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474 lines
19 KiB
C#
474 lines
19 KiB
C#
using ChoiceTech.Halcon.Control;
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using HalconDotNet;
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using Rs.Camera;
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using Rs.Controls;
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using Rs.DataAccess;
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using Rs.Framework;
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using Rs.Motion.Base;
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using Rs.MotionPlat.Commom;
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using Rs.MotionPlat.Flow;
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using Rs.MotionPlat.Flow.Space;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Diagnostics;
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using System.Drawing;
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using System.IO;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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namespace Rs.MotionPlat
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{
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public partial class FormMain : BaseForm
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{
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IAxis axis = null;
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HWindow winHandle = null;
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HObject hImage = null;
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HObject hmodelImage = null;
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HTuple h1;
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HTuple modelID;
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HObject final_Region = new HObject();
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BindingList<MessageItem> runInfoList = new BindingList<MessageItem>();
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BindingList<MessageItem> errorInfoList = new BindingList<MessageItem>();
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public FormMain()
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{
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InitializeComponent();
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//CameraTriggerTest.Instance.OnMatchResult += Instance_OnMatchResult;
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//this.tabControlEx1.TabPages.RemoveAt(1);
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//HikCamera.Instance.AutoGrabOkEvent += Instance_GrabOkEvent;
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}
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private void Instance_OnMatchResult(List<MatchResult> obj)
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{
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int i = 1;
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foreach (MatchResult matchResult in obj)
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{
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HWindow_Final hwin = null;
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if (i == 9) return;
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switch (i)
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{
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case 1: hwin = himgNozzle1; break;
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case 2: hwin = himgNozzle2; break;
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case 3: hwin = himgNozzle3; break;
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case 4: hwin = himgNozzle4; break;
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case 5: hwin = himgNozzle5; break;
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case 6: hwin = himgNozzle6; break;
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case 7: hwin = himgNozzle7; break;
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case 8: hwin = himgNozzle8; break;
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default:
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break;
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}
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if (hwin != null)
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{
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hwin.HobjectToHimage(matchResult.Himage);
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if(matchResult.IsOK)
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{
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hwin.DispObj(matchResult.ContourXld, "green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, matchResult.SN,20,20,"green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"x:{matchResult.OffsetRow}", 200, 20, "green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"y:{matchResult.OffsetCol}", 400, 20, "green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"r:{matchResult.OffsetA}", 600, 20, "green");
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}
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else
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{
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "NG", 20, 20, "red");
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}
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i++;
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}
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}
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}
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static int num = 0;
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private void Instance_CameraOkEvent1(HObject[] obj,List<MatchResult> mrs)
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{
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if (obj[0]!=null)
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{
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hwin_vac1.HobjectToHimage(obj[0]);
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if (mrs!=null && mrs[0] != null)
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{
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MessageQueue.Instance.Insert($"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")}");
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hwin_vac1.DispObj(mrs[0].ContourXld, "green");
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}
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}
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if (obj[1]!=null)
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{
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hwin_vac2.HobjectToHimage(obj[1]);
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if (mrs != null && mrs[1]!=null)
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{
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MessageQueue.Instance.Insert($"cam2 R:{mrs[1].Row.ToString("0.000")},C:{mrs[1].Col.ToString("0.000")},A:{mrs[1].Angle.ToString("0.000")},S:{mrs[1].Score.ToString("0.000")}");
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hwin_vac2.DispObj(mrs[1].ContourXld, "green");
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}
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}
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//if (obj[2] != null)
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//{
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// hwin_vac3.HobjectToHimage(obj[2]);
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// if (mrs != null && mrs[2] != null)
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// {
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// MessageQueue.Instance.Insert($"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")}");
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// hwin_vac3.DispObj(mrs[2].ContourXld, "green");
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// }
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//}
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//if (obj[3] != null)
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//{
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// hwin_vac4.HobjectToHimage(obj[3]);
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// if (mrs != null && mrs[3] != null)
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// {
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// MessageQueue.Instance.Insert($"cam4 R:{mrs[3].Row.ToString("0.000")},C:{mrs[3].Col.ToString("0.000")},A:{mrs[3].Angle.ToString("0.000")},S:{mrs[3].Score.ToString("0.000")}");
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// hwin_vac4.DispObj(mrs[3].ContourXld, "green");
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// }
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//}
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//if (obj[4] != null)
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//{
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// hwin_vac5.HobjectToHimage(obj[4]);
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// if (mrs != null && mrs[4] != null)
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// {
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// MessageQueue.Instance.Insert($"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")}");
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// hwin_vac5.DispObj(mrs[1].ContourXld, "green");
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// }
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//}
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//if (obj[5] != null)
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//{
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// hwin_vac6.HobjectToHimage(obj[5]);
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// if (mrs != null && mrs[5] != null)
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// {
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// MessageQueue.Instance.Insert($"cam6 R:{mrs[5].Row.ToString("0.000")},C:{mrs[5].Col.ToString("0.000")},A:{mrs[5].Angle.ToString("0.000")},S:{mrs[5].Score.ToString("0.000")}");
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// hwin_vac6.DispObj(mrs[5].ContourXld, "green");
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// }
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//}
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//if (obj[6] != null)
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//{
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// hwin_vac7.HobjectToHimage(obj[6]);
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// if (mrs != null && mrs[6] != null)
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// {
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// MessageQueue.Instance.Insert($"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")}");
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// hwin_vac7.DispObj(mrs[6].ContourXld, "green");
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// }
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//}
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//if (obj[7] != null)
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//{
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// hwin_vac8.HobjectToHimage(obj[7]);
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// if (mrs != null && mrs[7] != null)
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// {
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// 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")}");
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// hwin_vac8.DispObj(mrs[7].ContourXld, "green");
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// }
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//}
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}
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ProductModel pm;
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private void LoadModel()
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{
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string dirPath = Path.Combine("Recipe",GlobalVar.CurRecipe, "料盘1");
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pm = new ProductModel();
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HOperatorSet.ReadRegion(out HObject region, Path.Combine(dirPath, "search.reg"));
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pm.SearchRegion = region;
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}
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Stopwatch time = new Stopwatch();
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private void Instance_CameraOkEvent(int index,HObject obj)
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{
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time.Restart();
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hwin_vac1.HobjectToHimage(obj);
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string m_savePath = Path.Combine(GlobalVar.CurRecipe, "料盘1");
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string filePath = Path.Combine(m_savePath, "model.shm");
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HOperatorSet.ReadShapeModel(filePath, out HTuple modelID);
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HOperatorSet.ReadRegion(out HObject searchRegion, Path.Combine(m_savePath + "\\search.reg"));
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if (searchRegion.IsInitialized())
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{
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hImage = obj;
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pm.SearchRegion = searchRegion;
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HOperatorSet.ReduceDomain(obj, pm.SearchRegion, out HObject searchImg);
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HOperatorSet.GetShapeModelContours(out HObject modelContours, modelID, 1);
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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);
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if (score != null && score.Length > 0)
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{
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int len = score.Length;
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for (int i = 0; i < len; i++)
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{
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HOperatorSet.VectorAngleToRigid(0, 0, 0, row[i].D, column[i].D, angle[i].D, out HTuple homMat2D);
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HOperatorSet.AffineTransContourXld(modelContours, out HObject contoursAffineTrans, homMat2D);
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hwin_vac1.DispObj(contoursAffineTrans, "green");
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//matchResultRow = row.DArr[i];
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//matchResultColumn = column.DArr[i];
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//matchResultAngle = angle.DArr[i];
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//matchResultScore = score.DArr[i];
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HOperatorSet.GenCrossContourXld(out HObject cross, row.DArr[i], column.DArr[i], 100, 0);
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hwin_vac1.DispObj(cross, "red");
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File.AppendAllText("d:\\test.csv",$"{index},{row.DArr[i]},{column.DArr[i]}\r\n");
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}
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}
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HOperatorSet.GetImageSize(obj, out HTuple imgWidth, out HTuple imgHeight);
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HOperatorSet.GenCrossContourXld(out HObject camCenter, imgHeight / 2, imgWidth / 2, Math.Max(imgHeight, imgWidth), 0);
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hwin_vac1.DispObj(camCenter, "green");
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time.Stop();
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MessageQueue.Instance.Insert($"image process time:{time.ElapsedMilliseconds}");
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}
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}
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bool cameraFinished = false;
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int testNum = 0;
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int speed = 50;
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static int i = 0;
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private void Instance_GrabOkEvent(int arg1, HalconDotNet.HObject arg2)
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{
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lock(this)
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{
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hwin_vac1.HobjectToHimage(arg2);
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HOperatorSet.WriteImage(arg2, "bmp", 0, "d://temp//" + (i++).ToString());
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}
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//hImage = arg2;
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//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);
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//if (score.Length>0)
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//{
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// Invoke(new Action(() => {
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// textBox1.Text = score.DArr[0].ToString("0.000");
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// textBox2.Text = row.DArr[0].ToString("0.000");
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// textBox3.Text = column.DArr[0].ToString("0.000");
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// string msg = $"{testNum},{speed},{textBox2.Text},{textBox3.Text},{textBox1.Text}\r\n";
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// File.AppendAllText("log.txt", msg);
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// MessageQueue.Instance.Insert(msg);
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// }));
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//}
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//else
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//{
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// string msg = $"{testNum},{speed},丢步\r\n";
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// File.AppendAllText("log.txt", msg);
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// MessageQueue.Instance.Warn("未找到");
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//}
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//cameraFinished = true;
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}
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private void timer1_Tick(object sender, EventArgs e)
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{
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//获取运行信息
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while (MessageQueue.Instance.HaveMessage())
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{
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MessageItem runInfo = MessageQueue.Instance.GetMessage();
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if (runInfo != null)
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{
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while (dgv_runinfo.Rows.Count > 500)
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{
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dgv_runinfo.Rows.RemoveAt(dgv_runinfo.Rows.Count - 1);
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}
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dgv_runinfo.Rows.Insert(0, runInfo.Time, runInfo.Content);
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}
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MessageItem errorInfo = MessageQueue.Instance.GetWarn();
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if (errorInfo != null)
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{
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while (dgv_errinfo.Rows.Count > 500)
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{
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dgv_errinfo.Rows.RemoveAt(dgv_errinfo.Rows.Count - 1);
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}
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dgv_errinfo.Rows.Insert(0, errorInfo.Time, errorInfo.Content);
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}
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}
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if(MachineManage.Instance.MachineStatus== EMachineStatus.Working)
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{
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if (btnWholeHome.Visible == true)
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btnWholeHome.Visible = false;
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}
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else
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{
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if (btnWholeHome.Visible == false)
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btnWholeHome.Visible = true;
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}
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}
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private void FormMain_Load(object sender, EventArgs e)
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{
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SqliteHelper db = new SqliteHelper();
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string querySql = "select * from NormalTray";
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DataTable dt=db.GetDataTable(querySql);
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if(dt!=null&&dt.Rows.Count>0)
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{
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DataRow dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Empty1").First();
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if(dr!=null)
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{
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trayEmpty1.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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trayEmpty1.RowNum = int.Parse(dr["RowNum"].ToString());
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}
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dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Input").First();
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if (dr != null)
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{
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trayInput.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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trayInput.RowNum = int.Parse(dr["RowNum"].ToString());
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}
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dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "OK").First();
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if (dr != null)
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{
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trayOk.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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trayOk.RowNum = int.Parse(dr["RowNum"].ToString());
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}
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dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "NG").First();
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if (dr != null)
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{
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trayNg.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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trayNg.RowNum = int.Parse(dr["RowNum"].ToString());
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}
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dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Multi").First();
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if (dr != null)
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{
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trayMulti.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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trayMulti.RowNum = int.Parse(dr["RowNum"].ToString());
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}
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dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Empty2").First();
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if (dr != null)
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{
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trayEmpty2.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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trayEmpty2.RowNum = int.Parse(dr["RowNum"].ToString());
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}
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}
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winHandle = hwin_vac1.hWindowControl.HalconWindow;
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h1 = hwin_vac1.HWindowHalconID;
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HOperatorSet.GenEmptyObj(out final_Region);
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HOperatorSet.GenEmptyObj(out hmodelImage);
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modelID = new HTuple();
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HOperatorSet.ReadShapeModel("Model/model.shm", out modelID);
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LoadModel();
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WorkFlow.Instance.OnMatchResult += Instance_OnMatchResult;
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SpaceFlow.Instance.CameraOkEvent += Instance_CameraOkEvent1;
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RsTray turnoverTray = new RsTray()
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{
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OffsetX = -40,
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OffsetY = 18,
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OffsetYEven = 42,
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SinglePoint = true,
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RowNum = 4,
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ColumnNum = 8,
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};
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turnoverTray.ItemName = "中转盘";
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turnoverTray.Init();
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GlobalTray.TurnoverTray = turnoverTray;
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//dgv_runinfo.DataSource = runInfoList;
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//dgv_errinfo.DataSource = errorInfoList;
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timer1.Interval = 500;
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timer1.Enabled = true;
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HObject img = new HObject();
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//HOperatorSet.CloseWindow(hWindow_Final1.HWindowHalconID);
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//HOperatorSet.OpenWindow(0, 0, hWindow_Final1.Width, hWindow_Final1.Height, winHandle,"visible", "", out h1);
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//HOperatorSet.openwi
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string filepath = @"C:\Users\Administrator\MVS\Data\22.bmp";
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if(File.Exists(filepath))
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{
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HOperatorSet.ReadImage(out HObject image, filepath);
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hwin_vac1.HobjectToHimage(image);
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//hSmartWindowControl1.HalconWindow.SetDraw("margin");
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}
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trayEmpty1.ItemName = "料盘1";
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trayEmpty1.Init();
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trayInput.ItemName = "Input";
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trayInput.Init();
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trayOk.ItemName = "料盘3";
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trayOk.Init();
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trayNg.ItemName = "料盘4";
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trayNg.Init();
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//okTray1.ItemName = "料盘5";
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//okTray1.Init();
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//okTray2.ItemName = "料盘6";
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//okTray2.Init();
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//okTray3.ItemName = "料盘7";
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//okTray3.Init();
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//ngTray.ItemName = "料盘8";
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//ngTray.Init();
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GlobalTray.Empty1Tray = trayEmpty1;
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GlobalTray.InputTray = trayInput;
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GlobalTray.OkTary= trayOk;
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GlobalTray.NgTray= trayNg;
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GlobalTray.MultiTray = trayMulti;
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GlobalTray.Empty2Tray = trayEmpty2;
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GlobalTray.TurnoverTray = trayTurnover;
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tabControlEx1.TabPages.RemoveAt(1);
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}
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private void btnWholeHome_Load(object sender, EventArgs e)
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{
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if (MachineManage.Instance.MachineStatus == EMachineStatus.Homed
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|| MachineManage.Instance.MachineStatus == EMachineStatus.NotInit
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|| MachineManage.Instance.MachineStatus == EMachineStatus.NotHomed
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)
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{
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HomeFlow.Instance.StartGoHome();
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}
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else
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{
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MessageQueue.Instance.Warn($"device state {MachineManage.Instance.MachineStatus} cann't home!");
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}
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}
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private void btnSpaceRun_BtnClick(object sender, EventArgs e)
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{
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//SpaceTest.Instance.Start();
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if (MachineManage.Instance.MachineStatus== EMachineStatus.Homed || MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
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{
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MachineManage.Instance.RunStatus = Commom.ERunStatus.Started;
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MachineManage.Instance.RunState = ERunState.Waiting;
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WorkFlow.Instance.Start();
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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;
|
|
}
|
|
|
|
}
|
|
}
|