From a383b2288dcfb90e9aa1dcf796e41d9c6be1e429 Mon Sep 17 00:00:00 2001
From: patrick.xu <patrick.xu@broconcentric.com>
Date: 星期一, 02 八月 2021 17:26:56 +0800
Subject: [PATCH] 1. 部分修改
---
src/Bro.Device.Gocator/GocatorDriver.cs | 387 ++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 325 insertions(+), 62 deletions(-)
diff --git a/src/Bro.Device.Gocator/GocatorDriver.cs b/src/Bro.Device.Gocator/GocatorDriver.cs
index 39fb4a2..ffec5c6 100644
--- a/src/Bro.Device.Gocator/GocatorDriver.cs
+++ b/src/Bro.Device.Gocator/GocatorDriver.cs
@@ -1,16 +1,19 @@
锘縰sing 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.CompilerServices;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
@@ -64,6 +67,8 @@
}
HandleGoData(dataSet);
+
+ dataSet.Dispose();
}
private void HandleGoData(GoDataSet dataSet, GoImageSet imgSet = null)
@@ -86,41 +91,158 @@
long bufferSize = width * height;
IntPtr bufferPointer = surfaceMsg.Data;
+ float zoomFactor = (float)((double)surfaceMsg.YResolution / (double)surfaceMsg.XResolution);
+ int zoomHeight = (int)(zoomFactor * height);
+
+ IntPtr zoomPtr = Marshal.AllocHGlobal(zoomHeight * (int)width * 2);
+ //IntPtr zoomPtr = Marshal.AllocHGlobal(zoomHeight * (int)width * 4);
+ //IntPtr zoomPtr = Marshal.AllocHGlobal(zoomHeight * (int)width * (int)IIConfig.ByteNums);
+
+ //娌℃湁鎻掑�硷紝榛樿0
+ //Parallel.For(0, height, h =>
+ // {
+ // CopyMemory((IntPtr)((long)zoomPtr + width * 2 * Math.Floor(h * zoomFactor)), (IntPtr)((long)bufferPointer + width * 2 * h), width * 2);
+ // });
+
+ //if (IIConfig.ByteNums == GocatorDataByteNums.Byte2)
+ //{
+ //浣跨敤涓婁竴琛屽師鏈夋暟鎹�
+ 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);
+ });
+ //}
+ //else
+ //{
+ // //浣跨敤涓婁竴琛屽師鏈夋暟鎹�
+ // Parallel.For(0, zoomHeight, h =>
+ // {
+ // int originHeightIndex = (int)Math.Floor((double)height * h / (double)zoomHeight);
+
+ // byte[] rowBuffer = new byte[width * 4];
+ // Parallel.For(0, width, w =>
+ // {
+ // rowBuffer[w * 4 + 2] = Marshal.ReadByte(bufferPointer, (int)(width * 2 * originHeightIndex + w * 2));
+ // rowBuffer[w * 4 + 3] = Marshal.ReadByte(bufferPointer, (int)(width * 2 * originHeightIndex + w * 2 + 1));
+ // });
+
+ // Marshal.Copy(rowBuffer, 0, (IntPtr)((long)zoomPtr + width * 2 * h), rowBuffer.Length);
+ // });
+ //}
+
if (imgSet != null)
{
imgSet.HImage = new HImage();
- imgSet.HImage.GenImage1("uint2", (int)width, (int)height, bufferPointer);
+ //imgSet.HImage.GenImage1("uint2", (int)width, zoomHeight, zoomPtr);
+ //imgSet.HImage.GenImage1("int4", (int)width, zoomHeight, zoomPtr);
+ //imgSet.HImage.GenImage1(IIConfig.ByteNums == GocatorDataByteNums.Byte2 ? "uint2" : "int4", (int)width, zoomHeight, zoomPtr);
+ imgSet.HImage.GenImage1("int2", (int)width, zoomHeight, zoomPtr);
+
+ //imgSet.HImage = imgSet.HImage.ConvertImageType("int4");
+ //imgSet.HImage = imgSet.HImage.ScaleImage(1.0, short.MaxValue + 1.0);
+ //imgSet.HImage = imgSet.HImage.ConvertImageType("uint2");
imgSet.HImage_2 = new HImage();
- imgSet.HImage_2.GenImage1("uint2", (int)width, (int)height, bufferPointer);
+ imgSet.HImage_2.GenImage1("int2", (int)width, zoomHeight, zoomPtr);
+ //imgSet.HImage_2.GenImage1("uint2", (int)width, zoomHeight, zoomPtr);
+ //imgSet.HImage_2.GenImage1("int4", (int)width, zoomHeight, zoomPtr);
+
+ //imgSet.HImage_2 = new HImage();
+ //imgSet.HImage_2.GenImage1(IIConfig.ByteNums == GocatorDataByteNums.Byte2 ? "uint2" : "int4", (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, (int)height, bufferPointer, imgSet?.Id);
+ //var showImage = imgSet.HImage_2.ConvertSignedHImageTo16GrayBitmap();
+ //showImage.Save($@"D:\SI\{DateTime.Now.ToString("yyyyMMddHHmmss")}.tif", System.Drawing.Imaging.ImageFormat.Tiff);
+
+ //SaveOriginImage(null, showImage, imgSet.Id);
+
+ //Marshal.FreeHGlobal(zoomPtr);
+ 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:
+ // {
+ // GoSurfaceIntensityMsg surfaceMsg = (GoSurfaceIntensityMsg)dataObj;
+ // long width = surfaceMsg.Width;
+ // long height = surfaceMsg.Length;
+ // long bufferSize = width * height;
+ // IntPtr bufferPointer = surfaceMsg.Data;
+
+ // //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;
}
+
+ dataObj.Dispose();
}
}
+ [MethodImpl(MethodImplOptions.Synchronized)]
public override IImageSet Snapshot(IOperationConfig config)
{
+ GocatorOperationConfig opConfig = config as GocatorOperationConfig;
if (!IIConfig.IsAsyncMode)
{
- if (config is GocatorOperationConfig opConfig)
+ if (opConfig.IsOpenConnection)
{
- if (opConfig.IsOpenConnection)
- {
- system.Start();
- }
- else
- {
- system.Stop();
- }
+ StartSensor();
+ }
- if (!opConfig.IsSnapshotAction)
- {
- return null;
- }
+ if (!opConfig.IsSnapshotAction)
+ {
+ return null;
}
}
@@ -130,38 +252,143 @@
GoDataSet dataSet = null;
if (IIConfig.IsAsyncMode)
{
- if (!IIConfig.IsHardwareTrigger)
+ if (opConfig.IsSnapshotAction)
{
- _snapFlag = true;
- if (!_snapHandle.WaitOne(IIConfig.SnapshotTimeout))
+ if (!IIConfig.IsHardwareTrigger)
{
- LogAsync(DateTime.Now, $"{Name}鑾峰彇鍥惧儚瓒呮椂", "");
- return null;
- }
+ _snapFlag = true;
+ if (!_snapHandle.WaitOne(IIConfig.SnapshotTimeout))
+ {
+ LogAsync(DateTime.Now, $"{Name}鑾峰彇鍥惧儚瓒呮椂", "");
+ return imgSet;
+ }
- dataSet = _currentData;
+ dataSet = _currentData;
+
+ //dataSet = system.ReceiveData(IIConfig.SnapshotTimeout);
+ }
+ }
+ else
+ {
+ imgSet = null;
}
}
else
{
+ if (!opConfig.IsSnapshotAction)
+ {
+ return null;
+ }
+
+ int reTryTime = 3;
+ do
+ {
+ try
+ {
+ dataSet = system.ReceiveData(IIConfig.SnapshotTimeout);
+ reTryTime = 0;
+ }
+ catch (Exception ex)
+ {
+ reTryTime--;
+ LogAsync(DateTime.Now, $"{Name}鑾峰彇鍥惧儚寮傚父", ex.GetExceptionMessage());
+
+ if (reTryTime <= 0)
+ {
+ imgSet.HImage = null;
+ dataSet = null;
+ system.ClearData();
+ }
+ }
+ } while (reTryTime > 0);
+ }
+
+ if (!IIConfig.IsAsyncMode)
+ {
+ if (!opConfig.IsOpenConnection)
+ {
+ StopSensor();
+ }
+ }
+
+ if (dataSet != null)
+ {
+ HandleGoData(dataSet, imgSet);
+
+ dataSet.Dispose();
+
+ if (imgSet.HImage == null)
+ {
+ LogAsync(DateTime.Now, $"{Name}鏈兘鑾峰彇HImage鍥惧儚", "");
+ }
+ }
+
+ sensor.Flush();
+ return imgSet;
+ }
+
+ private void StopSensor()
+ {
+ while (sensor.State == GoState.Busy)
+ {
+ Thread.Sleep(100);
+ }
+
+ do
+ {
try
{
- dataSet = system.ReceiveData(IIConfig.SnapshotTimeout);
+ sensor.Stop();
+
+ LogAsync(DateTime.Now, $"浼犳劅鍣ㄧ姸鎬侊細{sensor.State.ToString()}", "");
+ if (sensor.State != GoState.Ready)
+ {
+ Thread.Sleep(100);
+ }
+ else
+ {
+ break;
+ }
}
catch (Exception ex)
{
- LogAsync(DateTime.Now, $"{Name}鑾峰彇鍥惧儚寮傚父", ex.GetExceptionMessage());
- return null;
+ LogAsync(DateTime.Now, $"鍏抽棴寮傚父锛歿ex.GetExceptionMessage()}", "");
+ Thread.Sleep(100);
}
- }
+ } while (true);
+ LogAsync(DateTime.Now, $"浼犳劅鍣ㄥ叧闂垚鍔�", "");
+ }
- HandleGoData(dataSet, imgSet);
- if (imgSet.HImage == null)
+ private void StartSensor()
+ {
+ while (sensor.State != GoState.Ready)
{
- LogAsync(DateTime.Now, $"{Name}鏈兘鑾峰彇HImage鍥惧儚", "");
+ Thread.Sleep(10);
}
- return imgSet;
+ do
+ {
+ try
+ {
+ sensor.Start();
+ LogAsync(DateTime.Now, $"浼犳劅鍣ㄧ姸鎬侊細{sensor.State.ToString()}", "");
+ if (sensor.State != GoState.Running)
+ {
+ Thread.Sleep(100);
+ }
+ else
+ {
+ break;
+ }
+ }
+ catch (Exception ex)
+ {
+ LogAsync(DateTime.Now, $"寮�鍚紓甯革細{ex.GetExceptionMessage()}", "");
+ Thread.Sleep(100);
+ }
+ } while (true);
+
+ LogAsync(DateTime.Now, $"浼犳劅鍣ㄥ惎鍔ㄦ垚鍔�", "");
}
float _currentExposure = 0;
@@ -178,7 +405,12 @@
if (!string.IsNullOrWhiteSpace(opConfig.JobName) && _currentJob != opConfig.JobName)
{
- _currentJob = sensor.DefaultJob = opConfig.JobName;
+ LogAsync(DateTime.Now, $"{Name}鍒囨崲褰撳墠浠诲姟涓簕opConfig.JobName}", "");
+ sensor.CopyFile(_currentJob, "_live.job");
+
+ bool isChanged = false;
+ sensor.LoadedJob(ref _currentJob, ref isChanged);
+ LogAsync(DateTime.Now, $"{Name}褰撳墠浠诲姟{_currentJob}", "");
}
sensor.Flush();
@@ -222,6 +454,7 @@
system.EnableData(true);
+
if (IIConfig.IsAsyncMode)
{
system.SetDataHandler(onData);
@@ -234,18 +467,17 @@
_currentExposure = (float)sensor.Setup.GetExposure(GoRole.Main);
}
- _currentJob = sensor.DefaultJob;
- if (!string.IsNullOrWhiteSpace(IIConfig.DefaultJob) && _currentJob != IIConfig.DefaultJob)
- {
- //_currentJob = sensor.DefaultJob = IIConfig.DefaultJob;
- string currentJob = IIConfig.DefaultJob;
- bool isChanged = false;
- sensor.LoadedJob(ref currentJob, ref isChanged);
+ bool isChanged = false;
+ sensor.LoadedJob(ref _currentJob, ref isChanged);
+ LogAsync(DateTime.Now, $"{Name}褰撳墠浠诲姟{_currentJob}", "");
- if (!isChanged)
- {
- throw new ProcessException($"{Name}鏈垚鍔熷垏鎹㈣嚦浠诲姟{IIConfig.DefaultJob}");
- }
+ if (!string.IsNullOrWhiteSpace(IIConfig.DefaultJob) && IIConfig.DefaultJob != _currentJob)
+ {
+ sensor.CopyFile(IIConfig.DefaultJob, "_live.job");
+ //_currentJob = IIConfig.DefaultJob;
+
+ sensor.LoadedJob(ref _currentJob, ref isChanged);
+ LogAsync(DateTime.Now, $"{Name}褰撳墠浠诲姟{_currentJob}", "");
}
sensor.Flush();
@@ -255,8 +487,26 @@
{
base.Start();
+ //if (sensor.State != GoState.Ready)
+ //{
+ // system.Start();
+ //}
+
if (IIConfig.IsAsyncMode)
- system.Start();
+ {
+ //sensor.Start();
+
+ StartSensor();
+ }
+ //else
+ //{
+ // //if (sensor.State == GoState.Ready)
+ // //{
+ // // sensor.Stop();
+ // //}
+
+ // StopSensor();
+ //}
}
protected override void Stop()
@@ -264,7 +514,9 @@
base.Stop();
if (IIConfig.IsAsyncMode)
- system.Stop();
+ {
+ StopSensor();
+ }
if (IIConfig.IsUseAccelerator)
{
@@ -293,7 +545,7 @@
}
volatile bool _snapFlag = false;
- readonly ManualResetEvent _snapHandle = new ManualResetEvent(false);
+ readonly AutoResetEvent _snapHandle = new AutoResetEvent(false);
GoDataSet _currentData = null;
/// <summary>
@@ -302,6 +554,7 @@
/// <param name="data"></param>
private void onData(KObject data)
{
+ LogAsync(DateTime.Now, $"鎵弿鍥惧儚杈撳嚭", "");
GoDataSet dataSet = (GoDataSet)data;
if (IIConfig.IsHardwareTrigger)
@@ -322,30 +575,32 @@
}
else
{
- if (_snapFlag)
+ //if (_snapFlag)
{
_snapFlag = false;
_currentData = dataSet.Clone<GoDataSet>();
+
+ _currentData = dataSet;
_snapHandle.Set();
}
}
+
+ dataSet.Dispose();
}
#region 閲嶅啓鍥剧墖淇濆瓨鎿嶄綔
public override async void SaveOriginImage(Bitmap map, Bitmap showImage, string imgSetId)
{
Task.Run(() =>
- {
- OnImageUpdated?.Invoke(this, showImage, imgSetId);
- });
+ {
+ OnImageUpdated?.Invoke(this, showImage, imgSetId);
+ });
- GoImageSet set = _imageSetList.FirstOrDefault(u => u.Id == imgSetId) as GoImageSet;
+ GoImageSet set = _imageSetList[imgSetId] as GoImageSet;
if (set == null)
return;
-
- set.Image = map;
await Task.Run(() =>
{
@@ -360,6 +615,8 @@
//SaveImageByNameAndType(map, set.Id, set.ImageSaveOption.ImageFormat, imgDir);
string filePath = Path.Combine(imgDir, $"{set.Id}.tif");
set.HImage_2.WriteImage("tiff", 0, filePath);
+ set.HImage_2.Dispose();
+ set.HImage_2 = null;
}
catch (Exception ex)
{
@@ -381,7 +638,7 @@
{
await Task.Run(() =>
{
- GoImageSet set = _imageSetList.FirstOrDefault(u => u.Id == imgSetId) as GoImageSet;
+ GoImageSet set = _imageSetList[imgSetId] as GoImageSet;
if (set == null)
return;
@@ -390,11 +647,6 @@
if (set.ImageSaveOption.AddtionalSaveType.Contains(prefix) && !set.IsAddtionalSaved)
{
string imgDir = CheckImageDirectory(set.ImageSaveOption.ImageSaveSubDirectory, prefix);
-
- while (set.Image == null)
- {
- Thread.Sleep(50);
- }
try
{
@@ -411,6 +663,17 @@
}
});
}
+
+ //public override void ClearImageSet(IImageSet set)
+ //{
+ // if (set.IsOriginSaved && set.IsFitSaved && set.IsAddtionalSaved)
+ // {
+ // (set as GoImageSet).HImage_2?.Dispose();
+ // (set as GoImageSet).HImage_2 = null;
+ // }
+
+ // base.ClearImageSet(set);
+ //}
#endregion
}
@@ -420,10 +683,10 @@
public override void Dispose()
{
- base.Dispose();
+ //HImage_2?.Dispose();
+ //HImage_2 = null;
- HImage_2?.Dispose();
- HImage_2 = null;
+ base.Dispose();
}
}
}
--
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