (lvResults.SelectedItems.Count > 0)
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{
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var step = lvResults.SelectedItems[0].Tag as CalibrationResult;
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stepNum = step.StepNum;
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}
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var config = pgCameraConfig.SelectedObject as CameraOprerationConfigBase;
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if (OnCalculateStep == null)
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{
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MessageBox.Show("单步运算函数为空");
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return;
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}
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try
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{
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CalibrationResult result = OnCalculateStep(Camera, PLC, Config, stepNum);
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ShowCalibStepDone(result);
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}
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catch (Exception ex)
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{
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MessageBox.Show(ex.GetExceptionMessage());
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}
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}
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private void btnCalcuMatrix_Click(object sender, EventArgs e)
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{
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if (OnCalculateAll == null)
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{
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MessageBox.Show("标定结果运算函数为空");
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return;
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}
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try
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{
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string result = OnCalculateAll(Camera, Config);
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ShowCalibAllDone(result);
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}
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catch (Exception ex)
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{
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MessageBox.Show(ex.GetExceptionMessage());
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}
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}
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private void btnSnap_Click(object sender, EventArgs e)
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{
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CameraOprerationConfigBase config = pgCameraConfig.SelectedObject as CameraOprerationConfigBase;
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Camera.UploadOperationConfig(config);
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Camera.Snapshot(config, out HObject hImage);
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hImage.Dispose();
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}
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private bool _isContinueMode = false;
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CameraOprerationConfigBase _selectedCameraOpConfig = null;
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private void chkContinueMode_CheckedChanged(object sender, EventArgs e)
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{
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_selectedCameraOpConfig = pgCameraConfig.SelectedObject as CameraOprerationConfigBase;
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_isContinueMode = chkContinueMode.Checked;
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if (_isContinueMode)
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{
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bool temp = _selectedCameraOpConfig.IsSaveOriginImage;
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_selectedCameraOpConfig.IsSaveOriginImage = false;
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Task.Run(() =>
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{
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while (_isContinueMode)
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{
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try
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{
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Camera.UploadOperationConfig(_selectedCameraOpConfig);
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Camera.Snapshot();
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_imageShowedHandle.WaitOne(3000);
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}
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catch (Exception)
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{
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}
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}
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_selectedCameraOpConfig.IsSaveOriginImage = temp;
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});
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}
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}
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private void btnContinueCalib_Click(object sender, EventArgs e)
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{
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_confirmHandle.Set();
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btnContinueCalib.Visible = false;
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}
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private void CalibrationDynamic9PointFrm_FormClosing(object sender, FormClosingEventArgs e)
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{
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RemoveHandles();
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}
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#region 匿名委托
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//public virtual void StartCalibration()
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//{
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//}
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//public virtual void CalibMarkPoint(CameraBase camera, CalibrationDynamic9PointConfig config, int stepIndex)
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//{
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//}
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//public virtual void CalculationMatrix(List<CalibrationDynamic9PointConfig> configs)
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//{
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//}
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public Action<PLCBase, int> OnStartCalibration { get; set; }
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public Func<CameraBase, PLCBase, CalibrationDynamic9PointConfig, int, CalibrationResult> OnCalculateStep { get; set; }
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public Func<CameraBase, CalibrationDynamic9PointConfig, string> OnCalculateAll { get; set; }
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#endregion
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#region UI显示
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private void ShowCalibStepDone(CalibrationResult result)
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{
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if (this.InvokeRequired)
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{
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this.Invoke(new Action<CalibrationResult>(ShowCalibStepDone), result);
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}
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else
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{
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//_canvas.LoadImage(result.Image);
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_canvas.Elements.Clear();
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CrossHair ch = new CrossHair(result.PointResult);
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_canvas.Elements.Add(ch);
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tsslInfo.Text = $"步骤{result.StepNum}完成,{result.PointResult.GetDisplayText()}";
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if (chkManualConfirm.Checked)
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{
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btnContinueCalib.Visible = true;
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}
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if (chkManualConfirm.Checked)
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{
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_confirmHandle.WaitOne();
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}
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}
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}
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private void ShowCalibAllDone(string msg)
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{
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if (this.InvokeRequired)
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{
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this.Invoke(new Action<string>(ShowCalibAllDone), msg);
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}
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else
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{
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tsslInfo.Text = msg;
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}
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}
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#endregion
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private void btnClearResult_Click(object sender, EventArgs e)
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{
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Config.Results.ForEach(r =>
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{
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r.Image = null;
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r.PointResult = new CalibrationPoint();
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r.IsDone = false;
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});
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}
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}
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}
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