diff --git a/Rs.SkyLine/Flow/Camera/VisionManager.cs b/Rs.SkyLine/Flow/Camera/VisionManager.cs
index b424ee8..cbb067d 100644
--- a/Rs.SkyLine/Flow/Camera/VisionManager.cs
+++ b/Rs.SkyLine/Flow/Camera/VisionManager.cs
@@ -15,6 +15,12 @@ using System.Windows.Forms;
namespace Rs.MotionPlat.Flow.Camera
{
+ public class SlotProductHasOrNotResult
+ {
+ public bool HasProduct { get; set; } = false;
+ public HObject SearchRegion { get; set; }
+ public HObject SourceImage { get; set; }
+ }
///
/// 视觉管理类
///
@@ -34,80 +40,47 @@ namespace Rs.MotionPlat.Flow.Camera
/// StockTray盘是否有料
/// 0 无料 1 有料 负数 错误返回错误码
///
- public static int StockTrayHasProduct(Action checkFinishedEvent)
+ public static SlotProductHasOrNotResult StockTrayHasProduct()
{
+ SlotProductHasOrNotResult result = new SlotProductHasOrNotResult();
string cameraName = "upCamera";
- string LightName = "";
//1、拍照
- string m_savePath = Path.Combine("Recipe", GlobalVar.CurRecipe, "周转盘产品有无");
- //IniHelper iniHelper = new IniHelper(Path.Combine(m_savePath,"default.ini"));
- //string AngleStart = iniHelper.ReadValue("ModelParam", "AngleStart", "-10");
- //string AngleExtent = iniHelper.ReadValue("ModelParam", "AngleExtent", "10");
- //string Score = iniHelper.ReadValue("ModelParam", "Score", "0.5");
- //string text = Path.Combine(m_savePath, "model.shm");
- //HOperatorSet.ReadShapeModel(text, out var modelID);
+ string m_savePath = Path.Combine("Recipe", GlobalVar.CurRecipe, "料仓料盘产品有无");
HOperatorSet.ReadRegion(out HObject searchRegion, Path.Combine(m_savePath , "搜索区域.reg"));
-
- ImageProcess.ClearManualTrigger();
- HikCamera.Instance.SetTrigger(cameraName, ETriggerMode.Manual);
- HikCamera.Instance.SetExposure(cameraName, GlobalVar.UpCameraExposureTime);
- HikCamera.Instance.SetGain(cameraName, GlobalVar.UpCameraGain);
- AxisControl.LoadX.ComparePulse(2, false);
- //LightName = SysConfigParam.GetValue(cameraName + "LightName");
- //if (!string.IsNullOrEmpty(LightName))
- //{
- // if (!string.IsNullOrEmpty(cameraName))
- // {
- // IoManager.Instance.WriteOut(LightName, 0);
- // Thread.Sleep(50);
- // IoManager.Instance.WriteOut(LightName, 1);
- // Thread.Sleep(100);
- // HikCamera.Instance.Grab(cameraName);
- // }
- // else
- // {
- // Msg.ShowError("请先先择相机");
- // }
- //}
- //else
- //{
- // Msg.ShowError("未设置相机对应的光源，请到变量中配置！");
- //}
-
- //AxisControl.LoadY.ComparePulse(0x01);
- //Thread.Sleep(50);
- //2、等待相机返回结果
- bool cameraOk = ImageProcess.manualTriggerEvent.WaitOne(3000);
- if(cameraOk)
+ if(searchRegion.IsInitialized())
{
- HObject hImage = new HObject();
- IoManager.Instance.WriteOut(LightName, 0);
- HObject image = ImageProcess.GetManualImage();
- HOperatorSet.WriteImage(image, "bmp", 0, "d://images//111");
- if (cameraName == SysConfigParam.GetValue("UpCameraName"))
- {
- HOperatorSet.RotateImage(image, out hImage, SysConfigParam.GetValue("UpCameraRotate"), "constant");
- }
- HOperatorSet.WriteImage(hImage, "bmp", 0, "d://images//111");
- checkFinishedEvent?.Invoke(hImage);
- if (searchRegion.IsInitialized())
+ result.SearchRegion = searchRegion;
+ ImageProcess.ClearManualTrigger();
+ HikCamera.Instance.SetTrigger(cameraName, ETriggerMode.Manual);
+ HikCamera.Instance.SetExposure(cameraName, GlobalVar.UpCameraExposureTime);
+ HikCamera.Instance.SetGain(cameraName, GlobalVar.UpCameraGain);
+ AxisControl.LoadX.ComparePulse(2, false);
+ //2、等待相机返回结果
+ bool cameraOk = ImageProcess.manualTriggerEvent.WaitOne(3000);
+ if (cameraOk)
{
+ HObject hImage = new HObject();
+ HObject image = ImageProcess.GetManualImage();
+ if (cameraName == SysConfigParam.GetValue("UpCameraName"))
+ {
+ HOperatorSet.RotateImage(image, out hImage, SysConfigParam.GetValue("UpCameraRotate"), "constant");
+ }
+ result.SourceImage = hImage;
HOperatorSet.ReduceDomain(hImage, searchRegion, out HObject searchImg);
HOperatorSet.Threshold(searchImg, out HObject whiteRegion, new HTuple(GlobalVar.StockTrayHaveOrNotGrayMin), new HTuple(GlobalVar.StockTrayHaveOrNotGrayMax));
HOperatorSet.AreaCenter(whiteRegion, out HTuple area, out HTuple row, out HTuple column);
if (area.D > GlobalVar.StockTrayHaveOrNotGrayArea)
- return 1;
- //HOperatorSet.WriteImage(searchImg, "bmp", 0, "d://images//111");
- //HOperatorSet.GetShapeModelContours(out HObject modelContours, modelID, 1);
- //HOperatorSet.FindShapeModel(searchImg, modelID, AngleTool.Deg2Rad(double.Parse(AngleStart)), AngleTool.Deg2Rad(Math.Abs((double.Parse(AngleExtent) - double.Parse(AngleStart)))), new HTuple(double.Parse(Score)), 1, 0.5, "least_squares", 0, 0.9, out HTuple row, out HTuple column, out HTuple angle, out HTuple score);
- //if(score.Length>0)
- //{
- // return 1;
- //}
+ {
+ result.HasProduct = true;
+ }
+ else
+ {
+ result.HasProduct = false;
+ }
}
}
//3、返回结果
- return 0;
+ return result;
}
///
@@ -115,83 +88,50 @@ namespace Rs.MotionPlat.Flow.Camera
/// 0 无料 1 有料 负数 错误返回错误码
///
///
- public static int TurnoverTrayHasProduct(Action checkFinishedEvent)
+ public static SlotProductHasOrNotResult TurnoverTrayHasProduct(Action checkFinishedEvent)
{
+ SlotProductHasOrNotResult result = new SlotProductHasOrNotResult();
string cameraName = "upCamera";
- string LightName = "";
//1、拍照
ImageProcess.ClearManualTrigger();
-
- string m_savePath = Path.Combine("Recipe", GlobalVar.CurRecipe, "周转盘产品定位");
- IniHelper iniHelper = new IniHelper(Path.Combine(m_savePath, "default.ini"));
- string AngleStart = iniHelper.ReadValue("ModelParam", "AngleStart", "-10");
- string AngleExtent = iniHelper.ReadValue("ModelParam", "AngleExtent", "10");
- string Score = iniHelper.ReadValue("ModelParam", "Score", "0.5");
- string text = Path.Combine(m_savePath, "model.shm");
- HOperatorSet.ReadShapeModel(text, out var modelID);
- HOperatorSet.ReadRegion(out HObject searchRegion, Path.Combine(m_savePath, "search.reg"));
-
+ string m_savePath = Path.Combine("Recipe", GlobalVar.CurRecipe, "周转盘产品有无");
+ HOperatorSet.ReadRegion(out HObject searchRegion, Path.Combine(m_savePath, "搜索区域.reg"));
+ result.SearchRegion = searchRegion;
ImageProcess.ClearManualTrigger();
HikCamera.Instance.SetTrigger(cameraName, ETriggerMode.Manual);
HikCamera.Instance.SetExposure(cameraName, GlobalVar.UpCameraExposureTime);
HikCamera.Instance.SetGain(cameraName, GlobalVar.UpCameraGain);
AxisControl.LoadX.ComparePulse(2, false);
- //LightName = SysConfigParam.GetValue(cameraName + "LightName");
- //if (!string.IsNullOrEmpty(LightName))
- //{
- // if (!string.IsNullOrEmpty(cameraName))
- // {
- // IoManager.Instance.WriteOut(LightName, 0);
- // Thread.Sleep(50);
- // IoManager.Instance.WriteOut(LightName, 1);
- // Thread.Sleep(100);
- // HikCamera.Instance.Grab(cameraName);
- // }
- // else
- // {
- // Msg.ShowError("请先先择相机");
- // }
- //}
- //else
- //{
- // Msg.ShowError("未设置相机对应的光源，请到变量中配置！");
- //}
-
- //AxisControl.LoadY.ComparePulse(0x01);
- //Thread.Sleep(50);
+
//2、等待相机返回结果
bool cameraOk = ImageProcess.manualTriggerEvent.WaitOne(3000);
if (cameraOk)
{
HObject hImage = new HObject();
- //IoManager.Instance.WriteOut(LightName, 0);
HObject image = ImageProcess.GetManualImage();
if (cameraName == SysConfigParam.GetValue("UpCameraName"))
{
HOperatorSet.RotateImage(image, out hImage, SysConfigParam.GetValue("UpCameraRotate"), "constant");
}
checkFinishedEvent?.Invoke(hImage);
+ result.SourceImage = hImage;
if (searchRegion.IsInitialized())
{
- HOperatorSet.WriteImage(hImage, "bmp", 0, "d://images/22222");
HOperatorSet.ReduceDomain(hImage, searchRegion, out HObject searchImg);
HOperatorSet.Threshold(searchImg, out HObject whiteRegion, new HTuple(GlobalVar.TurnoverTrayHaveOrNotGrayMin), new HTuple(GlobalVar.TurnoverTrayHaveOrNotGrayMax));
- //checkFinishedEvent?.Invoke(hImage);
HOperatorSet.AreaCenter(whiteRegion, out HTuple area, out HTuple row1, out HTuple column1);
if(area.D>GlobalVar.TurnoverTrayHaveOrNotGrayArea)
{
- return 1;
+ result.HasProduct = true;
+ }
+ else
+ {
+ result.HasProduct = false;
}
- //HOperatorSet.GetShapeModelContours(out HObject modelContours, modelID, 1);
- //HOperatorSet.FindShapeModel(searchImg, modelID, AngleTool.Deg2Rad(double.Parse(AngleStart)), AngleTool.Deg2Rad(Math.Abs((double.Parse(AngleExtent) - double.Parse(AngleStart)))), new HTuple(double.Parse(Score)), 1, 0.5, "least_squares", 0, 0.9, out HTuple row, out HTuple column, out HTuple angle, out HTuple score);
- //if (score.Length > 0)
- //{
- // return 1;
- //}
}
}
//3、返回结果
- return 0;
+ return result;
}
///
@@ -227,16 +167,18 @@ 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;
- if (Math.Abs(vr.OffsetX) < GlobalVar.TurnoverTrayLocateXRange
- && Math.Abs(vr.OffsetY) < GlobalVar.TurnoverTrayLocateYRange
- && Math.Abs(vr.OffsetR) < GlobalVar.TurnoverTrayLocateRRange)
- {
- vr.SearchModelOK = true;
- }
- else
- {
- vr.SearchModelOK = false;
- }
+ vr.SearchModelOK = true;
+ //if (Math.Abs(vr.OffsetX) < GlobalVar.TurnoverTrayLocateXRange
+ // && Math.Abs(vr.OffsetY) < GlobalVar.TurnoverTrayLocateYRange
+ // && Math.Abs(vr.OffsetR) < GlobalVar.TurnoverTrayLocateRRange)
+ //{
+ // vr.SearchModelOK = true;
+ //}
+
+ }
+ else
+ {
+ vr.SearchModelOK = false;
}
}
else