From 19d42e5722c5b46e232a99bfee9b708579b9d0f6 Mon Sep 17 00:00:00 2001
From: lhiven <236881222@qq.com>
Date: Wed, 20 Dec 2023 11:59:25 +0900
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=B8=8A=E7=9B=B8=E6=9C=BA?=
 =?UTF-8?q?=E6=89=AB=E7=A0=81=E5=8A=9F=E8=83=BD?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Rs.SkyLine/Commom/VirtualBarCode.cs         | 25 +++++++
 Rs.SkyLine/Commom/VisionProcess.cs          | 23 ++++--
 Rs.SkyLine/Flow/Camera/ModelParameter.cs    |  8 ++
 Rs.SkyLine/Flow/Camera/VisionManager.cs     | 81 ++++++++++++++++++++-
 Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs | 49 ++++++++++---
 Rs.SkyLine/Rs.SkyLine.csproj                |  1 +
 6 files changed, 168 insertions(+), 19 deletions(-)
 create mode 100644 Rs.SkyLine/Commom/VirtualBarCode.cs

diff --git a/Rs.SkyLine/Commom/VirtualBarCode.cs b/Rs.SkyLine/Commom/VirtualBarCode.cs
new file mode 100644
index 0000000..e3b00e8
--- /dev/null
+++ b/Rs.SkyLine/Commom/VirtualBarCode.cs
@@ -0,0 +1,25 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Rs.MotionPlat.Commom
+{
+    /// <summary>
+    /// 虚拟码
+    /// </summary>
+    public static class VirtualBarCode
+    {
+        private static int barCode = 1;
+
+        public static string Code
+        {
+            get
+            {
+                barCode++;
+                return barCode.ToString().PadLeft(18,'0');
+            }
+        }
+    }
+}
diff --git a/Rs.SkyLine/Commom/VisionProcess.cs b/Rs.SkyLine/Commom/VisionProcess.cs
index e44857a..5749d11 100644
--- a/Rs.SkyLine/Commom/VisionProcess.cs
+++ b/Rs.SkyLine/Commom/VisionProcess.cs
@@ -166,21 +166,33 @@ namespace Rs.MotionPlat.Commom
                         mr.Score = score.DArr[0];
                         mr.Himage = hImage;
                         mr.LocationOk = true;
-                        FindCode(hImage, ref mr);
+                        if(GlobalVar.EnableScanBarCodeByDownCamera)
+                        {
+                            FindCode(hImage, ref mr);
+                        }
                         string dirname = $"d://images/{DateTime.Now.ToString("yyyyMMdd")}";
                         if(!Directory.Exists(dirname))
                         {
                             Directory.CreateDirectory(dirname);
                         }
-                        if(mr.ScanOK)
+                        if (!GlobalVar.EnableScanBarCodeByDownCamera)
                         {
-                            mr.IsOK= true;
-                            HOperatorSet.WriteImage(hImage, "bmp", 0, $"{dirname}//{mr.SN.Replace("\\", "").Replace("\"", "")+"_"+ DateTime.Now.ToString("yyyyMMddHHmmssfff")}");
+                            mr.IsOK = true;
                         }
                         else
                         {
-                            HOperatorSet.WriteImage(hImage, "bmp", 0, $"{dirname}//{DateTime.Now.ToString("yyyyMMddHHmmssfff")}");
+                            if (mr.ScanOK)
+                            {
+                                mr.IsOK = true;
+                                HOperatorSet.WriteImage(hImage, "bmp", 0, $"{dirname}//{mr.SN.Replace("\\", "").Replace("\"", "") + "_" + DateTime.Now.ToString("yyyyMMddHHmmssfff")}");
+                            }
+                            else
+                            {
+
+                                HOperatorSet.WriteImage(hImage, "bmp", 0, $"{dirname}//{DateTime.Now.ToString("yyyyMMddHHmmssfff")}");
+                            }
                         }
+                        
                         matches.Add(mr);
                     }
                     else
@@ -189,7 +201,6 @@ namespace Rs.MotionPlat.Commom
                         mr.LocationOk = false;
                         mr.IsOK = false;
                         mr.Row = 0;
-                        
                         mr.Col = 0;
                         mr.Angle = 0;
                         mr.Score = 0;
diff --git a/Rs.SkyLine/Flow/Camera/ModelParameter.cs b/Rs.SkyLine/Flow/Camera/ModelParameter.cs
index cd21284..feaf337 100644
--- a/Rs.SkyLine/Flow/Camera/ModelParameter.cs
+++ b/Rs.SkyLine/Flow/Camera/ModelParameter.cs
@@ -23,6 +23,11 @@ namespace Rs.MotionPlat.Flow.Camera
         /// </summary>
         public HObject SearchRegion { get; set; }
 
+        /// <summary>
+        /// 二维码区域
+        /// </summary>
+        public HObject BarCodeRegion { get; set; }
+
         /// <summary>
         /// 起始角度
         /// </summary>
@@ -62,6 +67,9 @@ namespace Rs.MotionPlat.Flow.Camera
                 string searchReg = Path.Combine(modelDir, "search.reg");
                 HOperatorSet.ReadRegion(out HObject searchRegion, searchReg);
                 SearchRegion = searchRegion;
+                string barCodeReg = Path.Combine(modelDir, "barcode.reg");
+                HOperatorSet.ReadRegion(out HObject barCodeRegion, searchReg);
+                BarCodeRegion = barCodeRegion;
             }
             
         }
diff --git a/Rs.SkyLine/Flow/Camera/VisionManager.cs b/Rs.SkyLine/Flow/Camera/VisionManager.cs
index 6e355ee..3f157a8 100644
--- a/Rs.SkyLine/Flow/Camera/VisionManager.cs
+++ b/Rs.SkyLine/Flow/Camera/VisionManager.cs
@@ -225,7 +225,24 @@ namespace Rs.MotionPlat.Flow.Camera
                 vr.OffsetY =-1 * (row.D- upCameraScanBarCodeModel.ModelMatchResult[0].D) * GlobalVar.UpCameraMmPerPixel;
                 vr.OffsetR = AngleTool.Rad2Deg((angle.D - upCameraScanBarCodeModel.ModelMatchResult[2].D));
                 vr.SourceImage = image;
-                vr.SearchModelOK = true;
+                if(vr.OffsetX<GlobalVar.TurnoverTrayLocateXRange && vr.OffsetY<GlobalVar.TurnoverTrayLocateYRange && vr.OffsetR<GlobalVar.TurnoverTrayLocateRRange)
+                {
+                    vr.SearchModelOK = true;
+                    //只有定位成功的才去扫二维码
+                    string sn = FindCode(image, upCameraScanBarCodeModel.BarCodeRegion);
+                    if(string.IsNullOrEmpty(sn))
+                    {
+                        vr.ScanBarCodeOK = false;
+                    }
+                    else
+                    {
+                        vr.SN = sn;
+                    }
+                }
+                else
+                {
+                    vr.SearchModelOK = false;
+                }
             }
             return vr;
         }
@@ -240,5 +257,67 @@ namespace Rs.MotionPlat.Flow.Camera
             }
             return vr;
         }
+
+        public static string FindCode(HObject images,HObject _barCodeRegion)
+        {
+            try
+            {
+                // HOperatorSet.GenRectangle1(out HObject searchRegion, new HTuple(1533), new HTuple(731), new HTuple(1751), new HTuple(1071));
+                //HOperatorSet.GenRectangle1(out HObject searchRegion,row1, col1, row2, col2);
+
+                HOperatorSet.ReduceDomain(images, _barCodeRegion, out HObject imgReduaced);
+                //HOperatorSet.CropDomain(imgReduaced, out HObject imagePart);
+                //HOperatorSet.WriteImage(imagePart, "bmp", 0, "d://images/11");
+                //HOperatorSet.Threshold(imagePart, out HObject region, new HTuple(200), new HTuple(255));
+                //HOperatorSet.Connection(region, out HObject connectedRegions);
+                //HOperatorSet.FillUp(connectedRegions, out HObject regionFillUp);
+                //HOperatorSet.ShapeTrans(regionFillUp, out HObject regionTrans, "rectangle1");
+                //HOperatorSet.SelectShape(regionTrans, out HObject selectedRegions, "area", "and", new HTuple(7000), new HTuple(9000));
+                //HOperatorSet.SelectShape(selectedRegions, out HObject searchRegions, "outer_radius", "and", new HTuple(50), new HTuple(70));
+                //if (searchRegions.IsInitialized() && searchRegions.CountObj() == 1)
+                {
+                    //找到了二维码区域
+                    //HOperatorSet.DilationRectangle1(searchRegions, out HObject regionDilation, new HTuple(40), new HTuple(40));
+                    //HOperatorSet.ReduceDomain(imagePart, regionDilation, out HObject imageReduacedQrcode);
+                    //HOperatorSet.InvertImage(imageReduacedQrcode, out HObject imageInvert);
+                    //HOperatorSet.ScaleImage(imageInvert, out HObject imageScaled, 2, 0);
+                    //HOperatorSet.WriteImage(imageScaled, "bmp", 0, "d://images/22");
+                    //HOperatorSet.ZoomImageFactor(imageScaled, out HObject imageZoomed, new HTuple(10), new HTuple(10), "constant");
+                    HTuple decodedDataStrings = "";
+                    HObject xlds = new HObject();
+
+                    string[] modes = new string[] { "standard_recognition", "enhanced_recognition", "maximum_recognition" };
+                    foreach (string mode in modes)
+                    {
+                        HOperatorSet.CreateDataCode2dModel("Data Matrix ECC 200", "default_parameters", mode, out HTuple dataCodeHandle);
+                        HOperatorSet.FindDataCode2d(imgReduaced, out xlds, dataCodeHandle, new HTuple(), new HTuple(), out HTuple resultHandles, out decodedDataStrings);
+
+                        if (decodedDataStrings.Length > 0)
+                        {
+                            return decodedDataStrings.ToString().Replace("\"", "");
+                        }
+                        else
+                        {
+                            if (mode == "maximum_recognition")
+                            {
+                                HOperatorSet.WriteImage(images, "bmp", 0, $"d://images/scanfail/{DateTime.Now.ToString("yyyy-MM-dd HHmmss ffff")}");
+                                HOperatorSet.ClearDataCode2dModel(dataCodeHandle);
+                            }
+                        }
+                    }
+                    return "";
+                }
+                //else
+                //{
+                //    HOperatorSet.WriteImage(images, "bmp", 0, $"d://images/scanfail/{DateTime.Now.ToString("yyyy-MM-dd HHmmss ffff")}");
+                //    mr.ScanOK = false;
+                //}
+            }
+            catch (Exception ex)
+            {
+                LogHelper.Error(ex.Message, ex);
+                return "";
+            }
+        }
     }
 }
diff --git a/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs b/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs
index 95b849b..f4e61b7 100644
--- a/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs
+++ b/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs
@@ -708,11 +708,14 @@ namespace Rs.MotionPlat.Flow
                             }
                             if (GlobalVar.RunSpace && GlobalVar.EnableScanBarCodeByDownCamera)
                             {
-                                foreach (Nozzle nl in NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload))
+                                if(GlobalVar.EnableScanBarCodeByDownCamera)
                                 {
-                                    if (string.IsNullOrEmpty(nl.SN))
+                                    foreach (Nozzle nl in NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload))
                                     {
-                                        nl.SN = (nl.FromIndex + 1).ToString().PadLeft(18, '0');
+                                        if (string.IsNullOrEmpty(nl.SN))
+                                        {
+                                            nl.SN = VirtualBarCode.Code;// (nl.FromIndex + 1).ToString().PadLeft(18, '0');
+                                        }
                                     }
                                 }
                                 mrs = new List<MatchResult>();
@@ -743,11 +746,15 @@ namespace Rs.MotionPlat.Flow
                         logInfo = GetClassName() + $"图片处理完成，准备放料";
                         MessageQueue.Instance.Insert(logInfo);
                         int count = 0;
-                        foreach (Nozzle nozzle in NozzleManager.GetNozzlesByStatus( ENozzleStatus.ToUnload))
+                        if(GlobalVar.EnableScanBarCodeByDownCamera)
                         {
-                            nozzle.SN = mrs[count].SN;
-                            count++;
+                            foreach (Nozzle nozzle in NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload))
+                            {
+                                nozzle.SN = mrs[count].SN;
+                                count++;
+                            }
                         }
+                        
                         //int ni = 1;
                         //foreach (MatchResult item in mrs)
                         //{
@@ -764,7 +771,7 @@ namespace Rs.MotionPlat.Flow
                         List<int> errCodeList = new List<int>();
                         foreach (MatchResult item in mrs)
                         {
-                            if(item.IsOK)
+                            if(item.IsOK&&GlobalVar.EnableScanBarCodeByDownCamera)
                             {
                                 NozzleManager.GetNozzle(ni).SN = item.SN;
                             }
@@ -1449,16 +1456,34 @@ namespace Rs.MotionPlat.Flow
                                     {
                                         if(TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct)
                                         {
-                                            if (vr.SearchModelOK && vr.OffsetX < 0.5 && vr.OffsetY < 0.5 && vr.OffsetR < 5)//定位成功
+                                            if (vr.SearchModelOK)//定位成功
                                             {
-                                                if(vr.ScanBarCodeOK)
+                                                if(!GlobalVar.EnableScanBarCodeByDownCamera)
                                                 {
-                                                    //复制二维码
-                                                    LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex, vr.SN);
+                                                    if(GlobalVar.RunSpace)
+                                                    {
+                                                        LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex, VirtualBarCode.Code);
+                                                    }
+                                                    else
+                                                    {
+                                                        if(vr.ScanBarCodeOK)
+                                                        {
+                                                            //复制二维码
+                                                            LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex, vr.SN);
+                                                        }
+                                                        else
+                                                        {
+                                                            //复制二维码
+                                                            LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex, "");
+                                                        }
+                                                    }
                                                 }
                                             }
+                                            else
+                                            {
+                                                //定位失败,或者超出指定范围
+                                            }
                                         }
-                                       
                                     }
                                     OnUpCameraGrabResult?.Invoke(result);
                                 }
diff --git a/Rs.SkyLine/Rs.SkyLine.csproj b/Rs.SkyLine/Rs.SkyLine.csproj
index fe87ee0..d2548ce 100644
--- a/Rs.SkyLine/Rs.SkyLine.csproj
+++ b/Rs.SkyLine/Rs.SkyLine.csproj
@@ -133,6 +133,7 @@
     <Compile Include="Commom\Scheduling.cs" />
     <Compile Include="Commom\SlotPoint.cs" />
     <Compile Include="Commom\TestCenterMessageBox.cs" />
+    <Compile Include="Commom\VirtualBarCode.cs" />
     <Compile Include="Entitys\TransitNozzleManager.cs" />
     <Compile Include="Commom\TrayPointManager.cs" />
     <Compile Include="Commom\TurnoverSlotOffset.cs" />