Rs.DeweyTester/Rs.DeweyTester/Vision/SideCameraVision.cs

using Rs.Framework;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Entitys;
using System;
using System.Collections.Generic;
using System.Drawing.Drawing2D;
using System.Linq;
using System.Net.Sockets;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Vision
{
    /// <summary>
    /// 侧相机
    /// </summary>
    public class SideCameraVision: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)
        {
            Regex reg = new Regex("M\\dC,0");


            //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 (reg.IsMatch(data))
                        {
                            visionGrabEvent.Set();
                        }
                        else
                        {
                            //在这里处理视觉发过来的数据
                            //m2,0,22;
                            string[] resultData = data.Split(',');
                            //int.TryParse(resultData
                            int.TryParse(resultData[0].Replace("M", ""), out int fixtureIndex);
                            
                            Regex reg2 = new Regex("M\\d,");
                            data = $"{reg2.Replace(data, "GR#")}$";
                            MessageQueue.Instance.Insert(data);
                            TestFixtureManager.Instance.GetTestFixture(fixtureIndex).Send(data);
                            visionGrabEvent.Set();
                        }
                        reciveBuffer.Clear();
                    }
                }
            }

        }


        public bool ClearQueue(int fixtureIndex,int timeout = 10000)
        {
            visionGrabEvent.Reset();
            string content = $"M{fixtureIndex}C;";
            int len = vNozzleCalib.Send(content);
            //reciveData = true;
            if (len > 0)
            {
                MessageQueue.Instance.Insert($" <<< {content}");
                if (visionGrabEvent.WaitOne(timeout))
                {
                    //reciveData = false;
                    MessageQueue.Instance.Insert($" >>> {data}");
                    return true;
                }
                else
                {
                    return false;
                }
            }
            else
            {
                return false;
            }
        }


        /// <summary>
        /// 一拍十六
        /// </summary>
        /// <param name="timeout"></param>
        /// <returns></returns>
        public void Grab(int fixtureIndex,string sn,int timeout = 10000)
        {
            data = "";
            visionResultList.Clear();
            result = null;
            visionGrabEvent.Reset();
            string cmd = $"M{fixtureIndex},{sn};";
            MessageQueue.Instance.Insert($" <<< {cmd}");
            int len = vNozzleCalib.Send(cmd);
            //reciveData = true;
            //if (len > 0)
            //{
            //    MessageQueue.Instance.Insert($" <<< {cmd}");
            //    if (visionGrabEvent.WaitOne(timeout))
            //    {
            //        reciveData = false;
            //        string[] darr = data.Split(new char[] { ',' });
            //        MessageQueue.Instance.Insert($"收到视觉结果:{data}");
            //        data = $"{data.Replace("M2,", "GR#")}$";
            //        MessageQueue.Instance.Insert(data);
            //        TestFixtureManager.Instance.GetTestFixture(fixtureIndex).Send(data);
            //    }
            //}
        }
    }
}