Rs.DeweyTester/Rs.DeweyTester/Vision/LoadTakeProductVision.cs

using Newtonsoft.Json;
using NPOI.SS.UserModel.Charts;
using Rs.Framework;
using Rs.MotionPlat.Commom;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net.Sockets;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Vision
{
    /// <summary>
    /// 料仓取料拍照
    /// </summary>
    public class LoadTakeProductVision:BaseVision
    {
        string data = string.Empty;
        static int visionNum = 4;
        static ManualResetEvent visionGrabEvent = new ManualResetEvent(false);
        static List<VisionResult> visionResultList = new List<VisionResult>();
        bool reciveData = false;
        public override void VNozzleCalib_DataRecived(Socket arg1, byte[] arg2)
        {
            if(reciveData)
            {
                //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
                    {
                        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 if(data=="C,0")
                        {
                            visionGrabEvent.Set();
                        }
                        else
                        {
                            visionGrabEvent.Set();
                            //result = new VisionResult();
                            //解析拍照结果
                            // string[] results = data.Split(',');
                            //switch (results[1])
                            //{
                            //    case "0":
                            //        result.LocationOK = true;
                            //        result.ScanBarcodeOK = true;
                            //        result.SN = results[2];
                            //        result.Result = true;
                            //        result.OffsetX = double.Parse(results[2]);
                            //        result.OffsetY = double.Parse(results[3]);
                            //        break;
                            //    case "-1":
                            //        result.LocationOK = true;
                            //        result.ScanBarcodeOK = false;
                            //        result.SN = results[2];
                            //        result.Result = true;
                            //        result.OffsetX = double.Parse(results[2]);
                            //        result.OffsetY = double.Parse(results[3]);
                            //        break;
                            //    case "-2":
                            //        result.LocationOK = false;
                            //        result.ScanBarcodeOK = false;
                            //        result.SN = "";
                            //        result.Result = false;
                            //        result.OffsetX = 0.0;
                            //        result.OffsetY = 0.0;
                            //        break;
                            //    case "-3":
                            //        result.LocationOK = false;
                            //        result.ScanBarcodeOK = false;
                            //        result.SN = "";
                            //        result.Result = true;
                            //        result.OffsetX = 0.0;
                            //        result.OffsetY = 0.0;
                            //        break;
                            //    default:
                            //        break;
                            //}
                            //visionResultList.Add(result);
                            //if (visionResultList.Count == visionNum)
                            //{
                            //    visionGrabEvent.Set();
                            //}

                        }
                        reciveBuffer.Clear();
                    }
                }
            }
            
        }


        public bool ClearQueue(int timeout = 10000)
        {
            visionGrabEvent.Reset();
            int len = vNozzleCalib.Send("C;");
            reciveData = true;
            if (len > 0)
            {
                if (visionGrabEvent.WaitOne(timeout))
                {
                    reciveData = false;
                    MessageQueue.Instance.Insert($"收到视觉结果:{data}");
                    return true;
                }
                else
                {
                    return false;
                }
            }
            else
            {
                return false;
            }
        }




        public override List<VisionResult> OneGrabFour(int timeout = 10000)
        {
            visionResultList.Clear();
            Ops.On("光源1");
            result = null;
            visionGrabEvent.Reset();
            int len = vNozzleCalib.Send("M;");
            reciveData = true;
            if (len > 0)
            {
                if (visionGrabEvent.WaitOne(timeout))
                {
                    reciveData = false;
                    MessageQueue.Instance.Insert($"收到视觉结果:{data}");
                    Ops.Off("光源1");
                    
                    return visionResultList;
                }
                else
                {
                    Ops.Off("光源1");
                    return null;
                }
            }
            else
            {
                Ops.Off("光源1");
                return null;
            }
        }

        /// <summary>
        /// 一拍十六
        /// </summary>
        /// <param name="timeout"></param>
        /// <returns></returns>
        public string OneGrabSixteen(int timeout = 10000)
        {
            data = "";
            visionResultList.Clear();
            result = null;
            visionGrabEvent.Reset();
            int len = vNozzleCalib.Send("M;");
            reciveData = true;
            if (len > 0)
            {
                MessageQueue.Instance.Insert($" <<< M;");
                if (visionGrabEvent.WaitOne(timeout))
                {
                    reciveData = false;
                    MessageQueue.Instance.Insert($"收到视觉结果:{data}");
                    return data;
                }
                else
                {
                    return null;
                }
            }
            else
            {
                return null;
            }
        }
    }
}