using Bro.Common.Base;
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using Bro.Common.Base.UI;
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using Bro.Common.Factory;
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using Bro.Common.Interface;
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using Bro.Common.Model;
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using Bro.UI.Model.Winform;
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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.Data;
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using System.Drawing;
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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 System.Windows.Forms;
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namespace Bro.Process
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{
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public partial class FrmCalibration_9P : Form
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{
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public FrmCalibration_9P()
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{
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InitializeComponent();
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}
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public FrmCalibration_9P(CameraBase camera,
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IMotion motionDevice,
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CalibrationConfig config,
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Action<CameraBase, CalibrationConfig, string, int> singleResultAction,
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Func<CameraBase, IMotion, CalibrationConfig, AutoWaitConfirm, string> finalCalculation,
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Action<IOperationConfig> resetHalconToolAction,
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string methodName)
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{
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InitializeComponent();
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this.camera = camera;
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this.motionDevice = motionDevice;
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Config = config;
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this.singleResultAction = singleResultAction;
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this.finalCalculation = finalCalculation;
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this.resetHalconToolAction = resetHalconToolAction;
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this.methodName = methodName;
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this.Text += $" -- {methodName}";
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}
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public CalibrationConfig Config { get; set; }
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private Action<CameraBase, CalibrationConfig, string, int> singleResultAction;
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private Func<CameraBase, IMotion, CalibrationConfig, AutoWaitConfirm, string> finalCalculation;
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private Action<IOperationConfig> resetHalconToolAction;
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string methodName = "";
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CtrlCameraRunBase runCtrl = null;
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CameraBase camera = null;
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IMotion motionDevice = null;
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AutoResetEvent _confirmHandle = new AutoResetEvent(false);
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public void LoadConfig()
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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((i + 1).ToString());
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item.SubItems.Add(Config.Results[i].GetDisplayText());
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lvResults.Items.Add(item);
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Config.Results[i].PropertyChanged -= CtrlCalib9PDynamic_PropertyChanged;
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Config.Results[i].PropertyChanged += CtrlCalib9PDynamic_PropertyChanged;
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}
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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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propGridConfig.SelectedObject = Config.CameraOpConfig;
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}
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private void CtrlCalib9PDynamic_PropertyChanged(object sender, PropertyChangedEventArgs e)
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{
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OnCalibPropertyChanged();
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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].ImageMarkPoint.X != 0 || Config.Results[i].ImageMarkPoint.Y != 0)
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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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private void FrmCalib9PDynamic_Load(object sender, EventArgs e)
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{
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runCtrl = UIFactory.GetRunCtrl(camera) as CtrlCameraRunBase;
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if (runCtrl is UserControl uc)
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{
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uc.Dock = DockStyle.Fill;
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plRunCtrl.Controls.Add(uc);
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}
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LoadConfig();
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}
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/// <summary>
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/// 标定结束时动作
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/// </summary>
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/// <param name="msg"></param>
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/// <returns></returns>
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public void OnCalibFinalDone(string msg, AutoWaitConfirm saveConfigConfirm)
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{
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tsslInfo.Text = msg;
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saveConfigConfirm.WaitResult = MessageBox.Show("选择Yes将标定结果写入配置，选择No不修改当前配置\r\n该操作不保存当前配置，需要保存配置请退出标定界面后手动保存", "写入配置提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes;
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saveConfigConfirm.WaitHandle.Set();
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}
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public void OnCalibStepDone(int sequence)
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{
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tsslInfo.Text = $"步骤{sequence}完成,{Config.Results[sequence - 1].GetDisplayText()}";
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;
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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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}
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int _selectedStepIndex = -1;
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private void lvResults_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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_selectedStepIndex = lvResults.SelectedIndices[0];
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}
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private void lvResults_MouseDoubleClick(object sender, MouseEventArgs e)
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{
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if (lvResults.SelectedItems.Count <= 0)
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return;
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_selectedStepIndex = lvResults.SelectedIndices[0];
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var result = Config.Results[_selectedStepIndex];
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if (result.Image != null)
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{
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runCtrl.CvImage.LoadImage(result.Image);
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runCtrl.CvImage.Elements.Clear();
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runCtrl.CvImage.Elements.Add(new PointIndicator() { Center = new Common.Model.CustomizedPoint(result.ImageMarkPoint) });
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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 (chkOfflineCalib.Checked)
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//{
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// ProcessControl.Calibration_Pick_9P_Dynamic_Offline(Config.Configs);
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//}
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//else
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//{
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// ProcessControl.SendCalibStartSignal(Config.TriggerAddress);
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//}
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}
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private void btnLoadOfflineImages_Click(object sender, EventArgs e)
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{
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Config.Results.ForEach(c =>
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{
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if (!string.IsNullOrWhiteSpace(c.OfflineImagePath))
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{
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c.Image = (Bitmap)Image.FromFile(c.OfflineImagePath);
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}
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});
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tsslInfo.Text = "离线图片载入完成";
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}
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private void btnStepRun_Click(object sender, EventArgs e)
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{
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//CalibrationConfig config = propGridConfig.SelectedObject as CalibrationConfig;
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//if (!chkOfflineRun.Checked)
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//{
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// ProcessControl.CalibMarkPoint(Camera, config, _selectedStepIndex + 1);
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//}
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//else
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//{
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// ProcessControl.CalibMarkPoint(_canvas.MAP, config, _selectedStepIndex + 1);
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//}
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//tsslInfo.Text = $"单步运算完成。标记点坐标：{config.ImageMarkPoint.X},{config.ImageMarkPoint.Y}";
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try
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{
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if (singleResultAction != null)
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{
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singleResultAction(camera, Config, methodName, _selectedStepIndex + 1);
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OnCalibStepDone(_selectedStepIndex + 1);
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}
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}
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catch (Exception ex)
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{
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MessageBox.Show("标定过程异常\r\n" + ex.Message);
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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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try
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{
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if (finalCalculation != null)
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{
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var saveConfigConfirm = new AutoWaitConfirm() { WaitHandle = new AutoResetEvent(false), WaitResult = false };
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OnCalibFinalDone(finalCalculation(camera, motionDevice, Config, saveConfigConfirm), saveConfigConfirm);
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}
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}
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catch (Exception ex)
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{
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MessageBox.Show("标定结果计算异常\r\n" + ex.Message);
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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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camera.UploadOperationConfig(Config.CameraOpConfig);
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camera.Snapshot();
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}
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//private void chkContinueMode_CheckedChanged(object sender, EventArgs e)
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//{
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// if (chkContinueMode.Checked)
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// {
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// Task.Run(() =>
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// {
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// HalconRelatedCameraOprerationConfigBase config = (propGridConfig.SelectedObject as CalibrationConfig).CameraOpConfig;
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// bool temp = config.IsSaveImage;
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// config.IsSaveImage = false;
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// while (chkContinueMode.Checked)
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// {
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// try
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// {
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// Camera.UploadOperationConfig(config);
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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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// config.IsSaveImage = 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 btnReloadAlgorithem_Click(object sender, EventArgs e)
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{
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resetHalconToolAction(Config.CameraOpConfig);
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}
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}
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}
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