From 3322022068ab818912d6f5d9e5eb31f51cc639c2 Mon Sep 17 00:00:00 2001
From: patrick.xu <patrick.xu@broconcentric.com>
Date: 星期四, 24 二月 2022 09:12:30 +0800
Subject: [PATCH] 添加配置文件的DataShift2
---
src/Bro.Device.Gocator/GocatorDriver.cs | 516 +++++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 478 insertions(+), 38 deletions(-)
diff --git a/src/Bro.Device.Gocator/GocatorDriver.cs b/src/Bro.Device.Gocator/GocatorDriver.cs
index bdfac10..ffec5c6 100644
--- a/src/Bro.Device.Gocator/GocatorDriver.cs
+++ b/src/Bro.Device.Gocator/GocatorDriver.cs
@@ -1,16 +1,24 @@
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;
using System.Threading.Tasks;
+using static Bro.Common.Helper.EnumHelper;
namespace Bro.Device.Gocator
{
@@ -30,14 +38,23 @@
public override void Snapshot()
{
+ GoDataSet dataSet = null;
if (IIConfig.IsAsyncMode)
{
+ if (!IIConfig.IsHardwareTrigger)
+ {
+ _snapFlag = true;
+ if (!_snapHandle.WaitOne(IIConfig.SnapshotTimeout))
+ {
+ LogAsync(DateTime.Now, $"{Name}鑾峰彇鍥惧儚瓒呮椂", "");
+ return;
+ }
+ dataSet = _currentData;
+ }
}
else
{
- GoDataSet dataSet = null;
-
try
{
dataSet = system.ReceiveData(IIConfig.SnapshotTimeout);
@@ -47,33 +64,25 @@
LogAsync(DateTime.Now, $"{Name}鑾峰彇鍥惧儚寮傚父", ex.GetExceptionMessage());
return;
}
-
- HandleGoData(dataSet);
}
+
+ HandleGoData(dataSet);
+
+ dataSet.Dispose();
}
- 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 +91,108 @@
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);
- //short[] ranges = new short[bufferSize];
- //Marshal.Copy(bufferPointer, ranges, 0, ranges.Length);
+ 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);
- Generate16GrayImageByPointer((int)(width / 1), (int)(height / 1), bufferPointer, "");
+ //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, 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("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");
+ }
+
+ //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:
@@ -98,27 +201,195 @@
// 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;
}
+
+ dataObj.Dispose();
}
}
- public override ImageSet Snapshot(IOperationConfig config)
+ [MethodImpl(MethodImplOptions.Synchronized)]
+ public override IImageSet Snapshot(IOperationConfig config)
{
- ImageSet imgSet = base.Snapshot(config);
+ GocatorOperationConfig opConfig = config as GocatorOperationConfig;
+ if (!IIConfig.IsAsyncMode)
+ {
+ if (opConfig.IsOpenConnection)
+ {
+ StartSensor();
+ }
+ if (!opConfig.IsSnapshotAction)
+ {
+ return null;
+ }
+ }
+
+ GoImageSet imgSet = new GoImageSet();
+ InitialImageSet(imgSet, (config as CameraOprerationConfigBase).ImageSaveOption);
+
+ GoDataSet dataSet = null;
+ if (IIConfig.IsAsyncMode)
+ {
+ if (opConfig.IsSnapshotAction)
+ {
+ if (!IIConfig.IsHardwareTrigger)
+ {
+ _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 = 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
+ {
+ 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, $"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�", "");
+ }
+
+ private void StartSensor()
+ {
+ while (sensor.State != GoState.Ready)
+ {
+ Thread.Sleep(10);
+ }
+
+ 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;
string _currentJob = "";
@@ -134,7 +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();
@@ -178,6 +454,7 @@
system.EnableData(true);
+
if (IIConfig.IsAsyncMode)
{
system.SetDataHandler(onData);
@@ -190,10 +467,17 @@
_currentExposure = (float)sensor.Setup.GetExposure(GoRole.Main);
}
- _currentJob = sensor.DefaultJob;
- if (!string.IsNullOrWhiteSpace(IIConfig.DefaultJob) && _currentJob != IIConfig.DefaultJob)
+ bool isChanged = false;
+ sensor.LoadedJob(ref _currentJob, ref isChanged);
+ LogAsync(DateTime.Now, $"{Name}褰撳墠浠诲姟{_currentJob}", "");
+
+ if (!string.IsNullOrWhiteSpace(IIConfig.DefaultJob) && IIConfig.DefaultJob != _currentJob)
{
- _currentJob = sensor.DefaultJob = IIConfig.DefaultJob;
+ 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();
@@ -203,8 +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()
@@ -212,7 +514,9 @@
base.Stop();
if (IIConfig.IsAsyncMode)
- system.Stop();
+ {
+ StopSensor();
+ }
if (IIConfig.IsUseAccelerator)
{
@@ -240,13 +544,149 @@
get => InitialConfig as GocatorInitialConfig;
}
+ volatile bool _snapFlag = false;
+ readonly AutoResetEvent _snapHandle = new AutoResetEvent(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)
{
+ LogAsync(DateTime.Now, $"鎵弿鍥惧儚杈撳嚭", "");
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>();
+
+ _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);
+ });
+
+ GoImageSet set = _imageSetList[imgSetId] as GoImageSet;
+
+ if (set == null)
+ return;
+
+ 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);
+ set.HImage_2.Dispose();
+ set.HImage_2 = null;
+ }
+ 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);
+
+ 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; }
+
+ public override void Dispose()
+ {
+ //HImage_2?.Dispose();
+ //HImage_2 = null;
+
+ base.Dispose();
}
}
}
--
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