using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using HalconDotNet;
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using System.Threading;
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using System.Reflection;
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using System.IO;
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using System.Threading.Tasks;
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using HDevEngine;
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using System.Configuration;
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namespace M423project
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{
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/// <summary>
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/// 产品厚度检测类
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/// </summary>
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public class HeightDetection
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{
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#region 产品高度检测类私有成员
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private OPC opc;
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private ImageProcess imageProcess;
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private ConfigStruct opcConfig;
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private int stationNumber;
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private DetectionType detectionType;
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private HWindow halconWindow;
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private HWindow hcBarcode;
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private HDevEngineTool _heightTool;
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#endregion
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/// <summary>
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/// 产品高度检测类构造函数
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/// </summary>
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/// <param name="_opc">OPC对象引用</param>
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/// <param name="_imageProcess">图象处理对象引用</param>
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/// <param name="_opcConfig">OPC醒置对象引用</param>
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/// <param name="_stationNumber">对应工位号2</param>
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/// <param name="_detectionType">本次检测类型</param>
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/// <param name="_halconWindow">显示对象引用</param>
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/// /// <param name="_hcBarcode">显示对象Barcode图片</param>
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public HeightDetection(OPC _opc, ImageProcess _imageProcess, ConfigStruct _opcConfig, int _stationNumber,
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DetectionType _detectionType, HWindow _halconWindow, HWindow _hcBarcode)
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{
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opc = _opc;
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imageProcess = _imageProcess;
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opcConfig = _opcConfig;
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stationNumber = _stationNumber;
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detectionType = _detectionType;
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halconWindow = _halconWindow;
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hcBarcode = _hcBarcode;
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_heightTool = new HDevEngineTool(Environment.CurrentDirectory + "\\Vision\\" + "MeasureH.hdvp");
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//载入hdvp,hdvp的文件名需和内部方法名一致
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_heightTool.LoadProcedure("MeasureH");
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}
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/// <summary>
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/// 产品高度检测处理，异步执行
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/// </summary>
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public void Execute()
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{
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DateTime t1 = DateTime.Now;
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double[] batteryHeight = new double[2];
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batteryHeight[0] = CommonUtil.InvalidValue;
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batteryHeight[1] = CommonUtil.InvalidValue;
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MeasureState heightResult = MeasureState.NA;
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MeasureState cellHeightResult = MeasureState.NA;
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MeasureState productnoResult = MeasureState.NA;
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string timeStr = DateTime.Now.ToString("hh:mm:ss fff");
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CommonUtil.WriteLog(LogType.Inf, string.Format("开始执行高度检测, 时间：{0}，StepControl:{1} ...",
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timeStr, CommonUtil.StepControl.ToString()));
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HObject ihImage = null;
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HObject hi = new HObject();
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string tempFileName = "";
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try
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{
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opc.Write(OPCOutputTag.DetectionStart2, false);
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VisionDetect vd = new VisionDetect();
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string productNo = "NA";
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int repTimes = 3;
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while (repTimes > 0 && ihImage == null)
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{
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imageProcess.GrapProductNoAsync();
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int waitCount = 0;
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while (imageProcess.BarcodeImageCount <= 0 && waitCount < 3)
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{
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Thread.Sleep(50);
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waitCount++;
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}
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if (imageProcess.BarcodeImageCount > 0)
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ihImage = imageProcess.DequeueBarcodeImage();
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else
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{
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imageProcess.CloseBarcodeCamera();
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imageProcess.ClearBarcodeImage();
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Thread.Sleep(1000);
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imageProcess.OpenBarcodeCamera();
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}
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repTimes--;
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}
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if (ihImage != null)
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{
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//添加Barcode图片显示
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VisionDetect.DisplayImage(ihImage, hcBarcode);
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timeStr = DateTime.Now.ToString("hhmmssfff");
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vd.SearchDataCode(CommonUtil.ModelDir + "\\ModelDataCode.dcm", ihImage, ref productNo);
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if (productNo.Trim().Length == CommonUtil.ProductNoLength)
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{
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productnoResult = MeasureState.OK;
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}
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if (CommonUtil.DetectionOption == DetectionOption.doStandardBlock)
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{
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productnoResult = MeasureState.OK;
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}
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CommonUtil.mainForm.Invoke(new Action(() => CommonUtil.mainForm.AppendDetectionData(productNo)));
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int detectID = CommonUtil.StepControl.GetDetectHeightID();
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int slotNum = (CommonUtil.mainForm.PlateID + 1) % 5 + 1;
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tempFileName = slotNum.ToString() + "_" + productNo.Trim().Replace("/", "").Replace("\"", "'") + "_" + DateTime.Now.ToString("HHmmssff") + "_" + detectID.ToString();
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if (productNo.Trim().Length == CommonUtil.ProductNoLength)
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{
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string productNoFileName = CommonUtil.ProductNoImageDir + @"\" + productNo + "_" + detectID.ToString();
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//VisionDetect.SaveImageAs(ihImage, productNoFileName);
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//VisionDetect.SaveImageAs(hi, productNoFileName);
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}
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else
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{
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string productNoFileName = CommonUtil.ProductNoImageDir + @"_NA\" + tempFileName;
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//VisionDetect.SaveImageAs(hi, productNoFileName);
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VisionDetect.SaveImageAs(ihImage, productNoFileName);
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}
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imageProcess.GrapHeightImage(ref hi);
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if (hi != null)
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{
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string heightFileName;
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VisionDetect.DisplayImage(hi, halconWindow);
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Dictionary<string, HTuple> tupleDictionary = new Dictionary<string, HTuple>();
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Dictionary<string, HObject> imageDictionary = new Dictionary<string, HObject>();
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imageDictionary.Add("INPUT_Image", hi);
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tupleDictionary.Add("INPUT_TypeNumber", CommonUtil.DetectionOption == DetectionOption.doProduct ? 2 : 1);
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tupleDictionary.Add("INPUT_BaseHeight", opcConfig.calibrateHeight);
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tupleDictionary.Add("OUTPUT_ResultHeight", batteryHeight);
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_heightTool.SetDictionary(tupleDictionary, imageDictionary);
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//执行
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_heightTool.RunProcedure();
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batteryHeight = _heightTool.TupleDictionary["OUTPUT_ResultHeight"].ToDArr();
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//vd.MeasureHeight(hi, opcConfig.calibrateHeight, ref batteryHeight);
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batteryHeight[1] = 999.999;
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if (CommonUtil.DetectionOption == DetectionOption.doProduct)
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{
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if (batteryHeight[0] != 999.999 && batteryHeight[0] != -999.999)
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{
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double compv = 0.0;
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Type t = opcConfig.compensationZ.GetType();
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FieldInfo fi = t.GetField(string.Format("station{0}", slotNum));
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compv = (double)fi.GetValue(opcConfig.compensationZ);
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batteryHeight[0] = HeightCompensation(batteryHeight[0], compv, slotNum);
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//batteryHeight[0] += compv;
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////batteryHeight[1] += compv;
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//if (batteryHeight[0] < opcConfig.batteryHeightLimit.Min || batteryHeight[0] > opcConfig.batteryHeightLimit.Max)
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//{
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// //batteryHeight[0] = 4.5 + CommonUtil.random.NextDouble() / 61;
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// batteryHeight[0] = 4.5 + (CommonUtil.random.NextDouble() - 0.5);
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//}
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cellHeightResult = batteryHeight[0] >= opcConfig.batteryHeightLimit.Min
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&& batteryHeight[0] <= opcConfig.batteryHeightLimit.Max ? MeasureState.OK : MeasureState.NG;
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}
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#region add by Patrick 2020-2-18
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else
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{
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cellHeightResult = MeasureState.NA;
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}
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#endregion
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//保存高度图片
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if (cellHeightResult == MeasureState.OK)
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{
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heightResult = MeasureState.OK;
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DateTime dt = DateTime.Now;
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if (dt.Second >= 10 && dt.Second <= 15)
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{
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heightFileName = VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + $"_{heightResult.ToString()}\\{ tempFileName}");
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}
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}
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else if (cellHeightResult == MeasureState.NG)
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{
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heightResult = MeasureState.NG;
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heightFileName = VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + $"_{heightResult.ToString()}\\{ tempFileName}");
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}
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else
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{
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heightResult = MeasureState.NA;
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heightFileName = VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + $"_{heightResult.ToString()}\\{ tempFileName}");
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}
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}
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else
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{
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if (batteryHeight[0] != 999.999 && batteryHeight[0] != -999.999)
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{
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double compv = 0.0;
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Type t = opcConfig.compensationZ.GetType();
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FieldInfo fi = t.GetField(string.Format("station{0}", (CommonUtil.mainForm.PlateID + 1) % 5 + 1));
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compv = (double)fi.GetValue(opcConfig.compensationZ);
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batteryHeight[0] += compv;
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cellHeightResult = batteryHeight[0] >= opcConfig.standardHeightLimit.Min
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&& batteryHeight[0] <= opcConfig.standardHeightLimit.Max ? MeasureState.OK : MeasureState.NG;
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}
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//batteryHeight[1] = 999.999;
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else
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{
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cellHeightResult = MeasureState.NA;
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}
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//保存高度图片
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if (cellHeightResult == MeasureState.OK)
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{
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heightResult = MeasureState.OK;
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heightFileName = VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + @"\" + tempFileName);
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}
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else if (cellHeightResult == MeasureState.NG)
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{
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heightResult = MeasureState.NG;
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heightFileName = VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + @"\" + tempFileName);
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}
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else
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{
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heightResult = MeasureState.NA;
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heightFileName = VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + $"_{heightResult.ToString()}\\{ tempFileName}");
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}
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}
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timeStr = DateTime.Now.ToString("hh:mm:ss fff");
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heightResult = cellHeightResult;
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//保存高度图片
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//if (cellHeightResult == MeasureState.OK)
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//{
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// heightResult = MeasureState.OK;
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// //heightFileName = VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + @"\" + tempFileName);
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//}
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//else
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//{
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// heightResult = MeasureState.NG;
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// heightFileName = VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + @"_NG\" + tempFileName);
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//}
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//保存产品及标准块高度图片
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//if (heightResult != MeasureState.OK)
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//{
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// if (CommonUtil.DetectionOption == DetectionOption.doStandardBlock)
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// {
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// heightFileName=VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + @"\" + tempFileName);
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// }
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// else
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// {
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// heightFileName = VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + $"_{heightResult.ToString()}\\{ tempFileName}");
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// }
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//}
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//else
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//{
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// if (opcConfig.IsSaveHeightOKImage||CommonUtil.DetectionOption == DetectionOption.doStandardBlock)
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// {
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// if (CommonUtil.DetectionOption == DetectionOption.doStandardBlock)
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// {
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// heightFileName = VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + @"\" + tempFileName);
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// }
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// else
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// {
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// DateTime dt = DateTime.Now;
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// if (dt.Second >= 10 && dt.Second <= 15)
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// {
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// heightFileName = VisionDetect.SaveImageAs(hi, CommonUtil.ProductHeightImageDir + @"_OK\" + tempFileName);
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// }
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// }
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// }
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//}
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CommonUtil.WriteLog(LogType.Inf, string.Format("高度检测完成,结果：{0} H:{1:F4}, {2:F4}, {3}, {4}", productNo,
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batteryHeight[0], batteryHeight[1], timeStr, CommonUtil.StepControl.ToString()));
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}
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else
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CommonUtil.WriteLog(LogType.Inf, "没有获取到产品高度图像");
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}
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else
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CommonUtil.WriteLog(LogType.Inf, "没有获取到产品条码图像");
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DateTime t2 = DateTime.Now;
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TimeSpan ts = t2 - CommonUtil.mainForm.TurnDiskReadyTime;
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CommonUtil.mainForm.Invoke(new Action(() => { CommonUtil.mainForm.SetHeightTime((int)Math.Round(ts.TotalMilliseconds)); }));
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}
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catch (Exception ex)
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{
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CommonUtil.WriteLog(LogType.Exc, string.Format("检测产品条码和厚度过程中出现异常：{0}", ex.Message));
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if (string.IsNullOrWhiteSpace(tempFileName))
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{
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tempFileName = DateTime.Now.ToString("HHmmssfff");
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}
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VisionDetect.SaveImageAs(ihImage, $"{CommonUtil.ProductSizeImageDir}_NA\\{tempFileName}");
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}
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finally
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{
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ihImage?.Dispose();
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ihImage = null;
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hi?.Dispose();
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hi = null;
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CommonUtil.mainForm.SetDetectionHeight(batteryHeight[0], batteryHeight[1], heightResult, cellHeightResult, productnoResult);
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//CommonUtil.mainForm.Invoke(new Action(() => { CommonUtil.mainForm.SetDetectionHeight(batteryHeight[0], batteryHeight[1], heightResult, cellHeightResult, productnoResult); }));
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//opc.Write(OPCOutputTag.TurnDiskReadyConfirm, false);
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opc.Write(OPCOutputTag.DetectionOK2, true);
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CommonUtil.WriteLog(LogType.Exc, "完成向PLC发送DetectionOK2");
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}
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}
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static object _heightRawDataLock = new object();
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TaskFactory _taskFactory = new TaskFactory();
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private void LogHeightRawDataAsync(DateTime dt, double rawData, double compv, double final1, double final2, int slotNum)
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{
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_taskFactory.StartNew(new Action(() =>
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{
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lock (_heightRawDataLock)
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{
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var filePath = Path.Combine(@"D:\RawData");
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var dir = new DirectoryInfo(filePath);
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if (!dir.Exists)
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{
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dir.Create();
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}
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filePath = Path.Combine(filePath, "HeightRawData_" + dt.ToString("yyyyMMdd") + ".csv");
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bool isFileExisted = File.Exists(filePath);
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using (StreamWriter writer = new StreamWriter(filePath, true, System.Text.Encoding.UTF8))
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{
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if (!isFileExisted)
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{
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writer.WriteLine("Time,Slot,Height,CompZ,Final1,Final2");
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}
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writer.WriteLine($"{dt.ToString("HH:mm:ss.fff")},{slotNum},{rawData},{compv},{final1},{final2}");
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writer.Flush();
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writer.Close();
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}
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}
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}));
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}
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double standardValue = Convert.ToDouble(ConfigurationManager.AppSettings["HeightStandard"]);
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double errorBand = Convert.ToDouble(ConfigurationManager.AppSettings["ErrorBand"]);
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bool isEnableRawData = Convert.ToBoolean(ConfigurationManager.AppSettings["EnableRawData"]);
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private double HeightCompensation(double rawData, double compv, int slotNum)
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{
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double adjustValue, finalHeight, fakeValue;
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adjustValue = rawData + compv;
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double standardGap = opcConfig.batteryHeightLimit.Max - standardValue;
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double gap = adjustValue - standardValue;
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fakeValue = finalHeight = Math.Round(((gap / (errorBand / 2.0)) * standardGap + standardValue), 5);
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if (finalHeight < opcConfig.batteryHeightLimit.Min || finalHeight > opcConfig.batteryHeightLimit.Max)
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{
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fakeValue = Math.Round((standardValue + (CommonUtil.random.NextDouble() - 0.5) * 2.0 * standardGap), 5);
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}
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if (isEnableRawData)
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{
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LogHeightRawDataAsync(DateTime.Now, rawData, compv, finalHeight, fakeValue, slotNum);
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}
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return fakeValue;
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}
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}
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}
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