M071.git - Gitblit

			@@ -1,16 +1,23 @@
			using Bro.Common.Base;
			using Bro.Common.Helper;
			using Bro.Common.Interface;
			using Bro.Common.Model;
			using HalconDotNet;
			using Lmi3d.GoSdk;
			using Lmi3d.GoSdk.Messages;
			using Lmi3d.Zen;
			using Lmi3d.Zen.Io;
			using Newtonsoft.Json;
			using System;
			using System.Collections.Generic;
			using System.Drawing;
			using System.IO;
			using System.Linq;
			using System.Runtime.InteropServices;
			using System.Text;
			using System.Threading;
			using System.Threading.Tasks;
			using static Bro.Common.Helper.EnumHelper;

			namespace Bro.Device.Gocator
			{
			@@ -30,14 +37,23 @@

			public override void Snapshot()
			{
			GoDataSet dataSet = null;
			if (IIConfig.IsAsyncMode)
			{
			if (!IIConfig.IsHardwareTrigger)
			{
			_snapFlag = true;
			if (!_snapHandle.WaitOne(IIConfig.SnapshotTimeout))
			{
			LogAsync(DateTime.Now, $"{Name}获取图像超时", "");
			return;
			}

			dataSet = _currentData;
			}
			}
			else
			{
			GoDataSet dataSet = null;

			try
			{
			dataSet = system.ReceiveData(IIConfig.SnapshotTimeout);
			@@ -47,33 +63,23 @@
			LogAsync(DateTime.Now, $"{Name}获取图像异常", ex.GetExceptionMessage());
			return;
			}

			HandleGoData(dataSet);
			}

			HandleGoData(dataSet);
			}

			private void HandleGoData(GoDataSet dataSet)
			private void HandleGoData(GoDataSet dataSet, GoImageSet imgSet = null)
			{
			if (dataSet == null)
			{
			return;
			}

			for (UInt32 i = 0; i < dataSet.Count; i++)
			{
			GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i);
			switch (dataObj.MessageType)
			{
			//case GoDataMessageType.Stamp:
			// {
			// GoStampMsg stampMsg = (GoStampMsg)dataObj;
			// for (UInt32 j = 0; j < stampMsg.Count; j++)
			// {
			// GoStamp stamp = stampMsg.Get(j);
			// Console.WriteLine("Frame Index = {0}", stamp.FrameIndex);
			// Console.WriteLine("Time Stamp = {0}", stamp.Timestamp);
			// Console.WriteLine("Encoder Value = {0}", stamp.Encoder);
			// }
			// }
			// break;
			case GoDataMessageType.Surface:
			{
			GoSurfaceMsg surfaceMsg = (GoSurfaceMsg)dataObj;
			@@ -82,14 +88,68 @@
			long bufferSize = width * height;
			IntPtr bufferPointer = surfaceMsg.Data;

			//Console.WriteLine("Whole Part Height Map received:");
			//Console.WriteLine(" Buffer width: {0}", width);
			//Console.WriteLine(" Buffer height: {0}", height);
			float zoomFactor = (float)((double)surfaceMsg.YResolution / (double)surfaceMsg.XResolution);
			int zoomHeight = (int)(zoomFactor * height);
			IntPtr zoomPtr = Marshal.AllocHGlobal(zoomHeight * (int)width * 2);

			//short[] ranges = new short[bufferSize];
			//Marshal.Copy(bufferPointer, ranges, 0, ranges.Length);
			//没有插值，默认0
			//Parallel.For(0, height, h =>
			// {
			// CopyMemory((IntPtr)((long)zoomPtr + width * 2 * Math.Floor(h * zoomFactor)), (IntPtr)((long)bufferPointer + width * 2 * h), width * 2);
			// });

			Generate16GrayImageByPointer((int)(width / 1), (int)(height / 1), bufferPointer, "");
			//使用上一行原有数据
			Parallel.For(0, zoomHeight, h =>
			{
			int originHeightIndex = (int)Math.Floor((double)height * h / (double)zoomHeight);

			CopyMemory((IntPtr)((long)zoomPtr + width * 2 * h), (IntPtr)((long)bufferPointer + width * 2 * originHeightIndex), width * 2);
			});

			if (imgSet != null)
			{
			imgSet.HImage = new HImage();
			imgSet.HImage.GenImage1("uint2", (int)width, zoomHeight, zoomPtr);

			imgSet.HImage_2 = new HImage();
			imgSet.HImage_2.GenImage1("uint2", (int)width, zoomHeight, zoomPtr);

			LaserScanParam para = new LaserScanParam()
			{
			Resolution_X = surfaceMsg.XResolution,
			Resolution_Y = surfaceMsg.YResolution,
			Resolution_Z = surfaceMsg.ZResolution,
			Offset_X = surfaceMsg.XOffset,
			Offset_Y = surfaceMsg.YOffset,
			Offset_Z = surfaceMsg.ZOffset,
			Angle_Z = surfaceMsg.ZAngle,
			};
			imgSet.ImageData = JsonConvert.SerializeObject(para);

			//imgSet.HImage_2 = imgSet.HImage_2.ZoomImageSize((int)width, zoomHeight, "constant");
			}

			Generate16GrayImageByPointer((int)width, zoomHeight, zoomPtr, imgSet?.Id).ContinueWith(t =>
			{
			Marshal.FreeHGlobal(zoomPtr);
			});

			//int zoomHeight = (int)(((double)surfaceMsg.YResolution / (double)surfaceMsg.XResolution) * (double)surfaceMsg.Length);

			//if (imgSet != null)
			//{
			// imgSet.HImage = new HImage();
			// imgSet.HImage.GenImage1("uint2", (int)width, (int)height, bufferPointer);
			// imgSet.HImage = imgSet.HImage.ZoomImageSize((int)width, zoomHeight, "constant");


			// imgSet.HImage_2 = new HImage();
			// imgSet.HImage_2.GenImage1("uint2", (int)width, (int)height, bufferPointer);

			// imgSet.HImage_2 = imgSet.HImage_2.ZoomImageSize((int)width, zoomHeight, "constant");
			//}

			//Generate16GrayImageByPointer((int)width, (int)height, bufferPointer, imgSet?.Id);
			}
			break;
			//case GoDataMessageType.SurfaceIntensity:
			@@ -98,27 +158,93 @@
			// long width = surfaceMsg.Width;
			// long height = surfaceMsg.Length;
			// long bufferSize = width * height;
			// IntPtr bufferPointeri = surfaceMsg.Data;
			// IntPtr bufferPointer = surfaceMsg.Data;

			// //Console.WriteLine("Whole Part Intensity Image received:");
			// //Console.WriteLine(" Buffer width: {0}", width);
			// //Console.WriteLine(" Buffer height: {0}", height);
			// //byte[] ranges = new byte[bufferSize];
			// //Marshal.Copy(bufferPointeri, ranges, 0, ranges.Length);
			// //GenerateGrayImageByPointer((int)width, (int)height, bufferPointeri, "");
			// //int zoomHeight = (surfaceMsg.YResolution * (int)surfaceMsg.Length * 10) / surfaceMsg.XResolution;

			// int zoomHeight = (int)(((double)surfaceMsg.YResolution / (double)surfaceMsg.XResolution) * (double)surfaceMsg.Length);

			// if (imgSet != null)
			// {
			// imgSet.HImage = new HImage();
			// imgSet.HImage.GenImage1("uint2", (int)width, (int)height, bufferPointer);
			// imgSet.HImage = imgSet.HImage.ZoomImageSize((int)width, zoomHeight, "constant");


			// imgSet.HImage_2 = new HImage();
			// imgSet.HImage_2.GenImage1("uint2", (int)width, (int)height, bufferPointer);

			// imgSet.HImage_2 = imgSet.HImage_2.ZoomImageSize((int)width, zoomHeight, "constant");
			// }

			// Generate16GrayImageByPointer((int)width, (int)height, bufferPointer, imgSet?.Id);
			// }
			// break;
			}
			}
			}

			public override ImageSet Snapshot(IOperationConfig config)
			public override IImageSet Snapshot(IOperationConfig config)
			{
			ImageSet imgSet = base.Snapshot(config);
			if (!IIConfig.IsAsyncMode)
			{
			if (config is GocatorOperationConfig opConfig)
			{
			if (opConfig.IsOpenConnection)
			{
			system.Start();
			}
			else
			{
			system.Stop();
			}

			if (!opConfig.IsSnapshotAction)
			{
			return null;
			}
			}
			}

			GoImageSet imgSet = new GoImageSet();
			InitialImageSet(imgSet, (config as CameraOprerationConfigBase).ImageSaveOption);

			GoDataSet dataSet = null;
			if (IIConfig.IsAsyncMode)
			{
			if (!IIConfig.IsHardwareTrigger)
			{
			_snapFlag = true;
			if (!_snapHandle.WaitOne(IIConfig.SnapshotTimeout))
			{
			LogAsync(DateTime.Now, $"{Name}获取图像超时", "");
			return null;
			}

			dataSet = _currentData;
			}
			}
			else
			{
			try
			{
			dataSet = system.ReceiveData(IIConfig.SnapshotTimeout);
			}
			catch (Exception ex)
			{
			LogAsync(DateTime.Now, $"{Name}获取图像异常", ex.GetExceptionMessage());
			return null;
			}
			}

			HandleGoData(dataSet, imgSet);
			if (imgSet.HImage == null)
			{
			LogAsync(DateTime.Now, $"{Name}未能获取HImage图像", "");
			}

			return imgSet;
			}


			float _currentExposure = 0;
			string _currentJob = "";
			@@ -193,7 +319,15 @@
			_currentJob = sensor.DefaultJob;
			if (!string.IsNullOrWhiteSpace(IIConfig.DefaultJob) && _currentJob != IIConfig.DefaultJob)
			{
			_currentJob = sensor.DefaultJob = IIConfig.DefaultJob;
			//_currentJob = sensor.DefaultJob = IIConfig.DefaultJob;
			string currentJob = IIConfig.DefaultJob;
			bool isChanged = false;
			sensor.LoadedJob(ref currentJob, ref isChanged);

			if (!isChanged)
			{
			throw new ProcessException($"{Name}未成功切换至任务{IIConfig.DefaultJob}");
			}
			}

			sensor.Flush();
			@@ -240,6 +374,10 @@
			get => InitialConfig as GocatorInitialConfig;
			}

			volatile bool _snapFlag = false;
			readonly ManualResetEvent _snapHandle = new ManualResetEvent(false);

			GoDataSet _currentData = null;
			/// <summary>
			/// 异步模式获取数据
			/// </summary>
			@@ -247,6 +385,127 @@
			private void onData(KObject data)
			{
			GoDataSet dataSet = (GoDataSet)data;

			if (IIConfig.IsHardwareTrigger)
			{
			GoImageSet imgSet = new GoImageSet();
			InitialImageSet(imgSet, IConfig.ImageSaveOption);

			HandleGoData(dataSet, imgSet);

			if (imgSet.HImage != null)
			{
			OnHImageOutput?.BeginInvoke(this, imgSet.HImage, imgSet.Id, null, null);
			}
			else
			{
			LogAsync(DateTime.Now, $"{Name}获取HImage失败", "");
			}
			}
			else
			{
			if (_snapFlag)
			{
			_snapFlag = false;

			_currentData = dataSet.Clone<GoDataSet>();
			_snapHandle.Set();
			}
			}
			}

			#region 重写图片保存操作
			public override async void SaveOriginImage(Bitmap map, Bitmap showImage, string imgSetId)
			{
			Task.Run(() =>
			{
			OnImageUpdated?.Invoke(this, showImage, imgSetId);
			});

			GoImageSet set = _imageSetList.FirstOrDefault(u => u.Id == imgSetId) as GoImageSet;

			if (set == null)
			return;

			set.Image = map;

			await Task.Run(() =>
			{
			lock (set.SaveLock)
			{
			if (set.ImageSaveOption.IsSaveOriginImage && !set.IsOriginSaved)
			{
			string imgDir = CheckImageDirectory(set.ImageSaveOption.ImageSaveSubDirectory, "Origin");

			try
			{
			//SaveImageByNameAndType(map, set.Id, set.ImageSaveOption.ImageFormat, imgDir);
			string filePath = Path.Combine(imgDir, $"{set.Id}.tif");
			set.HImage_2.WriteImage("tiff", 0, filePath);
			}
			catch (Exception ex)
			{
			LogAsync(DateTime.Now, $"{set.Id}原图保存失败", ex.GetExceptionMessage());
			}
			}
			set.IsOriginSaved = true;
			ClearImageSet(set);
			}
			});
			}

			/// <summary>
			/// 保存特定类型图片，例如NG图片
			/// </summary>
			/// <param name="prefix">图片类型说明例如“NG”</param>
			/// <param name="imgSetId">图片ID</param>
			public override async void SaveSelectedImage(string prefix, string imgSetId)
			{
			await Task.Run(() =>
			{
			GoImageSet set = _imageSetList.FirstOrDefault(u => u.Id == imgSetId) as GoImageSet;
			if (set == null)
			return;

			lock (set.SaveLock)
			{
			if (set.ImageSaveOption.AddtionalSaveType.Contains(prefix) && !set.IsAddtionalSaved)
			{
			string imgDir = CheckImageDirectory(set.ImageSaveOption.ImageSaveSubDirectory, prefix);

			while (set.Image == null)
			{
			Thread.Sleep(50);
			}

			try
			{
			string filePath = Path.Combine(imgDir, $"{set.Id}.tif");
			set.HImage_2.WriteImage("tiff", 0, filePath);
			}
			catch (Exception ex)
			{
			LogAsync(DateTime.Now, $"{set.Id}{prefix}图片保存失败", ex.GetExceptionMessage());
			}
			}
			set.IsAddtionalSaved = true;
			ClearImageSet(set);
			}
			});
			}
			#endregion
			}

			public class GoImageSet : ImageSet
			{
			public HImage HImage_2 { get; set; }

			public override void Dispose()
			{
			base.Dispose();

			HImage_2?.Dispose();
			HImage_2 = null;
			}
			}
			}