Rs.DeweyTester/Rs.DeweyTester/Vision/BaseVision.cs

using Newtonsoft.Json;
using Rs.Framework;
using Rs.MotionPlat.Commom;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Vision
{
    public enum EVisionScene
    {
        /// <summary>
        /// 一拍四
        /// </summary>
        OneGrabFour = 6051,
        /// <summary>
        /// 有无料
        /// </summary>
        HaveOrNot,
        /// <summary>
        /// 单个扫描
        /// </summary>
        SingleScanBarcode = 6055,
        /// <summary>
        /// 料盘定位
        /// </summary>
        TrayLocation,
        /// <summary>
        /// 吸嘴标定
        /// </summary>
        NozzleCalib,
        /// <summary>
        /// 治具放料定位
        /// </summary>
        FixtureDumpProduct
    }

    public class VisionResult
    {
        /// <summary>
        /// 拍照结果是否OK
        /// </summary>
        public bool Result { get; set; }

        /// <summary>
        /// 是否有物料
        /// </summary>
        public bool HasProduct { get; set; } = false;

        /// <summary>
        /// 定位是否成功
        /// </summary>
        public bool LocationOK { get; set; }

        /// <summary>
        /// 扫码是否成功
        /// </summary>
        public bool ScanBarcodeOK { get; set; }
        /// <summary>
        /// SN
        /// </summary>
        public string SN { get; set; }
        /// <summary>
        /// 拍照X偏移
        /// </summary>
        public double OffsetX { get; set; }
        /// <summary>
        /// 拍照Y偏移
        /// </summary>
        public double OffsetY { get; set; }
        public string Products { get; set; }
    }

    public class BaseVision
    {
        public string Name { get; set; }
        protected VisionResult result = new VisionResult();
        protected TcpClientHelper vNozzleCalib = new TcpClientHelper();
        protected ManualResetEvent NozzleCalibReciveEvent = new ManualResetEvent(false);
        protected List<byte> reciveBuffer = new List<byte>();

        public void Init(string name,int port)
        {
            Name = name;
            vNozzleCalib.Connect("127.0.0.1", port);
            vNozzleCalib.OnConnected += VNozzleCalib_OnConnected;
            vNozzleCalib.OnDisconnected += VNozzleCalib_OnDisconnected;
            vNozzleCalib.DataRecived += VNozzleCalib_DataRecived;
        }

        private void VNozzleCalib_OnDisconnected(System.Net.Sockets.Socket obj)
        {
            MessageQueue.Instance.Insert($"{Name} vision disconnect");
        }

        private void VNozzleCalib_OnConnected(System.Net.Sockets.Socket obj)
        {
            MessageQueue.Instance.Insert($"{Name} vision connect success");
        }


        public virtual void VNozzleCalib_DataRecived(System.Net.Sockets.Socket arg1, byte[] arg2)
        {
            //所有的视觉数据以;作为结束符
            foreach (byte b in arg2)
            {
                if (b != 59)
                {
                    reciveBuffer.Add(b);
                }
                else
                {
                    string data = Encoding.ASCII.GetString(reciveBuffer.ToArray());
                    MessageQueue.Instance.Insert(data);
                    if (data == "M,0")
                    {
                        MessageQueue.Instance.Insert("视觉收到拍照指令");
                    }
                    else
                    {

                        result = new VisionResult();
                        //解析拍照结果
                        string[] results = data.Split(',');
                        if (results[1] == "-1")
                        {
                            result.Result = false;
                        }
                        else
                        {
                            result.Result = true;
                            result.OffsetX = double.Parse(results[2]);
                            result.OffsetY = double.Parse(results[3]);
                        }
                        NozzleCalibReciveEvent.Set();
                    }
                    reciveBuffer.Clear();
                }
            }
        }

        public virtual VisionResult Grab(int timeout=3000,string command="")
        {
            Ops.On("光源1");
            result = null;
            NozzleCalibReciveEvent.Reset();
            int len = 0;
            if (string.IsNullOrEmpty(command))
            {
                len = vNozzleCalib.Send("M;");
            }
            else
            {
                len = vNozzleCalib.Send($"{command}");
            }
            if (len > 0)
            {
                if (NozzleCalibReciveEvent.WaitOne(timeout))
                {
                    MessageQueue.Instance.Insert($"收到视觉结果:{JsonConvert.SerializeObject(result)}");
                    Ops.Off("光源1");
                    return result;
                }
                else
                {
                    Ops.Off("光源1");
                    return null;
                }
            }
            else
            {
                Ops.Off("光源1");
                return null;
            }
        }

        public virtual List<VisionResult> OneGrabFour(int timeout = 3000)
        {
            return null;
        }

        public virtual int Send(string msg)
        {
            if(vNozzleCalib.IsConnected)
            {
                return vNozzleCalib.Send(msg);
            }
            return -1;
        }
    }
}