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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namespace A032.Process.Calibration
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{
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[Device("Calibration_9P_Dynamic", "动态9点标定", EnumHelper.DeviceAttributeType.OperationConfigCtrl)]
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public partial class CtrlCalib9PDynamic : UserControl, IConfigCtrl<CameraBase, CalibrationConfigCollection>
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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 CtrlCalib9PDynamic()
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{
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InitializeComponent();
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}
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public CtrlCalib9PDynamic(ProcessControl process, IDevice device, IOperationConfig config, Action<List<CalibrationConfig>> finalCalculation)
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{
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InitializeComponent();
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ProcessControl = process;
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Camera = device as CameraBase;
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Config = config as CalibrationConfigCollection;
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FinalCalculation = finalCalculation;
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}
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public CalibrationConfigCollection Config { get; set; }
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public CameraBase Camera { get; set; }
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public ProcessControl ProcessControl { get; set; }
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public Action<List<CalibrationConfig>> FinalCalculation { get; set; }
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public CalibrationConfigCollection GetConfig()
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{
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return null;
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}
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public void LoadConfig(CalibrationConfigCollection config)
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{
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lvConfigs.Items.Clear();
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for (int i = 0; i < Config.Configs.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.Configs[i].GetDisplayText());
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lvConfigs.Items.Add(item);
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Config.Configs[i].PropertyChanged -= CtrlCalib9PDynamic_PropertyChanged;
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Config.Configs[i].PropertyChanged += CtrlCalib9PDynamic_PropertyChanged;
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}
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if (lvConfigs.Items.Count > 0)
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{
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lvConfigs.Items[0].Selected = true;
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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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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.Configs.Count; i++)
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{
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if (Config.Configs[i].Image != null)
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{
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lvConfigs.Items[i].BackColor = Color.GreenYellow;
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}
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else
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{
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lvConfigs.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.UpdateShowImage -= Camera_UpdateShowImage;
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Camera.UpdateShowImage += Camera_UpdateShowImage;
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}
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LoadConfig(Config);
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PubSubCenter.Subscribe(PubTag.CalibStepDone.ToString(), CalibStepDone);
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PubSubCenter.Subscribe(PubTag.CalibAllDone.ToString(), CalibAllDone);
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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.UpdateShowImage -= 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, string imagePath)
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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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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.Configs[index].Image);
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_canvas.Elements.Clear();
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CrossHair ch = new CrossHair(new CalibrationPoint(Config.Configs[index].ImageMarkPoint, Config.Configs[index].CurrentPlatPoint));
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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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int _selectedStepIndex = -1;
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private void lvConfigs_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (lvConfigs.SelectedItems.Count <= 0)
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return;
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_selectedStepIndex = lvConfigs.SelectedIndices[0];
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var stepConfig = Config.Configs[_selectedStepIndex];
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propGridConfig.SelectedObject = stepConfig;
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tsslStepHint.Text = $"{(_selectedStepIndex + 1).ToString()}/{Config.Configs.Count}";
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if (stepConfig.Image != null)
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{
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_canvas.LoadImage(stepConfig.Image);
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_canvas.Elements.Clear();
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_canvas.Elements.Add(new CrossHair(new CalibrationPoint(stepConfig.ImageMarkPoint, stepConfig.CurrentPlatPoint)));
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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.Configs.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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}
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private void btnCalcuMatrix_Click(object sender, EventArgs e)
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{
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FinalCalculation.Invoke(Config.Configs);
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}
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private void btnSnap_Click(object sender, EventArgs e)
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{
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CalibrationConfig config = propGridConfig.SelectedObject as CalibrationConfig;
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Camera.UploadOperationConfig(config.CameraOpConfig);
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Camera.Snapshot(config.CameraOpConfig, out HObject hImage);
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hImage.Dispose();
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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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}
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}
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