RealSys.MotionPlat/Rs.MotionPlat/FormMain.cs

using ChoiceTech.Halcon.Control;
using HalconDotNet;
using Rs.Camera;
using Rs.Controls;
using Rs.DataAccess;
using Rs.Framework;
using Rs.Motion.Base;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Flow;
using Rs.MotionPlat.Flow.Space;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Rs.MotionPlat
{
    public partial class FormMain : BaseForm
    {
        IAxis axis = null;
        HWindow winHandle = null;
        HObject hImage = null;
        HObject hmodelImage = null;
        HTuple h1;
        HTuple modelID;
        HObject final_Region = new HObject();
        BindingList<MessageItem> runInfoList = new BindingList<MessageItem>();
        BindingList<MessageItem> errorInfoList = new BindingList<MessageItem>();
        public FormMain()
        {
            InitializeComponent();
            //CameraTriggerTest.Instance.OnMatchResult += Instance_OnMatchResult;
            //this.tabControlEx1.TabPages.RemoveAt(1);
            //HikCamera.Instance.AutoGrabOkEvent += Instance_GrabOkEvent;
            
        }

        private void Instance_OnMatchResult(List<MatchResult> obj)
        {
            int i = 1;
            foreach (MatchResult matchResult in obj)
            {
                HWindow_Final hwin = null;
                if (i == 9) return;
                switch (i)
                {
                    case 1: hwin = himgNozzle1; break;
                    case 2: hwin = himgNozzle2; break;
                    case 3: hwin = himgNozzle3; break;
                    case 4: hwin = himgNozzle4; break;
                    case 5: hwin = himgNozzle5; break;
                    case 6: hwin = himgNozzle6; break;
                    case 7: hwin = himgNozzle7; break;
                    case 8: hwin = himgNozzle8; break;
                    default:
                        break;
                }
                if (hwin != null)
                {
                    hwin.HobjectToHimage(matchResult.Himage);
                    if(matchResult.IsOK)
                    {
                        hwin.DispObj(matchResult.ContourXld, "green");
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, matchResult.SN,20,20,"green");
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"x:{matchResult.OffsetRow}", 200, 20, "green");
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"y:{matchResult.OffsetCol}", 400, 20, "green");
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"r:{matchResult.OffsetA}", 600, 20, "green");
                    }
                    else
                    {
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "NG", 20, 20, "red");
                    }
                    i++;
                }
            }
        }

        static int num = 0;
        private void Instance_CameraOkEvent1(HObject[] obj,List<MatchResult> mrs)
        {
            if (obj[0]!=null)
            {
                hwin_vac1.HobjectToHimage(obj[0]);
                if (mrs!=null && mrs[0] != null)
                {
                    MessageQueue.Instance.Insert($"cam1 R:{mrs[0].Row.ToString("0.000")},C:{mrs[0].Col.ToString("0.000")},A:{mrs[0].Angle.ToString("0.000")},S:{mrs[0].Score.ToString("0.000")}");
                    hwin_vac1.DispObj(mrs[0].ContourXld, "green");
                }
                    
            }

            if (obj[1]!=null)
            {
                hwin_vac2.HobjectToHimage(obj[1]);
                if (mrs != null && mrs[1]!=null)
                {
                    MessageQueue.Instance.Insert($"cam2 R:{mrs[1].Row.ToString("0.000")},C:{mrs[1].Col.ToString("0.000")},A:{mrs[1].Angle.ToString("0.000")},S:{mrs[1].Score.ToString("0.000")}");
                    hwin_vac2.DispObj(mrs[1].ContourXld, "green");
                }
                
            }

            //if (obj[2] != null)
            //{
            //    hwin_vac3.HobjectToHimage(obj[2]);
            //    if (mrs != null && mrs[2] != null)
            //    {
            //        MessageQueue.Instance.Insert($"cam3 R:{mrs[2].Row.ToString("0.000")},C:{mrs[2].Col.ToString("0.000")},A:{mrs[2].Angle.ToString("0.000")},S:{mrs[2].Score.ToString("0.000")}");
            //        hwin_vac3.DispObj(mrs[2].ContourXld, "green");
            //    }

            //}

            //if (obj[3] != null)
            //{
            //    hwin_vac4.HobjectToHimage(obj[3]);
            //    if (mrs != null && mrs[3] != null)
            //    {
            //        MessageQueue.Instance.Insert($"cam4 R:{mrs[3].Row.ToString("0.000")},C:{mrs[3].Col.ToString("0.000")},A:{mrs[3].Angle.ToString("0.000")},S:{mrs[3].Score.ToString("0.000")}");
            //        hwin_vac4.DispObj(mrs[3].ContourXld, "green");
            //    }

            //}

            //if (obj[4] != null)
            //{
            //    hwin_vac5.HobjectToHimage(obj[4]);
            //    if (mrs != null && mrs[4] != null)
            //    {
            //        MessageQueue.Instance.Insert($"cam5 R:{mrs[4].Row.ToString("0.000")},C:{mrs[4].Col.ToString("0.000")},A:{mrs[4].Angle.ToString("0.000")},S:{mrs[4].Score.ToString("0.000")}");
            //        hwin_vac5.DispObj(mrs[1].ContourXld, "green");
            //    }

            //}

            //if (obj[5] != null)
            //{
            //    hwin_vac6.HobjectToHimage(obj[5]);
            //    if (mrs != null && mrs[5] != null)
            //    {
            //        MessageQueue.Instance.Insert($"cam6 R:{mrs[5].Row.ToString("0.000")},C:{mrs[5].Col.ToString("0.000")},A:{mrs[5].Angle.ToString("0.000")},S:{mrs[5].Score.ToString("0.000")}");
            //        hwin_vac6.DispObj(mrs[5].ContourXld, "green");
            //    }

            //}

            //if (obj[6] != null)
            //{
            //    hwin_vac7.HobjectToHimage(obj[6]);
            //    if (mrs != null && mrs[6] != null)
            //    {
            //        MessageQueue.Instance.Insert($"cam7 R:{mrs[6].Row.ToString("0.000")},C:{mrs[6].Col.ToString("0.000")} ,A: {mrs[6].Angle.ToString("0.000")} ,S: {mrs[6].Score.ToString("0.000")}");
            //        hwin_vac7.DispObj(mrs[6].ContourXld, "green");
            //    }

            //}

            //if (obj[7] != null)
            //{
            //    hwin_vac8.HobjectToHimage(obj[7]);
            //    if (mrs != null && mrs[7] != null)
            //    {
            //        MessageQueue.Instance.Insert($"cam8 R:{mrs[7].Row.ToString("0.000")},C:{mrs[7].Col.ToString("0.000")} ,A: {mrs[7].Angle.ToString("0.000")} ,S: {mrs[7].Score.ToString("0.000")}");
            //        hwin_vac8.DispObj(mrs[7].ContourXld, "green");
            //    }

            //}
        }

        ProductModel pm;
        private void LoadModel()
        {
            string dirPath = Path.Combine("Recipe",GlobalVar.CurRecipe, "料盘1");
            pm = new ProductModel();
            HOperatorSet.ReadRegion(out HObject region, Path.Combine(dirPath, "search.reg"));
            pm.SearchRegion = region;
        }
        Stopwatch time = new Stopwatch();
        private void Instance_CameraOkEvent(int index,HObject obj)
        {
            time.Restart();
            hwin_vac1.HobjectToHimage(obj);
            string m_savePath = Path.Combine(GlobalVar.CurRecipe, "料盘1");
            string filePath = Path.Combine(m_savePath, "model.shm");
            HOperatorSet.ReadShapeModel(filePath, out HTuple modelID);
            HOperatorSet.ReadRegion(out HObject searchRegion, Path.Combine(m_savePath + "\\search.reg"));
            if (searchRegion.IsInitialized())
            {
                hImage = obj;
                pm.SearchRegion = searchRegion;
                HOperatorSet.ReduceDomain(obj, pm.SearchRegion, out HObject searchImg);
                HOperatorSet.GetShapeModelContours(out HObject modelContours, modelID, 1);
                HOperatorSet.FindShapeModel(searchImg, modelID, AngleTool.Deg2Rad(-10), AngleTool.Deg2Rad(20), new HTuple(0.3), 1, 0.5, "least_squares", 0, 0.9, out HTuple row, out HTuple column, out HTuple angle, out HTuple score);
                if (score != null && score.Length > 0)
                {
                    int len = score.Length;
                    for (int i = 0; i < len; i++)
                    {
                        HOperatorSet.VectorAngleToRigid(0, 0, 0, row[i].D, column[i].D, angle[i].D, out HTuple homMat2D);
                        HOperatorSet.AffineTransContourXld(modelContours, out HObject contoursAffineTrans, homMat2D);
                        hwin_vac1.DispObj(contoursAffineTrans, "green");

                        //matchResultRow = row.DArr[i];
                        //matchResultColumn = column.DArr[i];
                        //matchResultAngle = angle.DArr[i];
                        //matchResultScore = score.DArr[i];
                        HOperatorSet.GenCrossContourXld(out HObject cross, row.DArr[i], column.DArr[i], 100, 0);
                        hwin_vac1.DispObj(cross, "red");
                        File.AppendAllText("d:\\test.csv",$"{index},{row.DArr[i]},{column.DArr[i]}\r\n");
                    }
                }

                

                HOperatorSet.GetImageSize(obj, out HTuple imgWidth, out HTuple imgHeight);
                HOperatorSet.GenCrossContourXld(out HObject camCenter, imgHeight / 2, imgWidth / 2, Math.Max(imgHeight, imgWidth), 0);
                hwin_vac1.DispObj(camCenter, "green");
                time.Stop();
                MessageQueue.Instance.Insert($"image process time:{time.ElapsedMilliseconds}");
            }
        }

        bool cameraFinished = false;
        int testNum = 0;
        int speed = 50;
        static int i = 0;
        private void Instance_GrabOkEvent(int arg1, HalconDotNet.HObject arg2)
        {
            lock(this)
            {
                hwin_vac1.HobjectToHimage(arg2);
                HOperatorSet.WriteImage(arg2, "bmp", 0, "d://temp//" + (i++).ToString());
            }
            
            //hImage = arg2;
            //HOperatorSet.FindShapeModel(hImage, modelID, -0.39, 0.79, 0.5, 1, 0.5, "least_squares", 0, 0.9, out HTuple row, out HTuple column, out HTuple angle, out HTuple score);
            //if (score.Length>0)
            //{
            //    Invoke(new Action(() => {
            //        textBox1.Text = score.DArr[0].ToString("0.000");
            //        textBox2.Text = row.DArr[0].ToString("0.000");
            //        textBox3.Text = column.DArr[0].ToString("0.000");

            //        string msg = $"{testNum},{speed},{textBox2.Text},{textBox3.Text},{textBox1.Text}\r\n";
            //        File.AppendAllText("log.txt", msg);
            //        MessageQueue.Instance.Insert(msg);
            //    }));
            //}
            //else
            //{
            //    string msg = $"{testNum},{speed},丢步\r\n";
            //    File.AppendAllText("log.txt", msg);
            //    MessageQueue.Instance.Warn("未找到");
            //}
            //cameraFinished = true;
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            //获取运行信息
            while (MessageQueue.Instance.HaveMessage())
            {
                MessageItem runInfo = MessageQueue.Instance.GetMessage();
                if (runInfo != null)
                {
                    while (dgv_runinfo.Rows.Count > 500)
                    {
                        dgv_runinfo.Rows.RemoveAt(dgv_runinfo.Rows.Count - 1);
                    }
                    dgv_runinfo.Rows.Insert(0, runInfo.Time, runInfo.Content);
                }

                MessageItem errorInfo = MessageQueue.Instance.GetWarn();
                if (errorInfo != null)
                {
                    while (dgv_errinfo.Rows.Count > 500)
                    {
                        dgv_errinfo.Rows.RemoveAt(dgv_errinfo.Rows.Count - 1);
                    }
                    dgv_errinfo.Rows.Insert(0, errorInfo.Time, errorInfo.Content);
                }
            }
            if(MachineManage.Instance.MachineStatus== EMachineStatus.Working)
            {
                if (btnWholeHome.Visible == true)
                    btnWholeHome.Visible = false;
            }
            else
            {
                if (btnWholeHome.Visible == false)
                    btnWholeHome.Visible = true;
            }
        }

        private void FormMain_Load(object sender, EventArgs e)
        {
            SqliteHelper db = new SqliteHelper();
            string querySql = "select * from NormalTray";
            DataTable dt=db.GetDataTable(querySql);
            if(dt!=null&&dt.Rows.Count>0)
            {
                DataRow dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Empty1").First();
                if(dr!=null)
                {
                    trayEmpty1.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
                    trayEmpty1.RowNum = int.Parse(dr["RowNum"].ToString());
                }

                dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Input").First();
                if (dr != null)
                {
                    trayInput.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
                    trayInput.RowNum = int.Parse(dr["RowNum"].ToString());
                }

                dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "OK").First();
                if (dr != null)
                {
                    trayOk.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
                    trayOk.RowNum = int.Parse(dr["RowNum"].ToString());
                }

                dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "NG").First();
                if (dr != null)
                {
                    trayNg.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
                    trayNg.RowNum = int.Parse(dr["RowNum"].ToString());
                }


                dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Multi").First();
                if (dr != null)
                {
                    trayMulti.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
                    trayMulti.RowNum = int.Parse(dr["RowNum"].ToString());
                }

                dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Empty2").First();
                if (dr != null)
                {
                    trayEmpty2.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
                    trayEmpty2.RowNum = int.Parse(dr["RowNum"].ToString());
                }
            }
            winHandle = hwin_vac1.hWindowControl.HalconWindow;
            h1 = hwin_vac1.HWindowHalconID;
            HOperatorSet.GenEmptyObj(out final_Region);
            HOperatorSet.GenEmptyObj(out hmodelImage);
            modelID = new HTuple();
            HOperatorSet.ReadShapeModel("Model/model.shm", out modelID);
            LoadModel();
            WorkFlow.Instance.OnMatchResult += Instance_OnMatchResult;
            SpaceFlow.Instance.CameraOkEvent += Instance_CameraOkEvent1;
            RsTray turnoverTray = new RsTray()
            {
                OffsetX = -40,
                OffsetY = 18,
                OffsetYEven = 42,
                SinglePoint = true,
                RowNum = 4,
                ColumnNum = 8,
            };
            turnoverTray.ItemName = "中转盘";
            //turnoverTray.Init();
            GlobalTray.TurnoverTray = turnoverTray;


            //dgv_runinfo.DataSource = runInfoList;
            //dgv_errinfo.DataSource = errorInfoList;
            timer1.Interval = 500;
            timer1.Enabled = true;
            HObject img = new HObject();
            //HOperatorSet.CloseWindow(hWindow_Final1.HWindowHalconID);
            //HOperatorSet.OpenWindow(0, 0, hWindow_Final1.Width, hWindow_Final1.Height, winHandle,"visible", "", out h1);
            //HOperatorSet.openwi
            string filepath = @"C:\Users\Administrator\MVS\Data\22.bmp";
            if(File.Exists(filepath))
            {
                HOperatorSet.ReadImage(out HObject image, filepath);
                hwin_vac1.HobjectToHimage(image);
                //hSmartWindowControl1.HalconWindow.SetDraw("margin");
            }
            trayEmpty1.ItemName = "Empty1";
            //trayEmpty1.Init();
            trayInput.ItemName = "Input";
            //trayInput.Init();
            trayOk.ItemName = "Ok";
            //trayOk.Init();
            trayNg.ItemName = "Ng";
            //trayNg.Init();

            //okTray1.ItemName = "料盘5";
            //okTray1.Init();
            //okTray2.ItemName = "料盘6";
            //okTray2.Init();
            //okTray3.ItemName = "料盘7";
            //okTray3.Init();
            //ngTray.ItemName = "料盘8";
            //ngTray.Init();

            GlobalTray.Empty1Tray = trayEmpty1;
            GlobalTray.InputTray = trayInput;
            GlobalTray.OkTary= trayOk;
            GlobalTray.NgTray= trayNg;
            GlobalTray.MultiTray = trayMulti;
            GlobalTray.Empty2Tray = trayEmpty2;
            GlobalTray.TurnoverTray = trayTurnover;
            tabControlEx1.TabPages.RemoveAt(1);
        }

        private void btnWholeHome_Load(object sender, EventArgs e)
        {
            if (MachineManage.Instance.MachineStatus == EMachineStatus.Homed 
                || MachineManage.Instance.MachineStatus == EMachineStatus.NotInit
                || MachineManage.Instance.MachineStatus == EMachineStatus.NotHomed
                )
            {
                HomeFlow.Instance.StartGoHome();
            }
            else
            {
                MessageQueue.Instance.Warn($"device state {MachineManage.Instance.MachineStatus} cann't home!");
            }
        }

        private void btnSpaceRun_BtnClick(object sender, EventArgs e)
        {
            //SpaceTest.Instance.Start();
            if (MachineManage.Instance.MachineStatus== EMachineStatus.Homed || MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
            {
                MachineManage.Instance.RunStatus = Commom.ERunStatus.Started;
                MachineManage.Instance.RunState = ERunState.Waiting;
                WorkFlow.Instance.Start();
                TurnoverFlow.Instance.Start();
                TakeTrayFlow.Instance.Start();

                //TakeTrayFlow.Instance.Start();
                //StockManager.Instance.Start();
                //WorkEnvironment.Instance.Ready();


                //TakeDumpTest.Instance.Start();
            }
        }

        private void btnStop_BtnClick(object sender, EventArgs e)
        {
            WorkFlow.Instance.Stop();
            TurnoverFlow.Instance.Stop();
            TakeTrayFlow.Instance.Stop();

            //TakeDumpTest.Instance.Stop();
            //LoadAndUnloadTest.Instance.Stop();
            //TakeTrayTest.Instance.Stop();
            //TurnoverFlow.Instance.Stop();
            //TakeTrayFlow.Instance.Stop();
            ////ZRTest.Instance.Stop();
            ////CameraTriggerTest.Instance.Stop();
            ////SpaceTest.Instance.Stop();
            //WorkFlow.Instance.Stop();
            MachineManage.Instance.MachineStatus = EMachineStatus.Stop;
        }

    }
}