From fccc60d8897642ef5c39176b8c872b63fe819ae2 Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期五, 20 十一月 2020 10:44:57 +0800
Subject: [PATCH] gocator添加int4类型数据，暂时注释
---
src/Bro.Device.Gocator/GocatorDriver.cs | 512 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 506 insertions(+), 6 deletions(-)
diff --git a/src/Bro.Device.Gocator/GocatorDriver.cs b/src/Bro.Device.Gocator/GocatorDriver.cs
index 0290bd1..0d22a6f 100644
--- a/src/Bro.Device.Gocator/GocatorDriver.cs
+++ b/src/Bro.Device.Gocator/GocatorDriver.cs
@@ -1,45 +1,545 @@
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.InteropServices;
using System.Text;
+using System.Threading;
using System.Threading.Tasks;
+using static Bro.Common.Helper.EnumHelper;
namespace Bro.Device.Gocator
{
[Device("Gocator", "Gocator婵�鍏夋壂鎻忎华", EnumHelper.DeviceAttributeType.Device)]
public class GocatorDriver : CameraBase
{
+ #region CameraBase
public override IOperationConfig GetOperationConfigFromDevice()
{
- throw new NotImplementedException();
+ var opConfig = new GocatorOperationConfig();
+ GoSetup setup = sensor.Setup;
+ opConfig.Exposure = (float)setup.GetExposure(GoRole.Main);
+ opConfig.JobName = sensor.DefaultJob;
+
+ return opConfig;
}
public override void Snapshot()
{
- throw new NotImplementedException();
+ GoDataSet dataSet = null;
+ if (IIConfig.IsAsyncMode)
+ {
+ if (!IIConfig.IsHardwareTrigger)
+ {
+ _snapFlag = true;
+ if (!_snapHandle.WaitOne(IIConfig.SnapshotTimeout))
+ {
+ LogAsync(DateTime.Now, $"{Name}鑾峰彇鍥惧儚瓒呮椂", "");
+ return;
+ }
+
+ dataSet = _currentData;
+ }
+ }
+ else
+ {
+ try
+ {
+ dataSet = system.ReceiveData(IIConfig.SnapshotTimeout);
+ }
+ catch (Exception ex)
+ {
+ LogAsync(DateTime.Now, $"{Name}鑾峰彇鍥惧儚寮傚父", ex.GetExceptionMessage());
+ return;
+ }
+ }
+
+ HandleGoData(dataSet);
+
+ dataSet.Dispose();
}
+ 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.Surface:
+ {
+ GoSurfaceMsg surfaceMsg = (GoSurfaceMsg)dataObj;
+ long width = surfaceMsg.Width;
+ long height = surfaceMsg.Length;
+ 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);
+
+ //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);
+ // });
+
+ //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);
+ });
+
+ ////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, zoomHeight, zoomPtr);
+
+ //imgSet.HImage.GenImage1("int4", (int)width, zoomHeight, zoomPtr);
+
+ imgSet.HImage_2 = new HImage();
+ imgSet.HImage_2.GenImage1("uint2", (int)width, zoomHeight, zoomPtr);
+
+ //imgSet.HImage_2.GenImage1("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, 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();
+ }
+ }
+
+ public override IImageSet Snapshot(IOperationConfig 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}鑾峰彇鍥惧儚瓒呮椂", "");
+ return null;
+ }
+
+ dataSet = _currentData;
+ }
+ }
+ else
+ {
+ try
+ {
+ dataSet = system.ReceiveData(IIConfig.SnapshotTimeout);
+ }
+ catch (Exception ex)
+ {
+ LogAsync(DateTime.Now, $"{Name}鑾峰彇鍥惧儚寮傚父", ex.GetExceptionMessage());
+ return null;
+ }
+ }
+
+ HandleGoData(dataSet, imgSet);
+
+ dataSet.Dispose();
+
+ if (imgSet.HImage == null)
+ {
+ LogAsync(DateTime.Now, $"{Name}鏈兘鑾峰彇HImage鍥惧儚", "");
+ }
+
+ return imgSet;
+ }
+
+ float _currentExposure = 0;
+ string _currentJob = "";
public override void UploadOperationConfig(IOperationConfig config)
{
- throw new NotImplementedException();
+ if (config is GocatorOperationConfig opConfig)
+ {
+ if (opConfig.Exposure > 0 && opConfig.Exposure != _currentExposure)
+ {
+ sensor.Setup.SetExposure(GoRole.Main, opConfig.Exposure);
+ _currentExposure = opConfig.Exposure;
+ }
+
+ if (!string.IsNullOrWhiteSpace(opConfig.JobName) && _currentJob != opConfig.JobName)
+ {
+ _currentJob = sensor.DefaultJob = opConfig.JobName;
+ }
+
+ sensor.Flush();
+ }
}
protected override void Init()
{
- throw new NotImplementedException();
+ KApiLib.Construct();
+ GoSdkLib.Construct();
+
+ system = new GoSystem();
+
+ if (IIConfig.IsUseAccelerator)
+ {
+ accelerator = new GoAccelerator();
+ }
+
+ KIpAddress ip = KIpAddress.Parse(IConfig.CameraIP);
+
+ if (IIConfig.IsUseAccelerator)
+ {
+ accelerator.Start();
+ }
+
+ sensor = system.FindSensorByIpAddress(ip);
+
+ if (IIConfig.IsUseAccelerator)
+ {
+ accelerator.Attach(sensor);
+ }
+ sensor.Connect();
+
+ if (IIConfig.IsUseAccelerator)
+ {
+ sensor.Flush();
+ accelerator.Start();
+ }
+
+ sensor.Setup.ScanMode = GoMode.Surface;
+
+ system.EnableData(true);
+
+ if (IIConfig.IsAsyncMode)
+ {
+ system.SetDataHandler(onData);
+ }
+
+ _currentExposure = (float)sensor.Setup.GetExposure(GoRole.Main);
+ if (IIConfig.DefaultExposure > 0 && _currentExposure != IIConfig.DefaultExposure)
+ {
+ sensor.Setup.SetExposure(GoRole.Main, IIConfig.DefaultExposure);
+ _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);
+
+ if (!isChanged)
+ {
+ throw new ProcessException($"{Name}鏈垚鍔熷垏鎹㈣嚦浠诲姟{IIConfig.DefaultJob}");
+ }
+ }
+
+ sensor.Flush();
+ }
+
+ protected override void Start()
+ {
+ base.Start();
+
+ if (IIConfig.IsAsyncMode)
+ system.Start();
+ }
+
+ protected override void Stop()
+ {
+ base.Stop();
+
+ if (IIConfig.IsAsyncMode)
+ system.Stop();
+
+ if (IIConfig.IsUseAccelerator)
+ {
+ accelerator.Stop();
+ }
+
+ sensor.Disconnect();
}
protected override void Pause()
{
- throw new NotImplementedException();
}
protected override void Resume()
{
- throw new NotImplementedException();
}
+ #endregion
+
+ GoSystem system = null;
+ GoAccelerator accelerator = null;
+ GoSensor sensor = null;
+
+ public GocatorInitialConfig IIConfig
+ {
+ get => InitialConfig as GocatorInitialConfig;
+ }
+
+ volatile bool _snapFlag = false;
+ readonly ManualResetEvent _snapHandle = new ManualResetEvent(false);
+
+ GoDataSet _currentData = null;
+ /// <summary>
+ /// 寮傛妯″紡鑾峰彇鏁版嵁
+ /// </summary>
+ /// <param name="data"></param>
+ 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}鑾峰彇HImage澶辫触", "");
+ }
+ }
+ else
+ {
+ if (_snapFlag)
+ {
+ _snapFlag = false;
+
+ _currentData = dataSet.Clone<GoDataSet>();
+ _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);
+ });
+
+ GoImageSet set = _imageSetList[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}鍘熷浘淇濆瓨澶辫触", ex.GetExceptionMessage());
+ }
+ }
+ set.IsOriginSaved = true;
+ ClearImageSet(set);
+ }
+ });
+ }
+
+ /// <summary>
+ /// 淇濆瓨鐗瑰畾绫诲瀷鍥剧墖锛屼緥濡侼G鍥剧墖
+ /// </summary>
+ /// <param name="prefix">鍥剧墖绫诲瀷璇存槑 渚嬪鈥淣G鈥�</param>
+ /// <param name="imgSetId">鍥剧墖ID</param>
+ public override async void SaveSelectedImage(string prefix, string imgSetId)
+ {
+ await Task.Run(() =>
+ {
+ GoImageSet set = _imageSetList[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}鍥剧墖淇濆瓨澶辫触", ex.GetExceptionMessage());
+ }
+ }
+ set.IsAddtionalSaved = true;
+ ClearImageSet(set);
+ }
+ });
+ }
+
+ 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
+ }
+
+ public class GoImageSet : ImageSet
+ {
+ public HImage HImage_2 { get; set; }
}
}
--
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